Waist system of humanoid robot and movement method of waist system

Abstract

The waist system comprises a split type machine body framework, a back plate, a yawing joint module, planetary roller screw assemblies A and B and a transverse rolling base, the transverse rolling base is nested in a pitching base, the transverse rolling motion of the waist system is mechanically limited by an inner ring of the pitching base, and the situation that the waist framework is damaged due to the fact that the angle exceeds the limit is prevented; the machine body framework is divided into two parts, namely a waist framework and a shoulder framework, and the waist framework is mainly used for placing a battery module and serves as a planetary roller screw A and an output end joint of a planetary roller screw B to serve as a supporting piece of a bearing A and a bearing B; due to the fact that the transverse rolling base is installed in the pitching base, when the transverse rolling base does transverse rolling motion, the inner ring of the pitching base can further play a role in mechanical limiting, and the situation that the waist skeleton is damaged due to the fact that the transverse rolling angle is too large is avoided. The yaw base not only can be used as a supporting piece of the pitch axis A and the pitch axis B, but also can be used as a supporting piece of the base axis A and the base axis B, and the position precision of waist movement can be improved through an integrated part.

Description

Technical Field

[0001] The present invention relates to a waist system of a humanoid robot and its method, belonging to the field of intelligent robots. Background Art

[0002] The goal of a humanoid robot is to simulate human movements and behaviors. As an important movement part of the human body, the realization of the functions of the waist is crucial for the overall flexibility and coordination of the robot.

[0003] In the service field, such as hotels, restaurants, shopping malls and other places, the waist flexibility of humanoid robots enables them to better adapt to complex environments and complete tasks such as serving dishes, opening doors, going up and down stairs, etc., providing more convenient services for people.

[0004] In the medical field, the waist design of humanoid robots can play an important role in assisting rehabilitation training, surgical operations, etc. For example, by simulating the movements of the human waist, it helps patients with rehabilitation training and improves the rehabilitation effect.

[0005] In industrial production, the waist system of humanoid robots enables them to perform flexible operations in narrow spaces or complex environments, completing tasks such as assembly, handling, inspection, etc., improving production efficiency and quality.

[0006] In the home environment, the waist movements of humanoid robots enable them to interact with humans more naturally, such as imitating human movements, performing simple housework, etc., providing companionship and help for people.

[0007] Existing humanoid robots generally have three degrees of freedom in the waist, namely pitch, roll and spin of the waist, but there are some problems. For example, since humanoid robots use two legs to walk, they have a small support area, a high center of gravity, a complex structure and difficult control, and are prone to falling, resulting in a large impact and wear on the waist, which limits their practical application.

[0008] Optimization of the driving method: The traditional series driving method has disadvantages such as increasing the motor load, affecting the dynamic performance of the joints, raising the center of gravity of the robot, and error accumulation. The present invention adopts a composite 3-degree-of-freedom design and a series-parallel hybrid configuration, reducing the motor load, improving the dynamic performance of the joints, lowering the center of gravity of the whole humanoid robot, and reducing the cumulative error caused by the series connection. Summary of the Invention

[0009] To overcome the deficiencies of the above-mentioned prior art, the present invention provides a waist system of a humanoid robot, specifically adopting the following technical solutions:

[0010] A waist system of a humanoid robot, characterized in that it includes:

[0011] The split body frame is divided into a waist frame and a shoulder frame. A battery module is arranged inside the waist frame, and the waist frame serves as a support for the output end joint bearings A and B of the planetary roller screw A and the planetary roller screw B.

[0012] The back panel fixedly connects the waist frame and the shoulder frame, and is provided with electrical module support plates A and B, which are connected through an IP67-class aviation plug (model Y50, current-carrying 30A) to achieve rapid replacement of the circuit board and the sensor.

