Servo motor driving system for humanoid robot

Abstract

The invention provides a servo motor driving system for a humanoid robot. A servo motor driving system is a core execution mechanism of the humanoid robot and directly affects the movement performance (such as flexibility, explosive power and energy efficiency) of the humanoid robot, so that the humanoid robot can be better controlled and driven, and more flexible and real actions are achieved. The servo motor driving system for the humanoid robot comprises a main body framework driving module, a joint driving module, a sensing module and a heat dissipation-buffering driving module which are installed on a robot framework. The main body framework driving module is installed at the main body positions of the humanoid robot framework (the hands, the legs, the waist and the like corresponding to the parts, with a large number of muscles, of the human body). The joint driving modules are mounted at the joints of the frameworks; the sensing module and the heat dissipation-buffering driving module are installed between the main body framework driving modules in a penetrating mode. Through the mutual cooperation of the main body skeleton driving module, the joint driving module, the sensing module and the heat dissipation-buffer driving module, the humanoid robot can be better controlled and driven, so that more flexible and real actions are realized.

Description

Technical Field

[0001] The invention belongs to the technical field of humanoid robots and relates to a servo motor driving system for a humanoid robot. Background Art

[0002] The development of humanoid robots in China is relatively rapid. Generally, robots with functions such as remote control, drive, and memory can DIY their own movements, and are proficient in dancing, gymnastics, walking, somersaults, push-ups... In contrast, humanoid robots have many mechanisms, many wiring, and complex structures. The servo motor drive system is the core actuator of the humanoid robot, which directly affects its motion performance (such as flexibility, explosive power, and energy efficiency). Therefore, in order to better control and drive the humanoid robot, thereby realizing more flexible and realistic movements, it is necessary to design a servo motor drive system for a humanoid robot. Summary of the invention

[0003] The purpose of the present invention is to solve the above problems in the prior art and to provide a servo motor drive system for a humanoid robot.

[0004] The object of the present invention can be achieved by the following technical solutions: A servo motor drive system for a humanoid robot, comprising a main frame drive module, a joint drive module, a sensor module and a heat dissipation-buffer drive module installed on the robot frame, characterized in that:

[0005] The main frame driving module is installed in the main position of the humanoid robot frame (hands, legs, waist, etc. corresponding to the parts of the human body with a lot of muscles);

[0006] The joint drive module is installed at the connection of each skeleton;

[0007] The sensor module and the heat dissipation-buffering driving module are installed interspersed between the main frame driving modules.

[0008] The main frame driving module comprises an electric push rod and a hydraulic push rod, and the electric push rod and the hydraulic push rod are relatively vertically installed on the mechanical frame of the humanoid robot.

[0009] With the above structure, since the human body has a certain toughness while the robot made of metal parts does not have this feature, in the process of simulating the extension or bending of arms and legs, the outer mechanical skeleton is stretched open by the hydraulic push rod, and then the inner mechanical skeleton is pushed out and extended by the electric push rod, thereby better simulating human activities.

[0010] The joint drive module includes a micro hydraulic motor, a harmonic reduction motor, and a frameless torque motor. The harmonic reduction motor is installed at the joints that require high torque, the frameless torque motor is installed at the remaining rotating joints, and the micro hydraulic motor is installed at the corresponding positions of the harmonic reduction motor and the frameless torque motor for assistance.

[0011] With the above structure, through the high burst of the micro hydraulic motor in cooperation with the rapid response of the harmonic reduction motor and the frameless torque motor, a bionic tendon composite drive architecture is formed, so as to better simulate human activities.

[0012] The sensing module includes an ultrasonic radar, a microphone array, a temperature sensor, a pressure sensor, and a vision sensor. The ultrasonic radar and the microphone array are evenly arranged on the main body skeleton of the robot. The temperature sensor is set at the installation locations of each motor in the joint drive module and the main body skeleton drive module. The vision sensor is installed at the head position of the robot, and the pressure sensor is installed at the positions where the robot's hands, feet, back, and top of the head often need to contact objects.

[0013] With the above structure, through the microphone array, the pressure sensor, and the vision sensor, auditory-visual-tactile joint control is realized. At the same time, the ultrasonic radar can more accurately assist in sensing; the temperature sensor can monitor the heat generation of each motor during the robot's movement in real time.

[0014] The heat dissipation-buffer drive module includes a graphene heat conduction layer, a shape memory alloy heat dissipation fin, and a magnetorheological damper. The graphene heat conduction layer is set on the surface of the corresponding robot skeleton outside each motor. The shape memory alloy heat dissipation fin is installed at the positions where the armpit, abdomen, and neck do not often need to contact objects. The magnetorheological damper is installed at the knee joint, ankle joint, sole, shoulder joint, elbow joint, and spine of the robot skeleton.

