Redundant drive parallel waist mechanism for humanoid robot

Abstract

The invention relates to a humanoid robot, in particular to a redundant drive parallel waist mechanism for the humanoid robot. The redundant drive parallel waist mechanism for the humanoid robot has the advantages of being large in working space range, high in precision and large in bearing capacity. According to the technical scheme, the redundant drive parallel waist mechanism for the humanoid robot is characterized by comprising a waist platform connected with upper limbs of the humanoid robot, a pelvic bone base connected with lower limbs of the humanoid robot and six branches connected between the waist platform and the pelvic bone base in parallel; the six branches comprise four first branches and two second branches; or the six branches comprise four third branches and two fourth branches.

Description

Technical Field

[0001] The present invention relates to a humanoid robot, specifically a redundant drive parallel waist mechanism for a humanoid robot. Background Art

[0002] The motion performance of the waist of a humanoid robot directly determines the dynamic balance and task execution ability of the whole machine. Traditional waist structures mostly adopt series joints or rigid connection designs. Although they can achieve basic posture adjustment, they face significant limitations in complex motion scenarios. Series joints rely on multiple motors in series for driving. Although the theoretical working space is relatively large, the rigidities of each joint restrict each other. When carrying the load of the upper limb, structural deformation is likely to occur, resulting in a decrease in the end positioning accuracy. At the same time, the chain error accumulation effect is likely to cause waist shaking during high-speed movement, affecting the motion stability. Although conventional parallel mechanisms improve the local rigidity through closed-loop branches, their non-redundant branch layouts lead to strong kinematic coupling, making it difficult to balance high load capacity and flexible composite motion. In addition, existing designs generally lack drive redundancy and cannot achieve fault-tolerant adjustment when a single branch fails or the motion exceeds the limit, restricting the system reliability.

[0003] Redundant parallel mechanisms provide a new direction to solve the above problems. By reconstructing the internal force distribution through redundant drive branches, they can reduce the driving force requirement of a single joint, and at the same time endow the mechanism with the ability to adjust dynamic stiffness, enabling it to switch autonomously between high-speed flexible movement and heavy-load stable operation. However, the application of existing redundant parallel mechanisms in the field of humanoid robots still has key bottlenecks: the branch topological configuration does not fully consider the waist space constraint, resulting in difficulty in balancing the mechanism volume and the motion range; the redundant degree of freedom control algorithm is complex, and real-time motion planning is difficult to meet the dynamic balance requirement; the rigid drive mode does not match the variable stiffness characteristics of human joints, and motion instability is likely to be caused under sudden external force disturbances. These problems seriously restrict the practical performance of humanoid robots. Therefore, there is an urgent need for a compact redundant drive parallel waist mechanism to achieve multi-mode motion, dynamic stiffness adaptive adjustment, and fault tolerance ability within a limited space, so as to break through the bottleneck of existing technologies. Summary of the Invention

[0004] The object of the present invention is to overcome the deficiencies of the above background art and provide a redundant drive parallel waist mechanism for a humanoid robot, which has the characteristics of a large working space range, high precision, and large load capacity.

[0005] The technical solution of the present invention:

[0006] A redundant drive parallel waist mechanism for a humanoid robot, characterized in that: the mechanism includes a waist platform connected to the upper limb of the humanoid robot, a pelvic base connected to the lower limb of the humanoid robot, and six branches connected in parallel between the waist platform and the pelvic base;

[0007] The six branches include four first branches and two second branches; or,

[0008] The six branches include four third branches and two fourth branches.

[0009] The first branch includes a first ball joint, a first push rod, a first moving pair, and a first Hooke joint that are sequentially connected between the waist platform and the pelvic base;

[0010] The second branch includes a second Hooke joint, a second push rod, a second moving pair, and a first rotating pair that are sequentially connected between the waist platform and the pelvic base.

