A humanoid robot hip, shoulder joint spherical parallel mechanism

Abstract

The present application relates to the technical field of robot joint, and discloses a humanoid robot hip and shoulder joint spherical parallel mechanism, which comprises a base platform, a plurality of rotating parts are uniformly and spacedly arranged in the circumference of the base platform, the base platform is connected with the body trunk, a driving module is connected with the rotating part, a plurality of motion branch chains are composed of a plurality of rotating pairs and connecting rods arranged alternately, a movable platform is rotatably connected with the uppermost rotating pair of the motion branch chain, and the movable platform is connected with the body arm or the body leg, and a negative Poisson's ratio structure support is arranged between the movable platform and the base platform.The present application has no control blind area, the stress is uniformly distributed in each connecting rod and rotating pair, and the wear is low; when the robot maintains a static or quasi-static posture such as standing, hovering or crouching, the driving module does not need to output power, but only needs to maintain the current posture through the self-locking characteristic of the worm gear mechanism, the static power consumption is extremely low, and the negative Poisson's ratio structure support can play a role in buffering and shock absorption.

Description

Technical Field

[0001] This invention relates to the field of robot joint technology, and in particular to a spherical parallel mechanism for the hip and shoulder joints of a humanoid robot. Background Technology

[0002] As the core hub connecting the robot's torso and limbs, robot joints, especially the hip and shoulder joints, bear extremely complex spatial motion tasks and extremely high dynamic loads. Most existing robot joints adopt a serial mechanism design. Although serial mechanisms are relatively mature in kinematic forward and inverse kinematics calculations and have a large workspace, they suffer from a severe cantilever beam effect. That is, as the number of joint stages increases, the error of the end effector is amplified at each stage, resulting in extremely low structural stiffness and a very poor load-bearing-to-weight ratio of the overall system. Especially when humanoid robots run, jump, walk in high-dynamic conditions, or swing heavy objects with their arms, serial mechanisms are prone to significant elastic deformation and high-frequency vibration, making it difficult to meet the requirements for high loads and high dynamic response.

[0003] To overcome the disadvantages of serial mechanisms, spherical parallel mechanisms, because the rotational axes of all their kinematic chains always intersect at the same common center point in space, can achieve pure rotational motion around that point. Their kinematic topology closely matches the ball-and-socket physiological structure of the human hip and shoulder joints, making them suitable for robot joint design. However, existing spherical parallel mechanisms still have the following technical drawbacks: (1) Existing two-degree-of-freedom spherical parallel mechanisms are usually only equipped with two sets of power drive sources. At a certain angle, they will fall into the control blind zone of the mechanism, causing the joint to suddenly lose stiffness or jam, and the force is concentrated on local parts, resulting in severe uneven wear.

[0004] (2) When the robot maintains a static or quasi-static posture such as standing, hovering or crouching, the servo motor must continuously output power, resulting in extremely high static power consumption.

[0005] (3) When subjected to instantaneous high-intensity impact, the fully rigid spherical parallel joint lacks a vibration damping system. The instantaneous impact will be directly transmitted through the upstream parts and cause damage to the precision parts.

[0006] In view of this, how to provide a joint spherical parallel mechanism that can overcome all or part of the above-mentioned technical defects is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] The purpose of this invention is to provide a spherical parallel mechanism for the hip and shoulder joints of a humanoid robot. By using a composite negative Poisson's ratio structure and a spherical parallel mechanism, and by applying the self-locking characteristics of a worm gear mechanism to optimize the transmission system, the invention aims to solve the problems existing in the prior art.

[0008] To achieve the above objectives, the present invention provides a spherical parallel mechanism for the hip and shoulder joints of a humanoid robot, comprising: The base platform has multiple rotating components evenly spaced along the circumference, and the base platform is connected to the fuselage. A drive module, connected to the rotating component, is used to drive the rotating component to rotate. The spherical parallel execution module consists of multiple motion chains, which are arranged one-to-one with multiple rotating parts. Each motion chain is composed of multiple rotating joints and connecting rods arranged alternately. The two ends of each connecting rod are connected to different rotating joints. The lowermost rotating joint of the motion chain is coaxially connected to the rotating part. The movable platform has a rotating joint at the top of the motion chain that is rotatably connected to the movable platform, and multiple motion chains are evenly spaced along the circumference of the movable platform; the movable platform is connected to the fuselage arm or fuselage leg.

