Linear driving hip joint robot and using method thereof

Abstract

The invention discloses a linearly-driven hip joint robot and a using method thereof, and belongs to the technical field of robot hip joints. The linearly-driven hip joint robot comprises a connecting base, left-right swing parts are rotationally connected to the two sides of the bottom of the connecting base respectively, and left-right linear driving devices are hinged to the left-right swing parts; the end, away from the left-right swing part, of the left-right linear driving device is hinged to the connecting base, the end, away from the connecting base, of the left-right swing part is rotationally connected with a rotating part, and the end, away from the left-right swing part, of the rotating part is rotationally connected with a front-back swing part. The end, away from the front-back swing piece, of the front-back linear driving device is hinged to the rotating piece. According to the invention, joint movement can be flexibly realized, the driving force is large, the load is large, high-frequency back-and-forth accurate control can be realized, the response speed is high, the purpose of driving the joints of the robot can be well achieved and realized, various complex actions can be completed, and due to the open structure, the heat dissipation effect is good, and the effect of adapting to long-time work can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic hip joints, and particularly to a hip joint robot with linear drive and its usage method. Background Art

[0002] The hip joint of a robot is the core part for its movement, which can realize the movement of the lower limbs of the robot. Through the cooperation among various components of the hip joint, the movement efficiency among various components of the hip joint is improved, which can better meet the high load, frequent movement and precise control of the robot in various scenarios, and greatly expands the usage scenarios of the robot.

[0003] The hip joint of a robot is the core moving part connecting the torso and the lower limbs, and needs to meet the requirements of multiple degrees of freedom, high load, dynamic balance and complex movement. Its design needs to imitate the biomechanical characteristics of the human hip joint, including degrees of freedom such as flexion / extension, abduction / adduction, internal rotation / external rotation, etc. For example, the hip of a humanoid robot usually adopts a three-degree-of-freedom spherical joint design, and realizes humanoid movement through motor or hydraulic drive.

[0004] In view of the above related technologies, the applicant found that the existing robotic hip joints directly drive the joint rotation by motors and joint modules, which often requires a large torque to achieve. The existing robotic hip joints usually adopt high-power motors and use reducers to increase the torque. Also, due to frequent start and stop, and the compact structure, the heat dissipation problem is often prominent, and the heat dissipation effect is often poor during actual operation. Therefore, it is urgent to optimize the heat dissipation structure design of the robotic hip joint. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technologies, the present invention provides a hip joint robot with linear drive and its usage method, which can flexibly realize joint movement according to the layout of the robot, has a large driving force, a large load, can accurately control the high-frequency back-and-forth movement, has a fast response speed, can better achieve and realize the purpose of driving the joints of the robot, so as to complete various complex actions. Because of its open structure, it has a good heat dissipation effect and can adapt to long-term work.

[0006] The technical solution for the present invention to solve the above technical problems is as follows:

[0007] A hip joint robot with linear drive includes a connecting seat. On both sides of the bottom of the connecting seat, there are respectively rotatably connected left and right swing members. An left and right linear drive device is hinged on the left and right swing members. The end of the left and right linear drive device away from the left and right swing members is hinged to the connecting seat. The end of the left and right swing members away from the connecting seat is rotatably connected to a rotating member. The end of the rotating member away from the left and right swing members is rotatably connected to a front and rear swing member. A front and rear linear drive device is hinged on the front and rear swing members. The end of the front and rear linear drive device away from the front and rear swing members is hinged to the rotating member.

[0008] Furthermore, a rotary linear driving device is hinged to the rotating member, and one end of the rotary linear driving device away from the rotating member is hinged to the left and right swinging member.

[0009] Furthermore, the telescopic direction of the left and right linear driving device is consistent with the rotating direction of the left and right swinging member on the connecting seat.

[0010] Furthermore, the telescopic direction of the rotary linear driving device is consistent with the telescopic direction of the left and right linear driving device in the initial state.

[0011] Furthermore, the telescopic direction of the front and rear linear driving device is consistent with the rotating direction of the front and rear swinging member on the rotating member.

[0012] Furthermore, the left and right linear driving device, the front and rear linear driving device and the rotary linear driving device are all linear driving structures. The linear driving structure includes a driving rod and a driving housing. The driving rod is placed in the driving housing for linear telescopic movement. A driving motor is provided in the driving housing. The driving motor is rotationally connected with a driving screw. A driving nut is provided on one side of the driving rod close to the driving screw. The driving screw passes through the driving nut for threaded connection.

[0013] Furthermore, a speed reducer is provided on the driving motor, and the speed reducer is placed between the driving screw and the driving motor.

