Waist device of humanoid robot

Abstract

The waist device of the humanoid robot comprises a waist rotating mechanism and a waist pitching mechanism, the waist rotating mechanism comprises a rotary driving module, a bearing and an output adapter, the bearing is arranged on the periphery of the rotary driving module, the output adapter is correspondingly arranged on the bearing, and the output adapter is connected with an output shaft of the rotary driving module; the waist pitching mechanism comprises a shell, a pitching motor, a bearing frame, a mounting piece and a pitching bearing, the shell is arranged on the output adapter, the pitching motor and the mounting piece are correspondingly arranged on the shell, the pitching bearing is connected with the mounting piece, the pitching motor and the pitching bearing are coaxial, and the two sides of the bearing frame are connected with a rotating shaft of the pitching motor and the pitching bearing respectively. The mechanism is simple in structure, through the design of the positions of the bearing and the pitching bearing, the weight above the waist is loaded to the bearing, the generated torque is also loaded by the bearing, the load of the speed reducer is reduced, the service life of the rotation driving module and the pitching motor is prolonged, and the bearing capacity of the humanoid robot is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a waist device for a humanoid robot. Background Technology

[0002] Existing humanoid robots have a waist device mounted between the upper and lower body to drive the upper body to rotate relative to the lower body, thus achieving waist twisting. Currently, the waist device of existing humanoid robots has a complex structure, and its load-bearing capacity mainly relies on a reducer, which has poor load-bearing capacity and a short service life. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide a waist device for a humanoid robot to simplify the structure and improve the load-bearing capacity.

[0004] To address the aforementioned technical problems, this invention provides a waist device for a humanoid robot, comprising a waist rotation mechanism and a waist pitch mechanism. The waist rotation mechanism includes a rotation drive module, a bearing, and an output adapter. The bearing is located on the outer periphery of the rotation drive module, and the output adapter is correspondingly located on the bearing, connecting to the output shaft of the rotation drive module. The waist pitch mechanism includes a housing, a pitch motor, a support frame, a mounting component, and a pitch bearing. The housing is located on the output adapter, and the pitch motor and mounting component are correspondingly located on the housing. The pitch bearing is connected to the mounting component, and the pitch motor and pitch bearing are coaxial. The support frame is connected to the rotation shaft of the pitch motor and the pitch bearing on both sides, respectively.

[0005] Furthermore, the bottom of the output adapter is provided with an arc-shaped limiting groove, and the rotary drive module is provided with a limiting block located in the limiting groove.

[0006] Furthermore, the output adapter is provided with a positioning groove, and the bottom of the housing is provided with a positioning block embedded in the positioning groove.

[0007] Furthermore, the output adapter has a bushing in the middle, which is fitted onto the output shaft of the rotary drive module. The bushing has a fixing hole, and a screw is installed in the fixing hole. The output shaft of the rotary drive module is fixed to the output adapter by the screw.

[0008] Furthermore, it also includes an encoder for detecting the rotation angle of the rotary drive module.

[0009] Furthermore, the shell is equipped with two limiting components that limit the pitching movement of the support frame.

[0010] Furthermore, the housing is provided with wiring holes.

[0011] Furthermore, the housing is provided with several circumferential fixing holes.

[0012] Furthermore, support portions are provided on both sides of the housing corresponding to the mounting components.

[0013] Furthermore, the rotary drive module consists of a motor and a reducer.

[0014] The beneficial effects of this invention are as follows: This invention has a simple structure. Through the design of the bearing and pitch bearing positions, the weight above the waist is loaded onto the bearing, and the generated torque is also carried by the bearing, which reduces the load on the reducer, improves the service life of the rotary drive module and the pitch motor, and enhances the load-bearing capacity of the humanoid robot. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the waist device of the humanoid robot according to an embodiment of the present invention.

[0016] Figure 2 This is a three-dimensional structural diagram of the waist device of the humanoid robot according to an embodiment of the present invention from another angle.

[0017] Figure 3 This is a side view of the waist device of the humanoid robot according to an embodiment of the present invention.

[0018] Figure 4 yes Figure 3 Sectional view at point AA.

[0019] Figure 5 This is a partial structural diagram of the waist device of the humanoid robot according to an embodiment of the present invention.

[0020] Figure 6 This is a three-dimensional structural diagram of the waist pitching mechanism of an embodiment of the present invention at one angle.

[0021] Figure 7 This is a three-dimensional structural diagram of the waist rotation mechanism according to an embodiment of the present invention.

[0022] Figure 8 This is a three-dimensional structural diagram of the output adapter of an embodiment of the present invention from one angle.

[0023] Figure 9 This is a three-dimensional structural view of the output adapter from another angle according to an embodiment of the present invention.

[0024] Figure 10 This is a three-dimensional structural diagram of the waist pitching mechanism according to another embodiment of the present invention.

[0025] Explanation of icon numbers 10. Waist rotation mechanism; 11. Rotary drive module; 12. Bearing; 13. Output shaft; 14. Limiting block; 20. Output adapter; 21. Limiting groove; 22. Positioning groove; 23. Bushing; 24. Fixing hole; 30. Waist pitch mechanism; 31. Positioning block; 32. Housing; 33. Pitch motor; 34. Bearing frame; 35. Mounting component; 36. Pitch bearing; 37. Limiting component; 38. Cable routing hole; 39. Circumferential fixing hole; 40. Support part. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] In this embodiment of the invention, directional indicators (such as up, down, left, right, front, back, etc.) are only used to explain the relative positional relationship and movement of each component in a specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0028] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0029] Please refer to Figures 1-10 The waist device of the humanoid robot in this embodiment of the invention includes a waist rotation mechanism and a waist pitching mechanism.