[0009] Furthermore, it also includes: a negative Poisson's ratio structural support, disposed between the active platform and the base platform, and made of a negative Poisson's ratio material.

[0010] Furthermore, the negative Poisson's ratio structure support includes a first mounting flange, a negative Poisson's ratio structure base, and a second mounting flange arranged sequentially from top to bottom. The movable platform has a first mounting hole corresponding to the first mounting flange, and the first mounting flange is connected to the lower surface of the movable platform through the first mounting hole. The base platform has a second mounting hole corresponding to the second mounting flange, and the second mounting flange is connected to the upper surface of the base platform through the second mounting hole. The negative Poisson's ratio structure base is made of a negative Poisson's ratio material.

[0011] Furthermore, the rotation axes of adjacent revolute joints intersect at 90°; the kinematic chain includes a first revolute joint, a first connecting rod, a second revolute joint, a second connecting rod, a third revolute joint, a third connecting rod, and a fourth revolute joint arranged sequentially. The first revolute joint is coaxially connected to the rotating component, and the fourth revolute joint is rotatably connected to the movable platform. The rotation axes of the first and fourth revolute joints are parallel in space, and the first and fourth revolute joints are arranged at 180° intervals along the circumference of the base platform. The rotation axes of the first and second revolute joints intersect at the center of the base platform, and the rotation axes of the third and fourth revolute joints intersect at the center of the movable platform. The second and third revolute joints are arranged at the same angle along the circumference of the base platform, and the first and second revolute joints are arranged at 90° intervals along the circumference of the base platform, and the third and fourth revolute joints are arranged at 90° intervals along the circumference of the base platform.

[0012] Furthermore, the motion chain and the rotating component are arranged in three groups, with the interval between adjacent rotating components being 120°.

[0013] Furthermore, the driving module includes: An outer shell is disposed on the lower surface of the base platform, and the fuselage is connected to the outer shell; A servo drive motor is housed inside the housing, and its output end is connected to a drive shaft via a worm gear module. The driving gear is located at one end of the drive shaft, which passes through the housing and extends outward. The rotating component is a driven gear, and the driving gear and the driven gear are meshed together.

[0014] Furthermore, the first revolute joint includes: The first rotary joint connecting shaft has a first keyway on the inner ring of the driven gear, and the front end of the first rotary joint connecting shaft is connected to the first keyway through a first connecting key. The first ring is connected to one end of the first connecting rod and defines a first inner hole. The first inner hole is provided with a second keyway. The rear end of the first rotary auxiliary connecting shaft is connected to the second keyway through a second connecting key. The first bearing has an inner cavity near its rear end on the first rotating pair connecting shaft. The outer ring of the first bearing is interference-fitted with the inner cavity. The base platform has a first mounting shaft corresponding to the axis of the driven gear. The inner ring of the first bearing is interference-fitted with the first mounting shaft. Driven gear fastening screw: The front end of the first rotating pair connecting shaft has a first threaded hole. The driven gear fastening screw is inserted axially into the driven gear and engages with the first threaded hole to axially fasten the driven gear.

[0015] Furthermore, the second revolute joint includes: The second ring is connected to one end of the second connecting rod, and its interior defines a second inner hole; The second mounting shaft is provided with a first connecting rod tail disc at the other end of the first connecting rod corresponding to the second ring. The first connecting rod tail disc is arranged coaxially with the second ring, and the second mounting shaft is arranged along the axial direction of the first connecting rod tail disc. The second bearing has an inner ring that is interference-fitted with the second mounting shaft and an outer ring that is interference-fitted with the second inner hole. The second rotating pair fastening screw is provided on the second mounting shaft with a second threaded hole. The second rotating pair fastening screw is inserted from the second inner hole and engages with the second threaded hole to axially fasten the second bearing.

[0016] Furthermore, the third revolute joint includes: The third ring is connected to the other end of the second connecting rod, and its interior defines a third inner hole; The third mounting shaft is provided with a third connecting rod tail disc at one end corresponding to the third ring. The third connecting rod tail disc is arranged coaxially with the third ring, and the third mounting shaft is arranged along the axial direction of the third connecting rod tail disc. The third bearing has an inner ring that is interference-fitted with the third mounting shaft and an outer ring that is interference-fitted with the third inner hole. The third rotating pair fastening screw is provided on the third mounting shaft, and the third rotating pair fastening screw is inserted into the third inner hole and connected with the third threaded hole to axially fasten the third bearing.