[0011] The two second Hooke joints of the two second branches connecting the waist platform are located on the bottom surface of the waist platform, and are respectively located at the front center position and the rear center position of the bottom surface; the two first rotating pairs of the two second branches connecting the pelvic base are located on the top surface of the pelvic base, and are respectively located at the front center position and the rear center position of the top surface;

[0012] The first ball joints and the first Hooke joints at both ends of each first branch are respectively connected to the bottom surface of the waist platform and the top surface of the pelvic base; the four first branches are symmetrically arranged with respect to the two second branches.

[0013] Among the four first branches: the two first ball joints of two of the first branches are located on the front side of the bottom surface of the waist platform, and are symmetric with respect to the second Hooke joint at the front center position of the bottom surface of the second branch; the two first ball joints of the other two first branches are located on the rear side of the bottom surface of the waist platform, and are symmetric with respect to the second Hooke joint at the front center position of the bottom surface of the second branch; the two first Hooke joints of two of the first branches are located on the front side of the top surface of the pelvic base, and are symmetric with respect to the first rotating pair at the front center position of the top surface of the second branch; the two first Hooke joints of the other two first branches are located on the rear side of the top surface of the pelvic base, and are symmetric with respect to the first rotating pair at the rear center position of the bottom surface of the second branch.

[0014] The second axis lines of the four first Hooke joints in the four first branches are parallel to each other; the axis lines of the second rotating shafts of the two second Hooke joints in the two second branches coincide, and the axis lines of the first rotating shafts of the two second Hooke joints are parallel to the axis line of the first rotating pair.

[0015] The third branch includes a second ball joint, a first connecting rod, a third rotating pair, a second connecting rod, and a third Hooke joint that are sequentially connected between the waist platform and the pelvic base;

[0016] The fourth branch includes a fourth Hooke joint, a third connecting rod, a fourth rotating pair, a fourth connecting rod, and a fifth rotating pair that are sequentially connected between the waist platform and the pelvic base.

[0017] The two fourth branches are connected to two fourth Hooke joints of the waist platform, which are located on the bottom surface of the waist platform and are respectively located at the front center position and the rear center position of the bottom surface; the two fifth rotating pairs of the two fourth branches connected to the pelvic base are located on the top surface of the pelvic base and are respectively located at the front center position and the rear center position of the top surface;

[0018] The two spherical joints and the third Hooke joint at both ends of each third branch are respectively connected to the bottom surface of the waist platform and the top surface of the pelvic base; the four third branches are symmetrically arranged with respect to the two fourth branches.

[0019] Among the four third branches: the two spherical joints of two of the third branches are located on the front side of the bottom surface of the waist platform and are symmetrical with respect to the fourth Hooke joint at the front center position of the bottom surface of the fourth branch; the two spherical joints of the other two third branches are located on the rear side of the bottom surface of the waist platform and are symmetrical with respect to the fourth Hooke joint at the front center position of the bottom surface of the fourth branch; the two third Hooke joints of two of the third branches are located on the front side of the top surface of the pelvic base and are symmetrical with respect to the fifth rotating pair at the front center position of the top surface of the fourth branch; the two third Hooke joints of the other two third branches are located on the rear side of the top surface of the pelvic base and are symmetrical with respect to the fifth rotating pair at the rear center position of the bottom surface of the fourth branch.

[0020] The axes of the first shafts of the four third Hooke joints in the four third branches are parallel to each other; the axes of the second shafts of the two fourth Hooke joints in the two fourth branches coincide, and the axes of the two fourth Hooke joints are parallel to each other and are parallel to the axes of the fourth rotating pair and the fifth rotating pair.

[0021] The first moving pair and the second moving pair are both driving pairs, which are driven by a driving motor through a transmission mechanism; the third rotating pair and the fourth rotating pair are both driving pairs, which are driven by a driving motor through a transmission mechanism.