[0014] A using method of a hip joint robot driven by linear driving includes the following using methods:

[0015] Left and right swing: Adopting a linear driving motion mode, start the left and right linear driving device. With the connecting seat as the fulcrum, one end of the left and right linear driving device abuts against the connecting seat, and the other end of the left and right linear driving device makes an extending or retracting motion, driving the left and right swinging member to make a left and right swinging motion;

[0016] Rotation: Adopting a linear driving motion mode, start the rotary linear driving device. With the left and right swinging member as the fulcrum, one end of the rotary linear driving device abuts against the left and right swinging member, and the other end of the rotary linear driving device makes an extending or retracting motion, driving the rotating member to make a rotating motion;

[0017] Front and rear swing: Adopting a linear driving motion mode, start the front and rear linear driving device. With the rotating member as the fulcrum, one end of the front and rear linear driving device abuts against the rotating member, and the other end of the front and rear linear driving device makes an extending or retracting motion, driving the front and rear swinging member to make a front and rear swinging motion.

[0018] In summary, compared with the prior art, the beneficial effects of the above technical solutions are:

[0019] (1) This application can flexibly achieve joint movement according to the layout of the robot. It has a large driving force, a large load capacity, can accurately control the high-frequency back-and-forth movement, has a fast response speed, can better achieve and realize the purpose of driving the joints of the robot, and thus complete various complex actions. Due to its open structure, it has good heat dissipation effect and can adapt to long-term work;

[0020] (2) The structure of this application is simple and effective. It can drive the joints in a linear motion, has a large load capacity, a fast response speed, the hip joint moves flexibly, can achieve precise control, has an open structure, good heat dissipation, and can adapt to long-term movement.

[0021] (3) This application innovatively adopts the form of a screw and a nut to convert the motor rotation into a linear motion. This structure operates stably and reliably, can achieve precise control, can drive a large load, has a simple structure, is conducive to heat dissipation, and can achieve long-term high-load movement;

[0022] (4) This application innovatively adopts a linear drive mode, can achieve multi-degree-of-freedom movements such as left and right swing, front and back swing, and rotation of the hip joint. This structure requires less force, can greatly reduce the volume of the actuator, reduce the power demand of the actuator, and can achieve the optimal torque design through hinge point optimization.

[0023] (5) The structure of this application is ingeniously designed, can improve the joint movement efficiency, has a fast response speed, a large driving force, precise movement, can better meet the high-load, frequent movement and precise control of the robot in various scenarios to achieve the lifting function, is easy to manufacture, has a low cost, is convenient and flexible. At the same time, it can be extended to the drive of different joints of the robot and has strong adaptability. Brief Description of the Drawings

[0024] Figure 1 is the overall structure schematic diagram of the embodiment of the present invention;

[0025] Figure 2 is the exploded structure schematic diagram of the embodiment of the present invention;

[0026] Figure 3 is the action schematic diagram of the left and right swing in the embodiment of the present invention;

[0027] Figure 4 is the action schematic diagram of the front and back swing in the embodiment of the present invention;

[0028] Figure 5 is the action schematic diagram of the rotation in the embodiment of the present invention;

[0029] Figure 6 is the schematic diagram of the linear drive type structure in the embodiment of the present invention;

[0030] Figure 7 is the internal structure schematic diagram of the linear drive type structure in the embodiment of the present invention.

[0031] Description of reference numerals: 1. connecting seat; 2. left and right swing member; 3. left and right linear driving device; 4. rotating member; 5. rotating linear driving device; 6. front and back swing member; 7. front and back linear driving device; 8. driving rod; 9. driving housing; 10. driving motor; 11. driving screw; 12. driving nut; 13. speed reducer. Specific embodiments

[0032] The principles and features of the present invention will be described below in conjunction with all the attached drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0033] An embodiment of the present invention discloses a hip joint robot driven by a linear drive and its usage method.

[0034] Referring to Figure 1 and Figure 2 、 Figure 3 A hip joint robot driven by a linear drive includes a connecting seat 1. The two sides of the bottom of the connecting seat 1 are respectively rotatably connected with a left and right swing member 2. The rotatable connection structure here can adopt the connection method of a pin shaft. A left and right linear driving device 3 is hinged on the left and right swing member 2. One end of the left and right linear driving device 3 far away from the left and right swing member 2 is hinged with the connecting seat 1. The telescopic direction of the left and right linear driving device 3 is the same as the rotation direction of the left and right swing member 2 on the connecting seat 1.

[0035] Of course, in addition to the method of this embodiment, different hinge points and connection mechanisms of the left and right linear driving device 3 can also be adopted, as long as the left and right swing movement of the hip joint can be realized.

[0036] Referring to Figure 1 and Figure 2 、 Figure 4 One end of the left and right swing member 2 far away from the connecting seat 1 is rotatably connected with a rotating member 4. The rotatable connection structure here can adopt the connection method of sleeved rotation. A rotating linear driving device 5 is hinged on the rotating member 4. One end of the rotating linear driving device 5 far away from the rotating member 4 is hinged with the left and right swing member 2. The telescopic direction of the rotating linear driving device 5 is the same as the telescopic direction of the left and right linear driving device 3 in the initial state.