[0015] With the above structure, the graphene heat conduction layer continuously dissipates the heat generated by the motor. At the same time, the shape memory alloy heat dissipation fin indirectly opens and closes according to the heat fluctuation to assist in heat dissipation; the magnetorheological damper buffers and absorbs the reaction force at the high-impact parts such as the knee joint, ankle joint, and sole, reduces the inertial impact at the shoulder joint and elbow joint to prevent overload, and suppresses the trunk swing at the spine.

[0016] The robot skeleton is made of honeycomb aluminum composite material.

[0017] With the above structure, it can well absorb energy and play a buffering role.

[0018] Compared with the prior art, the servo motor drive system for humanoid robots has the following advantages: through the mutual cooperation of the main body skeleton drive module, joint drive module, sensing module, and heat dissipation - buffer drive module, the present invention can better control and drive humanoid robots, thereby realizing more flexible and realistic movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the structural block diagram of the present invention.

[0020] Figure 2 is the schematic structural diagram of the main body skeleton drive module in the present invention.

[0021] Figure 3 is the structural block diagram of the joint drive module in the present invention.

[0022] Figure 4 is the structural block diagram of the sensing module in the present invention.

[0023] Figure 5 is the structural block diagram of the heat dissipation - buffer drive module in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following are specific embodiments of the present invention in combination with the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0025] As Figures 1-5 shown, the servo motor drive system for humanoid robots of the present invention includes a main body skeleton drive module, a joint drive module, a sensing module, and a heat dissipation - buffer drive module installed on the robot skeleton:

[0026] The main body skeleton drive module is installed at the main position of the humanoid robot skeleton (parts corresponding to the human body such as hands, legs, and waist with a large amount of muscles);

[0027] The joint drive module is installed at the connection of each skeleton;

[0028] The sensing module and the heat dissipation - buffer drive module are interspersed and installed between the main body skeleton drive modules.

[0029] In a specific embodiment, each module is processed and controlled through an integrated brain - like computing chip, and local closed - loop control can be achieved when the power is sufficient, and it has a muscle - memory - type learning function.

[0030] The main body skeleton drive module includes an electric push rod and a hydraulic push rod, and the electric push rod and the hydraulic push rod are relatively vertically installed on the mechanical skeleton of the humanoid robot.

[0031] In a specific embodiment, a ball screw electric push rod is used at the spine to accurately control the bending angle of the torso and support the load of the upper body; a planetary ball screw push rod is used at the lower limbs to instantly provide sufficient thrust to achieve jumping; and an ironless linear motor push rod is used at the upper limbs to achieve rapid blocking or grabbing actions.

[0032] With the above structure, since the human body has a certain toughness while the robot made of metal parts does not have this feature, in the process of simulating the extension or bending of arms and legs, the outer mechanical skeleton is stretched open by the hydraulic push rod, and then the inner mechanical skeleton is pushed out and extended by the electric push rod, thereby better simulating human activities.

[0033] The joint drive module includes a micro hydraulic motor, a harmonic reduction motor and a frameless torque motor. The harmonic reduction motor is installed at the joints that require large torque, the frameless torque motor is installed at the remaining rotating joints, and the micro hydraulic motor is installed at the corresponding positions of the harmonic reduction motor and the frameless torque motor for assistance.

[0034] In a specific embodiment, micro hydraulic motors are mainly installed at high-dynamic joints (such as knee joints, elbow joints) and heavy-load handling joints (such as finger joints); harmonic reduction motors are mainly installed at precision joints (such as wrist joints) and space-constrained joints (such as shoulder joints); frameless torque motors are mainly installed at high-speed joints (such as ankle joints) and force-controlled joints (such as shoulder joints, wrist joints, ankle joints, elbow joints, and finger joints).

[0035] The sensing module includes an ultrasonic radar, a microphone array, a temperature sensor, a pressure sensor and a visual sensor. The ultrasonic radar and the microphone array are evenly arranged on the main frame of the robot. The temperature sensor is arranged at the motor installation locations of the joint drive module and the main frame drive module. The visual sensor is installed at the head of the robot. The pressure sensor is installed at the positions of the robot's hands, feet, back and head where they often need to contact objects.