[0022] The beneficial effects of the present invention are as follows:

[0023] A redundant parallel mechanism for waist connection of a humanoid robot proposed by the present invention has the advantages of a large working space range, high precision, good dynamic response performance, large load-bearing capacity, etc., can effectively improve the movement ability and environmental adaptability of the waist of the humanoid robot, and make up for the rigidity deficiency and dynamic imbalance problems of the traditional waist structure in complex movements. When applied to the waist design of a humanoid robot, it can broaden the application scenarios of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of the humanoid robot in the embodiment of the present invention.

[0025] Figure 2 This is a schematic three-dimensional structure diagram of the parallel mechanism in Embodiment 1 of the present invention.

[0026] Figure 3 is Figure 2 a schematic three-dimensional structure diagram of the first branch in the shown parallel mechanism.

[0027] Figure 4 is Figure 2 a schematic three-dimensional structure diagram of the second branch in the shown parallel mechanism.

[0028] Figure 5 This is a schematic three-dimensional structure diagram of the parallel mechanism in Embodiment 2 of the present invention.

[0029] Figure 6 is Figure 5 a schematic three-dimensional structure diagram of the third branch in the shown parallel mechanism.

[0030] Figure 7 is Figure 5 a schematic three-dimensional structure diagram of the fourth branch in the shown parallel mechanism.

[0031] Reference numerals in the figure:

[0032] Detailed implementation manners

[0033] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0034] Embodiment 1

[0035] Figure 1 The shown humanoid robot includes an upper limb structure 1, a waist structure 2, and lower limbs 3 connected in sequence.

[0036] Figure 2 The shown redundant drive parallel waist mechanism for a humanoid robot includes a waist platform 4 connected to the upper limb 1 of the humanoid robot, a pelvic base 5 connected to the lower limbs 3 of the humanoid robot, and six branches connected in parallel between the waist platform 4 and the pelvic base 5. The six branches include four first branches 6 and two second branches 7.

[0037] As Figure 3As shown in the figure, the first branch 6 includes a first ball joint 61, a first push rod 62, a first moving pair, and a first Hooke joint that are sequentially connected between the waist platform 4 and the pelvic base 5; the first Hooke joint includes a first Hooke joint first rotating shaft 64 and a first Hooke joint second rotating shaft 65; one end of the first push rod 62 is connected and cooperated with the waist platform 4 through the first ball joint 61, the other end of the first push rod 62 is cooperated with the first sleeve 63 to form the first moving pair, the other end of the first sleeve 63 is rotationally cooperated with the first Hooke joint first rotating shaft, and the first Hooke joint second rotating shaft is rotationally cooperated with the pelvic base 5.

[0038] As Figure 4 shown in the figure, the second branch 7 includes a second Hooke joint, a second push rod 73, a second moving pair, and a first rotating pair 75 that are sequentially connected between the waist platform 4 and the pelvic base 5; the second Hooke joint includes a second Hooke joint first rotating shaft 71 and a second Hooke joint second rotating shaft 72; one end of the second push rod 73 is rotationally cooperated with the second Hooke joint first rotating shaft, the second Hooke joint second rotating shaft is rotationally cooperated with the waist platform 4, the other end of the second push rod 73 is cooperated with the second sleeve 74 to form the second moving pair, and the other end of the second sleeve 74 is rotationally cooperated with the pelvic base 5 through the first rotating pair 75.

[0039] From Figure 1 , Figure 2 it can be known that in this embodiment, the two connectors (i.e., the two second Hooke joints) of the two second branches connecting the waist platform are located on the bottom surface of the waist platform, and are respectively located at the center of the front side (i.e., Figure 1 the midpoint in the left-right direction) position and the center of the rear side position ( Figure 1 in the figure, the two connectors coincide); similarly, the two connectors (i.e., the two first rotating pairs) of the two second branches connecting the pelvic base are located on the top surface of the pelvic base, and are respectively located at the center of the front side position and the center of the rear side position ( Figure 1 in the figure, the two connectors coincide).