[0030] The waist rotation mechanism includes a rotation drive module, bearings, and output adapters. The back and upper parts of the humanoid robot are mounted on the support frame of the waist pitching mechanism.

[0031] The bearing is mounted on the top outer periphery of the rotary drive module. The rotary drive module consists of a motor and a reducer. The output adapter is correspondingly mounted on the bearing. The weight of the humanoid robot's waist is supported by the bearing, eliminating the need for direct force on the reducer of the rotary drive module, thus improving service life and load-bearing capacity.

[0032] The output adapter connects to the output shaft of the rotary drive module in the middle. The housing of the waist pitch mechanism is located on the output adapter. When the humanoid robot needs to rotate its upper body components, it drives the rotary drive module, which in turn drives the waist pitch mechanism and the upper body components to rotate via the output adapter.

[0033] The pitch motor and mounting components are correspondingly mounted on the housing. The pitch bearing is connected to the mounting components; this invention ensures the coaxial positioning and installation position of the pitch bearing through the mounting components. The pitch motor and pitch bearing are arranged coaxially. The support frame is inverted U-shaped. The rotating shaft of the pitch motor and the pitch bearing are respectively connected to both sides of the support frame. When the humanoid robot needs to pitch at the waist, the pitch motor drives the support frame to pitch, thereby driving the back and above components of the humanoid robot mounted on the support frame to pitch.

[0034] In one implementation, the bottom of the output adapter is provided with an arc-shaped limiting groove, and the rotary drive module is provided with a limiting block located in the limiting groove. This invention achieves the limitation of waist rotation through the cooperation of the limiting block and the limiting groove.

[0035] In one implementation, the output adapter is provided with a positioning groove, and a positioning block embedded in the positioning groove is correspondingly provided at the bottom of the housing. Preferably, there are multiple sets of positioning blocks and positioning grooves, which facilitates installation and eliminates orientation errors. This invention, through the cooperation of the positioning blocks and positioning grooves, facilitates the quick and easy assembly and fixed connection of the waist pitching mechanism to the waist rotation mechanism of a humanoid robot.

[0036] In one embodiment, the output adapter has a bushing in the middle, which is fitted onto the output shaft of the rotary drive module. The bushing has a fixing hole, into which a screw is fitted. The output shaft of the rotary drive module is fixedly connected to the output adapter via the screw. This invention facilitates assembly, allowing the output adapter to be quickly connected to the output shaft of the rotary drive module via screws.

[0037] In one implementation, the waist rotation mechanism of the humanoid robot also includes an encoder for detecting the rotation angle of the rotation drive module. The encoder detects the waist rotation angle in real time, facilitating intelligent control of the humanoid robot's posture.

[0038] In one implementation, the housing is provided with two limiting members, which respectively limit the pitch movement of the support frame. The two limiting members restrict the pitch angle. The limiting members are integrally formed with the housing, making the limiting member structure more robust, simpler, and more integrated.

[0039] As one implementation method, the housing is provided with wiring holes, preferably located on the back of the housing, to achieve concealed wiring.

[0040] In one implementation, the housing is provided with several circumferential fixing holes, and the output adapter has corresponding openings to facilitate circumferential fixing with screws, so that the waist pitch mechanism can be installed on the output adapter.

[0041] As one implementation method, the housing is provided with support portions on both sides corresponding to the mounting parts. The irregular shape design of the housing of the present invention ensures that the housing has sufficient strength while also facilitating the coaxial positioning and installation position of the mounting parts.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A waist support device for a humanoid robot, characterized in that, The device includes a waist rotation mechanism and a waist pitch mechanism. The waist rotation mechanism includes a rotary drive module, a bearing, and an output adapter. The bearing is located on the outer periphery of the rotary drive module, and the output adapter is correspondingly located on the bearing. The output adapter is connected to the output shaft of the rotary drive module. The waist pitch mechanism includes a housing, a pitch motor, a support frame, a mounting component, and a pitch bearing. The housing is located on the output adapter, and the pitch motor and the mounting component are correspondingly located on the housing. The pitch bearing is connected to the mounting component. The pitch motor and the pitch bearing are coaxial. The two sides of the support frame are respectively connected to the rotating shaft of the pitch motor and the pitch bearing.

2. The waist device of the humanoid robot as described in claim 1, characterized in that, The bottom of the output adapter is provided with an arc-shaped limiting groove, and the rotary drive module is provided with a limiting block located in the limiting groove.

3. The waist device of the humanoid robot as described in claim 1, characterized in that, The output adapter has a positioning groove, and the bottom of the housing has a corresponding positioning block embedded in the positioning groove.

4. The waist device of the humanoid robot as described in claim 1, characterized in that, The output adapter has a bushing in the middle, which is fitted onto the output shaft of the rotary drive module. The bushing has a fixing hole, and a screw is installed in the fixing hole. The output shaft of the rotary drive module is fixed to the output adapter by the screw.

5. The waist device of the humanoid robot as described in claim 1, characterized in that, It also includes an encoder for detecting the rotation angle of the rotary drive module.

6. The waist device of the humanoid robot as described in claim 1, characterized in that, The housing is equipped with two limiting components that limit the pitching and tilting motion of the support frame.

7. The waist device of the humanoid robot as described in claim 1, characterized in that, The housing has wiring holes.

8. The waist device of the humanoid robot as described in claim 1, characterized in that, The housing has several circumferential fixing holes.

9. The waist device of the humanoid robot as described in claim 1, characterized in that, Support parts are provided on both sides of the housing corresponding to the mounting parts.

10. The waist device of the humanoid robot as described in claim 1, characterized in that, The rotary drive module consists of a motor and a reducer.

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