[0013] The yaw joint module includes an integrated yaw base, a pitch base, and a roll base. The yaw base simultaneously supports the pitch axis A, the pitch axis B, the base axis A, and the base axis B, and improves the structural strength and position accuracy through fan-shaped stiffeners.

[0014] The planetary roller screw assemblies A and B are respectively connected to the yaw base through base-end joint ball bearings and drive the waist frame through output-end joint ball bearings to achieve pitch, roll, and combined movements.

[0015] The roll base is nested inside the pitch base, and its roll movement is mechanically limited by the inner ring of the pitch base to prevent damage to the waist frame due to excessive angles.

[0016] The present invention also discloses a motion method for the waist and body system of a humanoid robot. This method is for the above-mentioned system, and is characterized by including the following steps:

[0017] Pitch movement: The planetary roller screw assemblies A and B synchronously expand and contract to drive the waist frame to rotate around the pitch axes A and B.

[0018] Roll movement: The planetary roller screw assemblies A and B expand and contract asynchronously to drive the waist frame to rotate around the roll axes A and B.

[0019] Combined movement: The planetary roller screw assemblies A and B expand and contract at different speeds and amplitudes to drive the waist frame to perform pitch and roll movements simultaneously.

[0020] Beneficial effects

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] The body frame is divided into two parts, namely the waist frame and the shoulder frame. The waist frame is mainly for placing the battery module and serves as a support for the output end joint bearings A and B of the planetary roller screw A and the planetary roller screw B.

[0023] The electrical module support plates A and B are fixed on the backplane. The electrical module support plates A / B are connected through an IP67-class aviation plug (model: Y50, current-carrying capacity 30A), enabling the circuit board and sensors to be quickly replaced within 5 minutes.

[0024] Since the roll base is installed inside the pitch base, when the roll base makes a roll motion, the inner ring of the pitch base can also play a role in mechanical limit, preventing the roll angle from being too large and damaging the waist skeleton.

[0025] The yaw base can not only serve as the support for the pitch axes A and B, but also as the support for the base axes A and B. Through an integrated part, the position accuracy of the waist movement can be improved. Description of the Drawings

[0026] Figure 1 This is the rear view schematic diagram of the waist and fuselage of the inventor's humanoid robot;

[0027] Figure 2 This is the schematic diagram of the backplane and electrical module support plates of the inventor's humanoid robot;

[0028] Figure 3 This is the schematic diagram of the waist base of the inventor's humanoid robot;

[0029] Figure 4 This is the schematic diagram of the shoulder of the inventor's humanoid robot;

[0030] Figure 5 This is the side view schematic diagram of the waist and fuselage of the inventor's humanoid robot;

[0031] Figure 6 For Figure 2 the U-U sectional view of the inventor's humanoid robot;

[0032] Figure 7 For Figure 5 the R-R sectional view;