[0017] Furthermore, the fourth revolute joint includes: The fourth ring is connected to the other end of the third connecting rod, and its interior defines a fourth inner hole; The fourth mounting axis is located on the side of the movable platform and corresponds to the axis of the fourth ring; The fourth bearing has an inner ring that is interference-fitted with the fourth mounting shaft and an outer ring that is interference-fitted with the fourth inner hole. The fourth rotating pair fastening end cover is provided with a fourth threaded hole on the fourth mounting shaft. The fourth rotating pair fastening end cover is inserted into the fourth inner hole and connected with the fourth threaded hole to axially fasten the fourth bearing.

[0018] The present invention discloses the following technical effects: 1. The spherical parallel execution module of this invention consists of three identical series revolute joints and linkage kinematic chains. These three kinematic chains are evenly distributed around a central axis at 120-degree circumferential intervals. Each kinematic chain is connected end-to-end by three rigid links, naturally forming four non-coplanar revolute joints. The rotation axes of adjacent revolute joints intersect at 90-degree angles. The virtual geometric axes of the twelve rotary joints generated by the three kinematic chains intersect the center of the movable platform with the virtual geometric axes of the upper six joints, and the virtual geometric axes of the lower six joints intersect the center of the base platform. Based on this structure, the center of the movable platform can perform spatial hemispherical motion around the geometric center of the mid-plane between the movable platform and the base platform, thereby simulating the motion of a biological ball-and-socket joint. Compared with existing technologies, this invention has no control blind spots, no joint jamming problems, and the force is evenly distributed on each link and rotating pair on the three kinematic chains, resulting in low wear. In addition, when the robot maintains a static or quasi-static posture such as standing, hovering or crouching, the drive module does not need to output power. It only needs to maintain the current posture through the self-locking characteristics of the worm gear mechanism, resulting in extremely low static power consumption.

[0019] 2. The three motion chains of the spherical parallel actuator module, combined with the moving platform and base platform, constitute a two-degree-of-freedom parallel mechanism. Because three power sources are used to control the end-effector, which has only two degrees of freedom, the system retains an internal redundant degree of freedom. This redundant degree of freedom can be used to adjust the tension within the parallel motion chains, i.e., to adjust the overall stiffness of the parallel mechanism through the coordinated internal counteracting motion of the three servo drive motors. By rationally distributing the driving torque of the three chains, the system can actively adjust the force state of each link while maintaining the attitude of the end-effector, thereby extending joint life and reducing energy consumption.