[0037] Of course, in addition to the method of this embodiment, different hinge points and connection mechanisms of the rotating linear driving device 5 can be adopted, as long as the rotational movement of the hip joint can be realized.

[0038] Referring to Figure 1 and Figure 2 、 Figure 5, at one end of the rotating member 4 away from the left and right swinging member 2, a front and rear swinging member 6 is rotatably connected. The rotatable connection structure here can adopt the connection method of a pin shaft. A front and rear linear driving device 7 is hinged on the front and rear swinging member 6, and one end of the front and rear linear driving device 7 away from the front and rear swinging member 6 is hinged to the rotating member 4. The telescopic direction of the front and rear linear driving device 7 is the same as the rotating direction of the front and rear swinging member 6 on the rotating member 4.

[0039] Of course, in addition to the method of this embodiment, different hinge points and connection mechanisms of the front and rear linear driving device 7 can be adopted, as long as the front and rear swinging movement of the hip joint can be realized.

[0040] Refer to Figure 1 and Figure 6 、 Figure 7 , the left and right linear driving device 3, the front and rear linear driving device 7 and the rotating linear driving device 5 are all linear driving structures. The linear driving structure includes a driving rod 8 and a driving housing 9. The driving rod 8 is placed in the driving housing 9 to perform linear telescopic movement. A driving motor 10 is provided in the driving housing 9. The driving motor 10 is rotatably connected with a driving screw 11. A driving nut 12 is provided on one side of the driving rod 8 close to the driving screw 11. The driving screw 11 passes through the driving nut 12 for threaded connection. A speed reducer 13 is provided on the driving motor 10, and the speed reducer 13 is placed between the driving screw 11 and the driving motor 10.

[0041] Refer to Figure 7 , in the linear driving structure of this embodiment, the threaded connection of the driving screw 11 and the driving nut 12 is adopted to convert the rotational movement of the driving motor 10 into the power of linear movement. Through a linear driving structure, a linear driving joint can be realized, thereby improving the joint movement efficiency, with fast response speed, large driving force and accurate movement. The application innovatively adopts the mode of the linear driving structure, which can realize the left and right swinging, front and rear swinging, and rotation and other multi-degree-of-freedom movements of the hip joint. This structure requires less force, can greatly reduce the volume of the actuator, reduce the power demand of the actuator, and can achieve the optimal torque design through hinge point optimization.

[0042] Of course, in addition to the method of this embodiment, the driving screw 11 and the driving nut 12 in the linear driving structure can also be replaced with structures such as ball screws, and the ultimate purpose of linear driving can also be realized.

[0043] This application innovatively invents a linear driving hip joint structure, which can realize the multi-degree-of-freedom movement of the robot hip joint to complete the complex movement of the robot. The structure runs stably and reliably, is conducive to heat dissipation, and can realize long-time high-load movement. At the same time, it has the advantages of simple structure, easy production, low cost, easy maintenance, and can expand the movement of other joints of the robot.

[0044] This application can flexibly achieve joint movement according to the layout of the robot, with a large driving force, a large load, capable of precise control at high frequency back and forth, a fast response speed, and can better achieve and realize the purpose of driving the joints of the robot, thus completing various complex actions. Due to its open structure, it has good heat dissipation effect and can adapt to long-term work.

[0045] The structure of this application is ingeniously designed, which can improve the efficiency of joint movement, with a fast response speed, a large driving force, precise movement, and can better meet the high load, frequent movement and precise control of the robot in various scenarios to achieve the lifting function. It is easy to manufacture, has a low cost, is convenient and flexible. At the same time, it can be extended to the use of different joint drives of the robot and has strong adaptability.

[0046] Refer to Figure 2 and Figure 3 、 Figure 4 、 Figure 5 , a method for using a hip joint robot with linear drive, including the following usage methods:

[0047] Left and right swing: Adopt the linear drive motion mode, start the left and right linear drive device 3, one end of the left and right linear drive device 3 abuts against the connecting seat 1, and the other end of the left and right linear drive device 3 makes an extending or retracting movement, driving the left and right swing parts 2 to make a left and right swing movement;

[0048] Rotation: Adopt the linear drive motion mode, start the rotary linear drive device 5, one end of the rotary linear drive device 5 abuts against the left and right swing parts 2, and the other end of the rotary linear drive device 5 makes an extending or retracting movement, driving the rotating part 4 to make a rotating movement;

[0049] Front and back swing: Adopt the linear drive motion mode, start the front and back linear drive device 7, one end of the front and back linear drive device 7 abuts against the rotating part 4, and the other end of the front and back linear drive device 7 makes an extending or retracting movement, driving the front and back swing parts 6 to make a front and back swing movement.