[0040] In this embodiment, both ends of each first branch are respectively connected to the bottom surface of the waist platform and the top surface of the pelvic base, and the four first branches 6 are symmetrically arranged with respect to the two second branches 7; that is, two of the four first branches are arranged on the left side of the two second branches, and the other two are arranged on the right side of the two second branches. Specifically, the four connectors (i.e., four first ball joints) of the four first branches connected to the waist platform are located on the bottom surface of the waist platform, two of which are located on the front side of the bottom surface and are symmetric with respect to the connector at the center position on the front side of the bottom surface of the second branch, and the other two are located on the rear side of the bottom surface and are symmetric with respect to the connector at the center position on the rear side of the bottom surface of the second branch; the four connectors (i.e., four first Hooke joints) of the four first branches connected to the pelvic base are located on the top surface of the pelvic base, two of which are located on the front side of the top surface and are symmetric with respect to the connector at the center position on the front side of the top surface of the second branch, and the other two are located on the rear side of the bottom surface and are symmetric with respect to the connector at the center position on the rear side of the top surface of the second branch.

[0041] In this embodiment, the axes of the four second axes 65 of the four first Hooke joints in the four first branches 6 are parallel to each other; among the two second branches, the axes of the two second axes 72 of the second Hooke joints coincide, and the axis of the first axis 71 of the second Hooke joint is parallel to the axis of the first rotating pair 75.

[0042] In this embodiment, the first moving pair and the second moving pair are both driving pairs and are driven by a driving motor through a transmission mechanism (conventional mechanism).

[0043] Embodiment 2

[0044] As Figure 5 shown, a redundant drive parallel waist mechanism for a humanoid robot includes a waist platform 4 connected to the upper limb 1 of the humanoid robot, a pelvic base 5 connected to the lower limb 3 of the humanoid robot, and six branches connected in parallel between the waist platform 4 and the pelvic base 5. The six branches include four third branches 8 and two fourth branches 9.

[0045] As Figure 6 shown, the third branch 8 includes a second ball joint 81, a first link 82, a third rotating pair 83, a second link 84, and a third Hooke joint connected in sequence between the waist platform 4 and the pelvic base 5; the third Hooke joint includes a third first axis 85 and a third first axis 86; one end of the first link 82 is connected and cooperated with the waist platform 4 through the second ball joint 81, the other end of the first link is rotationally cooperated with one end of the second link 84 through the third rotating pair 83, and the other end of the second link 84 is connected and cooperated with the pelvic base 5 through the third Hooke joint.

[0046] AsFigure 7 As shown, the fourth branch 9 includes a fourth Hook hinge, a third link 93, a fourth rotating pair 94, a fourth link 95, and a fifth rotating pair 96 that are sequentially connected between the waist platform 4 and the pelvic base 5; the fourth Hook hinge includes a first shaft 91 of the fourth Hook hinge and a second shaft 92 of the fourth Hook hinge; one end of the third link 93 is connected and cooperated with the waist platform 4 through the fourth Hook hinge, the other end 93 of the third link is rotationally cooperated with one end of the fourth link 95 through the fourth rotating pair 94, and the other end of the fourth link 95 is connected and cooperated with the pelvic base 5 through the fifth rotating pair 96;

[0047] From Figure 1 , Figure 5 it can be seen that in this embodiment, the positions of the connecting members at both ends of the two fourth branches 9 connecting the waist platform 4 and the pelvic base 5 are the same as those of the second branch in Embodiment 1; that is, the two connecting members (i.e., the two fourth Hook hinges) of the two fourth branches connecting the waist platform are located on the bottom surface of the waist platform, and are respectively located at the front center position and the rear center position of the bottom surface ( Figure 1 in, the two connecting members coincide); similarly, the two connecting members (i.e., the two fifth rotating pairs) of the two fourth branches connecting the pelvic base are located on the top surface of the pelvic base, and are respectively located at the front center position and the rear center position of the top surface ( Figure 1 in, the two connecting members coincide).