[0033] In the figure: 1. Waist base, 2. Yaw joint module, 3. Waist quick-release electrical interface, 4. Base shaft A, 5. Base-end spherical joint bearing A, 6. Locking nut A, 7. Planetary roller screw A, 8. Planetary roller screw A, 9. Fastening screw B, 10. Electrical module support plate B, 11. Shoulder quick-release electrical interface A, 12. Suspension adapter plate A, 13. Fastening screw A, 14. Suspension adapter plate B, 15. Shoulder skeleton, 16. Shoulder quick-release electrical interface B, 17. Electrical module support plate A, 18. Back plate, 19. Waist skeleton, 20. Battery module, 21. Planetary roller screw B, 22. Pitch base, 23. Yaw base, 24. Fastening screw C, 25. Base shaft B, 26. Locking nut B, 27. Pitch shaft B, 28. Waist circuit board, 29. Pitch shaft A, 30. Fastening screw D, 31. Sector-shaped reinforcing rib, 32. Fastening screw E, 33. Body fastening screw, 34. Fastening screw F, 35. Shoulder joint A, 36. Body quick-release electrical interface A, 37. Shoulder support plate, 38. Fastening screw G, 39. Body quick-release electrical interface B, 40. Shoulder joint B, 41. Shoulder joint locking screw A, 42. Shoulder flange, 43. Triangular weight-reducing support groove, 44. Battery separator, 45. Roll base, 46. Fastening screw H, 47. Fastening screw L, 48. Output-end locking shaft A, 49. Fastening screw M, 50. Shoulder joint locking screw B, 51. Output-end joint bearing A, 52. Support sleeve A, 53. Support sleeve B, 54. Output-end joint bearing B, 55. Output-end locking shaft B, 56. Fastening screw N, 57. Fastening screw J, 58. Angular contact ball bearing A, 59. Fastening screw K, 60. Waist locking screw, 61. Roll shaft A, 62. Roll shaft B, 63. Angular contact ball bearing B, 19-1. Reinforcing rib, 19-2. Cross-shaped support frame Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] Please refer to Figure 1-5, the present invention provides a technical solution: a waist system of a humanoid robot, including a waist base 1, a yaw joint module 2, a planetary roller screw assembly, a waist skeleton 19, a back plate 18, and a shoulder skeleton 15; the yaw joint module is fixed on the waist base, and a waist quick-release electrical interface 3 is arranged below the yaw joint module. The waist quick-release electrical interface is the power and signal input end of the yaw joint module. A waist circuit board 28 is arranged inside the yaw joint module. The waist circuit board is the power and signal output end of the yaw joint module, and the power and signals of the waist circuit board are transmitted to the planetary roller screw assembly; the planetary roller screw assembly includes a planetary roller screw assembly A and a planetary roller screw assembly B with the same structure. The combined movement of the planetary roller screw assembly A and the planetary roller screw assembly B can achieve different degrees of freedom of the waist: when the planetary roller screw assembly A and the planetary roller screw assembly B both extend and shorten and the changed lengths are the same, the pitch movement of the waist can be achieved. When the extended or shortened lengths of the planetary roller screw assembly A and the planetary roller screw assembly B are different, the roll or compound movement of the waist can be achieved.

[0036] The planetary roller screw assembly includes a base-end spherical bearing, a planetary roller screw, a planetary roller screw rod, and an output-end spherical bearing; the planetary roller screw assembly includes a planetary roller screw assembly A and a planetary roller screw assembly B with the same structure. The base-end spherical bearing A of the planetary roller screw assembly A is fixed on the base shaft A and locked by a locking nut A. The base-end spherical bearing B of the planetary roller screw assembly B is fixed on the base shaft B and locked by a locking nut B.

[0037] The yaw joint module includes a yaw base, a pitch base, and a roll base. A column is arranged at the rear side of the yaw base, and double-ear support columns are arranged on both sides. There is a sector-shaped reinforcing rib between the column of the yaw base and the double-ear support columns of the yaw base to play an auxiliary support role. This sector-shaped reinforcing rib can not only improve the structural strength and stiffness of the entire yaw base, but also greatly reduce the weight of the pitch base.

[0038] The base-end spherical bearings of the planetary roller screw assembly are connected to the column of the yaw base through the base shaft. The specific connection method is: the base shaft A and the base shaft B are fixed on both sides of the column of the yaw base by locking screws E. The base shaft A and the base shaft B are arranged opposite to each other. The inner rings of the base-end spherical bearing A and the base-end spherical bearing B are respectively sleeved on the base shaft A and the base shaft B, and are positioned by the steps on the base shaft A and the base shaft B to limit the axial position. The ends of the base shaft A and the base shaft B are threaded sections. The locking nut A and the locking nut B respectively lock the inner rings of the base-end spherical bearing A and the base-end spherical bearing B on the base shaft A and the base shaft B through the threaded sections of the base shaft A and the base shaft B.