[0036] In a specific embodiment,

[0037] Ultrasonic radar includes: single probe integrated transceiver to achieve close-range obstacle avoidance; multi-probe array to achieve three-dimensional space modeling; MEMS ultrasonic to achieve high-precision gesture recognition;

[0038] The microphone array includes: a linear array for receiving voice commands; a circular array for locating and tracking sound sources;

[0039] Temperature sensors include: NTC thermistor for motor overheat protection; infrared thermopile for non-contact surface temperature measurement; digital DS18B20 for ambient temperature monitoring; MEMS temperature sensor for real-time chip temperature monitoring;

[0040] The pressure sensors include: MEMS piezoresistive sensors for realizing plantar pressure distribution; capacitive thin-film sensors for realizing hydraulic system monitoring; fiber Bragg grating sensors for realizing indirect measurement of joint torque; and flexible piezoelectric sensors for realizing hand grip force feedback.

[0041] The vision sensors include: global shutter CMOS cameras for realizing high-speed motion capture; event cameras for realizing dynamic scene processing; and multispectral cameras for realizing material recognition.

[0042] The heat dissipation - buffer driving module includes a graphene heat conduction layer, shape memory alloy heat dissipation fins, and magnetorheological dampers. The graphene heat conduction layer is arranged on the surface of the robot skeleton corresponding to the outside of each motor. The shape memory alloy heat dissipation fins are installed at positions that are not often in contact with objects, such as the armpits, abdomen, and neck. The magnetorheological dampers are installed at the knee joints, ankle joints, soles, shoulder joints, elbow joints, and spine of the robot skeleton.

[0043] In specific implementation, the graphene heat conduction layer adopts a multi-layer graphene composite film to dissipate heat from the joint motors; the shape memory alloy heat dissipation fins adopt NiTi-based alloy fins for self-adaptive heat dissipation on the motor housing.

[0044] The magnetorheological dampers include: single-cylinder linear type, mainly installed at the lower limb joints (knee / ankle); double-cylinder rotary type, mainly installed at the spine / shoulder rotary joints; and multi-stage series type, mainly installed at the upper limb joints.

[0045] The robot skeleton is made of honeycomb aluminum composite material.

[0046] In the present invention, each mechanism is connected and driven through the prior art and is synchronously controlled through a control chip.

[0047] The above components are all common standard components or components known to those skilled in the art. Their structures and principles can all be learned by those skilled in the art through technical manuals or obtained through conventional experimental methods.

[0048] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art of the present invention can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A servo motor drive system for a humanoid robot, comprising a main frame drive module, a joint drive module, a sensor module and a heat dissipation-buffer drive module installed on the robot frame, characterized in that: The main frame driving module is installed in the main position of the humanoid robot frame (hands, legs, waist, etc. corresponding to the parts of the human body with a lot of muscles); The joint drive module is installed at the connection of each skeleton; The sensor module and the heat dissipation-buffering driving module are installed interspersed between the main frame driving modules.

2. The servo motor drive system for a humanoid robot according to claim 1, characterized in that: The main frame driving module comprises an electric push rod and a hydraulic push rod, and the electric push rod and the hydraulic push rod are relatively vertically installed on the mechanical frame of the humanoid robot.

3. The servo motor drive system for a humanoid robot according to claim 1, characterized in that: The joint drive module includes a micro hydraulic motor, a harmonic reduction motor and a frameless torque motor. The harmonic reduction motor is installed at the joints requiring large torque, the frameless torque motor is installed at the remaining rotating joints, and the micro hydraulic motor is installed at the corresponding positions of the harmonic reduction motor and the frameless torque motor for assistance.

4. The servo motor drive system for a humanoid robot according to claim 1, characterized in that: The sensing module includes an ultrasonic radar, a microphone array, a temperature sensor, a pressure sensor and a visual sensor. The ultrasonic radar and the microphone array are evenly arranged on the robot's main frame. The temperature sensor is arranged at each motor installation location of the joint drive module and the main frame drive module. The visual sensor is installed at the robot's head position. The pressure sensor is installed at positions of the robot's hands, feet, back and head that often need to contact objects.

5. The servo motor drive system for a humanoid robot according to claim 1, characterized in that: The heat dissipation-buffering drive module includes a graphene thermal conductive layer, a memory alloy heat dissipation fin and a magnetorheological damper. The graphene thermal conductive layer is arranged on the surface of the robot frame corresponding to the outside of each motor, the memory alloy heat dissipation fin is installed in the armpits, abdomen, neck and other positions that do not often need to contact with objects, and the magnetorheological damper is installed at the knee joints, ankle joints, soles of feet, shoulder joints, elbow joints and spine of the robot frame.

6. The servo motor drive system for a humanoid robot according to claim 1, characterized in that: The robot frame is made of honeycomb aluminum composite material.

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