[0048] In this embodiment, the positions of the connecting members at both ends of the four third branches 8 connecting the waist platform 4 and the pelvic base 5 are the same as those of the first branch in Embodiment 1; that is, both ends of each third branch are respectively connected to the bottom surface of the waist platform and the top surface of the pelvic base; and the four third branches are symmetrically arranged with respect to the two fourth branches; that is, two of the four third branches are arranged on the left side of the two fourth branches, and the other two are arranged on the right side of the two fourth branches. Specifically, the four connecting members (i.e., the four second ball hinges) of the four third branches and the waist platform are located on the bottom surface of the waist platform, two of the connecting members are symmetric with respect to the connecting member at the front center position of the bottom surface of the fourth branch, and the other two connecting members are symmetric with respect to the connecting member at the rear center position of the bottom surface of the fourth branch; the four connecting members (i.e., the four third Hook hinges) of the four third branches and the pelvic base are located on the top surface of the pelvic base, two of the connecting members are located on the front side of the top surface and are symmetric with respect to the connecting member at the front center position of the top surface of the fourth branch, and the other two connecting members are located on the rear side of the bottom surface and are symmetric with respect to the connecting member at the rear center position of the top surface of the fourth branch.

[0049] In this embodiment, the axes of the four first rotating shafts 85 of the four third Hooke joints in the four third branches 8 are parallel to each other; the axes of the two second rotating shafts 92 of the two fourth Hooke joints in the two fourth branches coincide, and the axes of the first rotating shafts 91 of the two fourth Hooke joints are parallel to each other and parallel to the axes of the fourth rotating pair 94 and the fifth rotating pair 96.

[0050] In this embodiment, the third rotating pair 83 and the fourth rotating pair 94 are both driving pairs, and a driving motor is provided.

[0051] This redundant drive parallel waist mechanism can achieve flexible and high-precision movement of the humanoid robot. By connecting the waist platform to the pelvic base on the upper and lower limbs of the humanoid robot, the movement required during the operation of the humanoid robot can be achieved. When the humanoid robot performs a work task, the redundant drive parallel waist mechanism can not only ensure the balance of movement, improve the robot's ability to precisely control the movement of the humanoid robot, but also provide the humanoid robot with greater movement ability to adapt to more work scenarios and complete more work tasks.

Claims

1. A redundant drive parallel waist mechanism for a humanoid robot, characterized in that: The mechanism includes a waist platform (4) connected to the upper limb (1) of the humanoid robot, a pelvic base (5) connected to the lower limb (3) of the humanoid robot, and six branches connected in parallel between the waist platform (4) and the pelvic base (5); The six branches include four first branches (6) and two second branches (7); or, The six branches include four third branches (8) and two fourth branches (9).

2. The redundant drive parallel waist mechanism for a humanoid robot according to claim (1), characterized in that: The first branch includes a first ball joint (61), a first push rod (62), a first sliding pair, and a first Hooke joint connected in sequence between the waist platform and the pelvic base; The second branch includes a second Hooke joint, a second push rod (73), a second sliding pair, and a first rotating pair (75) connected in sequence between the waist platform and the pelvic base.

3. The redundant drive parallel waist mechanism for a humanoid robot according to claim 2, characterized in that: The two second Hooke joints of the two second branches connecting the waist platform are located on the bottom surface of the waist platform, and are respectively located at the front center position and the rear center position of the bottom surface; the two first rotating pairs of the two second branches connecting the pelvic base are located on the top surface of the pelvic base, and are respectively located at the front center position and the rear center position of the top surface; The first ball joints and the first Hooke joints at both ends of each first branch are respectively connected to the bottom surface of the waist platform and the top surface of the pelvic base; the four first branches are symmetrically arranged with respect to the two second branches.