[0050] The implementation principle of a hip joint robot with linear drive and its usage method in an embodiment of the present invention is as follows:

[0051] This application adopts the linear drive motion mode. Start the left and right linear drive device 3, with the connecting seat 1 as the fulcrum. One end of the left and right linear drive device 3 abuts against the connecting seat 1, and the other end of the left and right linear drive device 3 makes an extending or retracting movement, driving the left and right swing parts 2 to make a left and right swing movement.

[0052] This application adopts the linear drive motion mode. Start the rotary linear drive device 5, with the left and right swing parts 2 as the fulcrum. One end of the rotary linear drive device 5 abuts against the left and right swing parts 2, and the other end of the rotary linear drive device 5 makes an extending or retracting movement, driving the rotating part 4 to make a rotating movement.

[0053] The present application adopts a linear drive motion mode. Before and after starting the linear drive device 7, with the rotating member 4 as the fulcrum, one end of the front and rear linear drive device 7 abuts against the rotating member 4, and the other end of the front and rear linear drive device 7 makes an extending or retracting motion, driving the front and rear swing members 6 to make a front and rear swinging motion.

[0054] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. 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 hip joint robot driven by linear motion, characterized in that: It includes a connecting seat (1). On both sides of the bottom of the connecting seat (1), left and right swinging members (2) are respectively rotatably connected. An left and right linear driving device (3) is hinged on the left and right swinging members (2). One end of the left and right linear driving device (3) far from the left and right swinging members (2) is hinged to the connecting seat (1). One end of the left and right swinging members (2) far from the connecting seat (1) is rotatably connected to a rotating member (4). One end of the rotating member (4) far from the left and right swinging members (2) is rotatably connected to a front and back swinging member (6). A front and back linear driving device (7) is hinged on the front and back swinging members (6). One end of the front and back linear driving device (7) far from the front and back swinging members (6) is hinged to the rotating member (4).

2. The linear drive hip joint robot according to claim 1, wherein: A rotating linear driving device (5) is hinged on the rotating member (4). One end of the rotating linear driving device (5) far from the rotating member (4) is hinged to the left and right swinging members (2).

3. The linear drive hip joint robot according to claim 1, wherein: The telescopic direction of the left and right linear driving device (3) is consistent with the rotating direction of the left and right swinging members (2) on the connecting seat (1).

4. The linear drive hip joint robot according to claim 2, characterized in that: The telescopic direction of the rotating linear driving device (5) is the same as the telescopic direction of the left and right linear driving device (3) in the initial state.

5. A hip joint robot driven linearly according to claim 1, wherein: The telescopic direction of the front and back linear driving device (7) is consistent with the rotating direction of the front and back swinging members (6) on the rotating member (4).

6. The linear drive hip joint robot according to claim 2, characterized in that: The left and right linear driving device (3), the front and back linear driving device (7) and the rotating linear driving device (5) are all linear driving structures. The linear driving structure includes a driving rod (8) and a driving housing (9). The driving rod (8) is placed in the driving housing (9) to make a linear telescopic movement. A driving motor (10) is provided in the driving housing (9). The driving motor (10) is rotatably connected with a driving screw rod (11). A driving nut (12) is provided on one side of the driving rod (8) close to the driving screw rod (11). The driving screw rod (11) passes through the driving nut (12) for threaded connection.

7. The linear drive hip joint robot according to claim 6, characterized in that: A speed reducer (13) is provided on the driving motor (10). The speed reducer (13) is placed between the driving screw rod (11) and the driving motor (10).

8. A method for using a hip joint robot with linear drive according to any one of claims 1 to 7, characterized in that It includes the following usage methods: Left and right swing: Adopting a linear driving motion mode, start the left and right linear driving device (3). With the connecting seat (1) as the fulcrum, one end of the left and right linear driving device (3) abuts against the connecting seat (1), and the other end of the left and right linear driving device (3) makes an extending or retracting motion, driving the left and right swinging members (2) to make a left and right swinging motion; Rotation: Adopting a linear driving motion mode, start the rotating linear driving device (5). With the left and right swinging members (2) as the fulcrum, one end of the rotating linear driving device (5) abuts against the left and right swinging members (2), and the other end of the rotating linear driving device (5) makes an extending or retracting motion, driving the rotating member (4) to make a rotating motion; Front and back swing: Adopting a linear driving motion mode, start the front and back linear driving device (7). With the rotating member (4) as the fulcrum, one end of the front and back linear driving device (7) abuts against the rotating member (4), and the other end of the front and back linear driving device (7) makes an extending or retracting motion, driving the front and back swinging members (6) to make a front and back swinging motion.

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