[0039] The pitching base is connected to the double-ear support columns of the yaw base through the pitching axis A and the pitching axis B. The specific connection method is as follows: Two angular contact ball bearings A are respectively installed at both ends of the pitching base. The outer rings of the two angular contact ball bearings A are fixedly fitted with the bearing seats at both ends of the pitching base. The pitching axis A and the pitching axis B respectively pass through the double-ear support columns, and the end faces of the pitching axis A and the pitching axis B are respectively locked and fixed to the double-ear support columns by fastening screws D and fastening screws J. The shaft parts of the pitching axis A and the pitching axis B are respectively fixedly fitted with the inner rings of the two angular contact ball bearings A. The pitching base can rotate around the axes of the pitching axis A and the pitching axis B.

[0040] A waist circuit board is also installed in the middle of the yaw base.

[0041] The roll base is installed inside the pitching base through the roll axis. The specific connection method is as follows: Two angular contact ball bearings B are respectively installed at both ends of the roll base. The outer rings of the two angular contact ball bearings B are fixedly fitted with the bearing seats at both ends of the roll base. The roll axis A and the roll axis B respectively pass through the pitching base, and the end faces of the roll axis A and the roll axis B are respectively locked and fixed to the pitching base by fastening screws H and fastening screws L. The shaft parts of the roll axis A and the roll axis B are respectively fixedly fitted with the inner rings of the two angular contact ball bearings B, and the stepped shaft end faces of the roll axis A and the roll axis B respectively abut against the inner rings of the angular contact ball bearings B. By tightening the fastening screws H and fastening screws L, the axial clearance of the two angular contact ball bearings B can be eliminated and the axial stiffness can be improved. The roll base can rotate around the axes of the roll axis A and the roll axis B. Since the roll base is installed inside the pitching base, when the roll base makes a roll motion, the pitching base can also play a role in mechanical limit to prevent the roll angle from being too large and damaging the waist skeleton.

[0042] A waist frame is fixedly connected to the transverse rolling base, and the lower end of the waist frame is fixedly connected to the transverse rolling base by a locking screw; the output end joint ball bearing A of the planetary roller screw assembly A is connected to the waist frame through the output end locking shaft A, and the specific connection method is: the output end locking shaft A passes through the waist frame, the output end joint ball bearing A and the support sleeve A in sequence, the support sleeve A is nested in the waist frame, and the end face of the output end locking shaft A is fastened to one side of the waist frame by a fastening screw M; similarly, the output end locking shaft B passes through the waist frame, the output end joint ball bearing B and the support sleeve B in sequence on the other side, the support sleeve B is nested in the waist frame, and the end face of the output end locking shaft B is fastened to the other side of the waist frame by a fastening screw N. The function of the support sleeve is to increase the contact area between the output locking shaft and the nested shaft hole of the waist frame, thereby improving the radial strength and rigidity of the output locking shaft; the output locking shaft adopts a split design, which can reduce assembly errors and improve motion control accuracy; the output locking shaft adopts a semi-hollow design, which can reduce weight. The output locking shaft can not only serve as a support for the output joint ball bearing, but also improve the support strength and rigidity of the waist frame, thereby improving the impact resistance of the waist frame.

[0043] The waist frame adopts a M-shaped support frame (material: aluminum alloy 7075-T651, rib thickness 5mm, yield strength ≥503MPa), with triangular reinforcement ribs inside, and the bending rigidity is increased to 3.2 times that of the traditional structure (measured value). The advantage of this is that it can achieve high structural strength and rigidity with a very light weight, greatly reducing the deformation of the fuselage after being stressed.

[0044] There are triangular reinforcement ribs inside the waist frame, which can improve the impact resistance of the waist frame.

[0045] A battery pack is placed in the belly of the human figure inside the waist frame and protected by a battery separator. This can improve the protection capability of the battery and adjust the position of the center of gravity to avoid leaning back due to the body's center of gravity leaning backward.