4. The parallel trunk rehabilitation robot with multiple support platforms according to claim 3, wherein: Among the four first branches shown: the two first ball joints of two of the first branches are located on the front side of the bottom surface of the waist platform and are symmetric with respect to the second Hooke joint at the front center position of the bottom surface; the two first ball joints of the other two first branches are located on the rear side of the bottom surface of the waist platform and are symmetric with respect to the second Hooke joint at the front center position of the bottom surface; the two first Hooke joints of two of the first branches are located on the front side of the top surface of the pelvic base and are symmetric with respect to the first rotating pair at the front center position of the top surface; the two first Hooke joints of the other two first branches are located on the rear side of the top surface of the pelvic base and are symmetric with respect to the first rotating pair at the rear center position of the bottom surface.

5. The parallel torso rehabilitation robot with multiple support platforms according to claim 4, characterized in that: The axes of the second rotating shafts (65) of the four first Hooke joints in the four first branches are parallel to each other; the axes of the second rotating shafts (72) of the two second Hooke joints in the two second branches coincide, and the axes of the two first rotating shafts (71) of the two second Hooke joints are parallel to the axis of the first rotating pair (75).

6. The redundant drive parallel waist mechanism for a humanoid robot according to claim 1, characterized in that: The third branch (8) includes a second ball joint (81), a first connecting rod (82), a third rotating pair (83), a second connecting rod (84), and a third Hooke joint connected in sequence between the waist platform (4) and the pelvic base (5); The fourth branch (9) includes a fourth Hooke joint, a third connecting rod (93), a fourth rotating pair (94), a fourth connecting rod (95), and a fifth rotating pair (96) connected in sequence between the waist platform and the pelvic base.

7. A redundant drive parallel waist mechanism for a humanoid robot according to claim 6, characterized in that: The two fourth branches are connected to two fourth Hooke joints of the waist platform, which are located on the bottom surface of the waist platform and are respectively located at the front center position and the rear center position of the bottom surface; the two fifth rotating pairs of the two fourth branches connected to the pelvic base are located on the top surface of the pelvic base and are respectively located at the front center position and the rear center position of the top surface. The second ball joints and the third Hooke joints at both ends of each third branch are respectively connected to the bottom surface of the waist platform and the top surface of the pelvic base; the four third branches are symmetrically arranged with respect to the two fourth branches.

8. The redundant drive parallel waist mechanism for a humanoid robot according to claim 7, characterized in that: Among the four third branches: the two second ball joints of two of the third branches are located on the front side of the bottom surface of the waist platform and are symmetric with respect to the fourth Hooke joint at the front center position of the bottom surface; the two second ball joints of the other two third branches are located on the rear side of the bottom surface of the waist platform and are symmetric with respect to the fourth Hooke joint at the front center position of the bottom surface; the two third Hooke joints of two of the third branches are located on the front side of the top surface of the pelvic base and are symmetric with respect to the fifth rotating pair at the front center position of the top surface; the two third Hooke joints of the other two third branches are located on the rear side of the top surface of the pelvic base and are symmetric with respect to the fifth rotating pair at the rear center position of the bottom surface.

9. A parallel trunk rehabilitation robot with multiple support platforms according to claim 8, characterized in that: The axes of the first rotating shafts (85) of the four third Hooke joints in the four third branches (8) are parallel to each other; the axes of the second rotating shafts (92) of the two fourth Hooke joints in the two fourth branches (9) coincide, and the axes of the first rotating shafts of the two fourth Hooke joints (91) are parallel to each other and are parallel to the axes of the fourth rotating pair (94) and the axes of the fifth rotating pair (96).

10. A redundant drive parallel waist mechanism for a humanoid robot according to claim 5 or 9, characterized in that: The first moving pair and the second moving pair are both driving pairs and are driven by a driving motor through a transmission mechanism; the third rotating pair (83) and the fourth rotating pair (94) are both driving pairs and are driven by a driving motor through a transmission mechanism.

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