[0020] 3. This invention couples a negative Poisson's ratio structural support with a spherical parallel mechanism, thereby improving the overall rigidity of the mechanism without affecting its motion. Furthermore, when the mechanism is subjected to instantaneous high-intensity impacts, such as landing from a running or jumping event, it can act as a buffer and shock absorber, protecting other precision transmission components from damage. The negative Poisson's ratio structural support can also be replaced with different negative Poisson's ratio materials to meet the specific mechanical performance requirements of the mechanism. For example, the hip joint experiences more pressure, while the shoulder joint experiences more tension. Based on the corresponding mechanical performance requirements, negative Poisson's ratio materials with different functional properties can be selected. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of a spherical parallel execution module; Figure 3 This is a schematic diagram of the driver module; Figure 4 This is a breakdown diagram of the spherical parallel execution module; Figure 5 This is a decomposed schematic diagram of the spherical parallel execution module from another angle. Figure 6 A breakdown diagram of the driver module; Figure 7 This is a schematic diagram of the outer casing; Figure 8 This is a schematic diagram of the event platform structure; Figure 9 This is a schematic diagram of the base platform structure; Figure 10 Schematic diagram of a negative Poisson's ratio structure support; Figure 11 This is a dynamic schematic diagram of the present invention; Figure 12 This is a schematic diagram illustrating the effect of the invention being installed on a robot; Among them, 100 is the kinematic chain; 110 is the first rotating pair; 111 is the connecting shaft of the first rotating pair; 112 is the first bearing; 120 is the second rotating pair; 121 is the fastening screw of the second rotating pair; 122 is the second bearing; 130 is the third rotating pair; 131 is the fastening screw of the third rotating pair; 132 is the third bearing; 140 is the fourth rotating pair; 141 is the fastening end cap of the fourth rotating pair; 142 is the fourth bearing; 150 is the first connecting rod; 151 is the first inner hole; 152 is the second mounting shaft; 160 is the second connecting rod; 161 is the second inner hole; 162 is the third inner hole; 170 is the third connecting rod; 171 is the third mounting shaft; 1 72. Fourth inner hole; 200. Movable platform; 210. Fourth mounting shaft; 220. Sixth mounting hole; 230. First mounting hole; 300. Base platform; 310. First mounting shaft; 320. Seventh mounting hole; 330. Second mounting hole; 400. Drive module; 410. Drive gear; 420. Worm gear module; 430. Transmission shaft; 440. Servo drive motor; 450. Housing; 451. Third mounting hole; 452. Fourth mounting hole; 453. Fifth mounting hole; 500. Negative Poisson's ratio structure bracket; 510. First mounting flange; 520. Negative Poisson's ratio structure base; 530. Second mounting flange. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Those skilled in the art will understand that the term "comprising" as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figures 1 to 12 As shown, an embodiment of the present invention provides a spherical parallel mechanism for the hip and shoulder joints of a humanoid robot, comprising: The base platform 300 has multiple rotating parts evenly spaced along the circumference, and the base platform 300 is connected to the fuselage. The drive module 400 is connected to the rotating component and is used to drive the rotating component to rotate. The spherical parallel execution module consists of multiple motion chains 100, which are arranged one-to-one with multiple rotating parts. Each motion chain 100 is composed of multiple rotating joints and connecting rods arranged alternately. The two ends of the connecting rods are connected to different rotating joints respectively. The rotating joint at the bottom of the motion chain 100 is coaxially connected to the rotating part. The uppermost rotating joint of the motion branch 100 is rotatably connected to the motion platform 200, and multiple motion branches 100 are evenly spaced along the circumference of the motion platform 200; the motion platform 200 is connected to the fuselage arm or fuselage leg.

[0027] In this embodiment, a negative Poisson's ratio structure support 500 is also included, which is disposed between the movable platform 200 and the base platform 300 and is made of a negative Poisson's ratio material.

[0028] In this embodiment, the negative Poisson's ratio structure support 500 includes a first mounting flange 510, a negative Poisson's ratio structure base 520, and a second mounting flange 530 arranged sequentially from top to bottom. The movable platform 200 has a first mounting hole 230 corresponding to the first mounting flange 510, and the first mounting flange 510 is connected to the lower surface of the movable platform 200 through the first mounting hole 230. The base platform 300 has a second mounting hole 330 corresponding to the second mounting flange 530, and the second mounting flange 530 is connected to the upper surface of the base platform 300 through the second mounting hole 330. The negative Poisson's ratio structure base 520 is made of a negative Poisson's ratio material.

[0029] In this embodiment, the rotation axes of adjacent revolute joints intersect at 90° and the interval between adjacent revolute joints is 90°; the kinematic chain 100 includes a first revolute joint 110, a first connecting rod 150, a second revolute joint 120, a second connecting rod 160, a third revolute joint 130, a third connecting rod 170, and a fourth revolute joint 140 arranged sequentially. The first revolute joint 110 is coaxially connected to the rotating component, and the fourth revolute joint 140 is rotatably connected to the movable platform 200. The rotation axes of the first revolute joint 110 and the fourth revolute joint 140 are parallel in space, and the first revolute joint 110 and the fourth revolute joint 140 are arranged along the base... The base platform 300 is arranged at 180° intervals around its circumference; the rotation axes of the first rotary joint 110 and the second rotary joint 120 intersect at the center of the base platform 300, and the rotation axes of the third rotary joint 130 and the fourth rotary joint 140 intersect at the center of the movable platform 200; the second rotary joint 120 and the third rotary joint 130 are arranged at the same angle around the circumference of the base platform 300, the first rotary joint 110 and the second rotary joint 120 are arranged at 90° intervals around the circumference of the base platform 300, and the third rotary joint 130 and the fourth rotary joint 140 are arranged at 90° intervals around the circumference of the base platform 300.