[0046] The shoulder frame is fixedly connected to the waist frame through the fuselage locking screws. Both the shoulder frame and the waist frame adopt triangular weight-reducing support grooves to achieve high structural strength and rigidity with a lighter weight, thereby improving the impact resistance of the fuselage.

[0047] The upper end of the shoulder frame is connected with a suspension adapter plate A and a suspension adapter plate B. The fastening screws F fix the suspension adapter plate A to one side of the shoulder frame. Similarly, the suspension adapter plate B is fixed to the other side of the shoulder frame by fastening screws. The function of the suspension adapter plate A and the suspension adapter plate B is mainly to suspend the body of the humanoid robot with hanging rings, which is convenient for subsequent installation and testing.

[0048] Shoulder flanges are fixed on both sides of the shoulder skeleton through shoulder joint locking screws A. Shoulder joint A and shoulder joint B are respectively fixed on the shoulder flanges on both sides of the shoulder skeleton through shoulder joint locking screws B. Shoulder electrical quick-release connectors A and B are respectively arranged on shoulder joint A and shoulder joint B. Shoulder electrical quick-release connectors A and B are used to connect the arms of the humanoid robot.

[0049] A shoulder support plate is fixed on the shoulder skeleton through fastening screw G. A fuselage quick-release electrical interface A and a fuselage quick-release electrical interface B are fixed on the shoulder support plate. Fuselage quick-release electrical interface A is used to connect the power supply and communication signal of shoulder joint A, and fuselage quick-release electrical interface B is used to connect the power supply and communication signal of shoulder joint B. The advantage of this is that a quick-release design of the shoulder can be achieved, bringing advantages to the quick-release of the arms of the humanoid robot.

[0050] The back plate is used as the cover plate of the back of the fuselage. On the one hand, it can connect the waist skeleton and the shoulder skeleton to improve the strength and stiffness of the whole fuselage. On the other hand, it can also be used as the fixing plate of electrical module support plate A and electrical module support plate B. In this way, electrical module support plate A and electrical module support plate B can be fixed on the back plate through fastening screw C. Fastening screw B locks the back plate on the waist skeleton, and fastening screw A locks the back plate on the shoulder skeleton.

[0051] Various circuit boards and components can be installed and fixed on electrical module support plate A and electrical module support plate B. The advantage of this is that all electrical components inside the fuselage can be installed on the detachable module with the back plate, electrical module support plate A and electrical module support plate B as the base, which is convenient for installation and debugging and also convenient for subsequent maintenance.

[0052] In this solution, support sleeve A and support sleeve B can be cancelled, and the ends of output end locking shaft A and output end locking shaft B can be directly nested on the waist skeleton. The waist skeleton and the shoulder skeleton can be designed as an integrated fuselage skeleton. The planetary roller screw is replaced with a planetary ball screw.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A waist system of a humanoid robot, characterized in that: include: A split fuselage frame is divided into a waist frame (19) and a shoulder frame (15), wherein a battery module (20) is arranged inside the waist frame (19) and serves as a support for the output end joint bearings A (51) and B (54) of the planetary roller screws A (7) and B (21); The back plate (18) is fixedly connected to the waist frame (19) and the shoulder frame (15), and is provided with an electrical module support plate A (17) and an electrical module support plate B (10), which are connected via an IP67-level aviation plug to achieve internal rapid replacement of circuit boards and sensors; A yaw joint module (2) comprises an integrated yaw base (23), a pitch base (22) and a roll base (45), wherein the yaw base (23) simultaneously supports a pitch axis A (29), a pitch axis B (27), a base axis A (4) and a base axis B (25), and improves structural strength and position accuracy through fan-shaped reinforcement ribs (31); The planetary roller screw assemblies A and B are respectively connected to the yaw base (23) through the base end joint ball bearings, and drive the waist frame (19) through the output end joint ball bearings to achieve pitch, roll and combined motion; The rolling base (45) is nested inside the pitching base (22), and its rolling motion is mechanically limited by the inner ring of the pitching base (22) to prevent the angle from exceeding the limit and damaging the waist frame (19).

2. The waist system of a humanoid robot according to claim 1, characterized in that: The planetary roller screw assemblies A and B each include: The base end joint ball bearing is fixed on the base shaft by a locking nut; The planetary roller screw and the planetary roller screw are connected to the waist frame through the output end joint ball bearing; The planetary roller screw assemblies A and B drive the waist to pitch when they are synchronously extended and retracted, and drive the waist to roll or compound motion when they are asynchronously extended and retracted.

3. The waist system of a humanoid robot according to claim 2, characterized in that: A fan-shaped reinforcement rib is provided between the column of the yaw base and the double-ear support column. The material is aluminum alloy 7075-T651, the rib thickness is 5mm, and the yield strength is ≥503MPa. It is used to reduce the weight of the pitch base and improve the bending stiffness.

4. The waist system of a humanoid robot according to claim 3, characterized in that: The pitch base (22) is connected to the double-ear support column of the yaw base (23) through the pitch axis A (29) and the pitch axis B (27), and the two ends of the pitch axis (29, 27) are fixed by angular contact ball bearings A (58) and locked by fastening screws (30, 57).

5. The waist system of a humanoid robot according to claim 4, characterized in that: The roll base (45) is nested in the pitch base (22) via a roll axis A (61) and a roll axis B (62), and both ends of the roll axis are fixed via angular contact ball bearings B (63) and locked via fastening screws.

6. The waist system of a humanoid robot according to claim 5, characterized in that: The waist frame (19) is designed with a cross-shaped support frame (19-2) and triangular reinforcing ribs (19-1), and the bending rigidity is increased to 3.2 times that of a traditional structure, and the internal battery module (20) is fixed to the "belly" position of the robot through a battery separator (44).

7. The waist system of a humanoid robot according to claim 6, characterized in that: The shoulder frame (15) and the waist frame (19) are connected via a fuselage locking screw (33), both of which are designed with a triangular weight-reducing support groove (43), and the suspension adapter plates (12, 14) are fixed via fastening screws.

8. The waist system of a humanoid robot according to claim 7, characterized in that: The shoulder frame (15) is provided with shoulder flanges (42) on both sides, shoulder joints A (35) and B (40) are fixed by shoulder joint locking screws, and shoulder electrical quick-release connectors are configured to realize quick disassembly and assembly of the arm.

9. A method for moving the waist system of a humanoid robot, the method being based on the system of claim 1, characterized in that: The following steps are involved: Pitching motion: the planetary roller screw assembly A (7) and the planetary roller screw assembly B (21) are synchronously extended and retracted to drive the waist frame (19) to rotate around the pitch axis A (29) and the pitch axis B (27); Rolling motion: the planetary roller screw assembly A (7) and the planetary roller screw assembly B (21) extend and retract asynchronously, driving the waist frame (19) to rotate around the rolling axis A (61) and the rolling axis B (62); Compound motion: the planetary roller screw assembly A (7) and the planetary roller screw assembly B (21) extend and retract at different speeds and amplitudes, driving the waist frame (19) to perform pitch and roll motions simultaneously.

10. The method for exercising the waist system of a humanoid robot according to claim 9, characterized in that: The pitching movement is achieved through the double-ear support columns and the pitch axis of the yaw base (23); the pitch base (22) rotates around the pitch axis, driving the waist frame (19) to complete the pitching movement; The rolling motion is achieved by the rolling base (45) rotating around the rolling axis (61, 62), the rolling base (45) is nested inside the pitch base (22), and the inner ring of the pitch base (22) mechanically limits the motion of the rolling base (45); The composite motion is achieved through the coordinated control of the planetary roller screw assembly A (7) and the planetary roller screw assembly B (21), and the motion of the waist frame (19) in the pitch and roll directions is superimposed to complete the complex motion.

Images