[0030] In this embodiment, three sets of motion branches 100 and rotating components are provided, and the interval between adjacent rotating components is 120°.

[0031] In this embodiment, the driving module 400 includes: The outer shell 450 is located on the lower surface of the base platform 300, and the fuselage is connected to the outer shell 450; A servo drive motor 440 is housed inside a housing 450, and its output end is connected to a drive shaft 430 via a worm gear module 420. The driving gear 410 is located at one end of the drive shaft 430, which passes through the housing 450 and extends outward. The rotating component is a driven gear, and the driving gear 410 and the driven gear are meshed together.

[0032] In this embodiment, the top of the outer casing 450 is provided with a third mounting hole 451 that connects to the base platform 300 (the base platform 300 is provided with a seventh mounting hole 320 corresponding to the third mounting hole 451), the bottom of the outer casing 450 is provided with a fourth mounting hole 452 that connects to the fuselage body, and the drive shaft 430 extends outward from the fifth mounting hole 453. The movable platform 200 is provided with a sixth mounting hole 220 that connects to the fuselage arm or fuselage leg.

[0033] In this embodiment, the first revolute joint 110 includes: The first rotary pair connecting shaft 111 has a first keyway on the inner ring of the driven gear, and the front end of the first rotary pair connecting shaft 111 is connected to the first keyway through a first connecting key. The first ring is connected to one end of the first connecting rod 150, and its interior defines a first inner hole 151. The first inner hole 151 is provided with a second keyway, and the rear end of the first rotary pair connecting shaft 111 is connected to the second keyway through the second connecting key. The first bearing 112 has an inner cavity near its rear end. The outer ring of the first bearing 112 is interference-fitted with the inner cavity. The base platform 300 has a first mounting shaft 310 corresponding to the axis of the driven gear. The inner ring of the first bearing 112 is interference-fitted with the first mounting shaft 310. Driven gear fastening screw: The front end of the first rotating pair connecting shaft 111 has a first threaded hole. The driven gear fastening screw is inserted axially from the driven gear and engages with the first threaded hole to axially fasten the driven gear.

[0034] In this embodiment, the second revolute joint 120 includes: The second ring is connected to one end of the second connecting rod 160, and its interior defines the second inner hole 161. The second mounting shaft 152 is provided at the other end of the first connecting rod 150 corresponding to the second ring, and the tail disc of the first connecting rod 150 is arranged coaxially with the second ring. The second mounting shaft 152 is arranged along the axial direction of the tail disc of the first connecting rod 150. The second bearing 122 has an inner ring that is interference-fitted with the second mounting shaft 152 and an outer ring that is interference-fitted with the second inner hole 161. The second rotating pair fastening screw 121 is provided on the second mounting shaft 152 with a second threaded hole. The second rotating pair fastening screw 121 is inserted from the second inner hole 161 and connected with the second threaded hole to axially fasten the second bearing 122.

[0035] In this embodiment, the third revolute joint 130 includes: The third ring is connected to the other end of the second connecting rod 160, and its interior defines the third inner hole 162. The third mounting shaft 171 and the third connecting rod 170 are provided with a tail disc of the third connecting rod 170 at one end corresponding to the third ring. The tail disc of the third connecting rod 170 is arranged coaxially with the third ring, and the third mounting shaft 171 is arranged along the axial direction of the tail disc of the third connecting rod 170. The third bearing 132 has an inner ring that is interference-fitted with the third mounting shaft 171 and an outer ring that is interference-fitted with the third inner hole 162. The third rotating pair fastening screw 131 is provided on the third mounting shaft 171 with a third threaded hole. The third rotating pair fastening screw 131 is inserted into the third inner hole 162 and connected with the third threaded hole to axially fasten the third bearing 132.

[0036] In this embodiment, the fourth revolute joint 140 includes: The fourth ring is connected to the other end of the third link 170, and its interior defines the fourth inner hole 172. The fourth mounting shaft 210 is located on the side of the movable platform 200 and corresponds to the axis of the fourth ring; The fourth bearing 142 has an inner ring that is interference-fitted with the fourth mounting shaft 210 and an outer ring that is interference-fitted with the fourth inner hole 172. The fourth rotating pair fastening end cover 141 is provided on the fourth mounting shaft 210 with a fourth threaded hole. The fourth rotating pair fastening end cover 141 is inserted into the fourth inner hole 172 and connected with the fourth threaded hole to axially fasten the fourth bearing 142.

[0037] The specific transmission process is as follows: The servo drive motor 440 outputs angular displacement through its output shaft, driving the worm gear module 420 to rotate by the corresponding angular displacement. The power, reduced by the worm gear module 420, is transmitted to the drive gear 410 via the transmission shaft 430. The drive gear 410 outputs the same angular displacement as the worm gear module 420, which is then transmitted to the first rotary joint connecting shaft 111 via the driven gear. Finally, the power is transmitted to the first connecting rod 150 via the first rotary joint connecting shaft 111, causing it to output the corresponding angular displacement around the first mounting shaft 310. The second connecting rod 160 then rotates accordingly, thereby driving the movable base to produce corresponding attitude changes.

[0038] During the aforementioned process, the upper surface of the negative Poisson's ratio structure support 500 will pitch along with the movable platform 200, while the lower surface of the negative Poisson's ratio structure support 500 remains stationary due to its fixed connection with the base platform 300. At this time, the negative Poisson's ratio structure base 520 will deform under bending stress. According to the characteristics of the negative Poisson's ratio structural material: it expands laterally outward under longitudinal tension and contracts laterally inward under longitudinal compression. Therefore, the negative Poisson's ratio structure base 520 contracts laterally inward on the side closer to the pitch direction and expands laterally outward on the side farther from the pitch direction. Thus, the contraction and expansion patterns of the links in the multiple moving links 100 are consistent with the characteristics of the Poisson's ratio structural material. This allows the negative Poisson's ratio structure to function as a shock-absorbing buffer medium for the joint mechanism and to improve the overall stiffness of the mechanism without interfering with its normal operation.

[0039] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0042] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A spherical parallel mechanism for the hip and shoulder joints of a humanoid robot, characterized in that, include: The base platform (300) has multiple rotating parts evenly spaced along the circumference, and the base platform (300) is connected to the fuselage body; The drive module (400) is connected to the rotating component and is used to drive the rotating component to rotate; The spherical parallel execution module consists of multiple motion chains (100) arranged one-to-one with multiple rotating parts. Each motion chain (100) is composed of multiple rotating joints and connecting rods arranged alternately. The two ends of the connecting rods are respectively connected to different rotating joints. The lowermost rotating joint of the motion chain (100) is coaxially connected to the rotating part. The active platform (200) has a rotating joint at the top of the motion branch (100) rotatably connected to the active platform (200), and multiple motion branches (100) are evenly spaced along the circumference of the active platform (200); the active platform (200) is connected to the fuselage arm or fuselage leg.

2. The spherical parallel mechanism for the hip and shoulder joints of a humanoid robot according to claim 1, characterized in that, Also includes: A negative Poisson's ratio structure support (500), disposed between the movable platform (200) and the base platform (300), is made of a negative Poisson's ratio material.

3. The spherical parallel mechanism for the hip and shoulder joints of a humanoid robot according to claim 2, characterized in that, The negative Poisson's ratio structure support (500) includes a first mounting flange (510), a negative Poisson's ratio structure base (520), and a second mounting flange (530) arranged sequentially from top to bottom. The movable platform (200) has a first mounting hole (230) corresponding to the first mounting flange (510). The first mounting flange (510) is connected to the lower surface of the movable platform (200) through the first mounting hole (230). The base platform (300) has a second mounting hole (330) corresponding to the second mounting flange (530). The second mounting flange (530) is connected to the upper surface of the base platform (300) through the second mounting hole (330). The negative Poisson's ratio structure base (520) is made of negative Poisson's ratio material.

4. The spherical parallel mechanism for the hip and shoulder joints of a humanoid robot according to claim 1, characterized in that, The rotation axes of adjacent revolute joints intersect at 90°; the kinematic chain (100) includes a first revolute joint (110), a first connecting rod (150), a second revolute joint (120), a second connecting rod (160), a third revolute joint (130), a third connecting rod (170), and a fourth revolute joint (140) arranged sequentially. The first revolute joint (110) is coaxially connected to the rotating component, and the fourth revolute joint (140) is rotatably connected to the movable platform (200). The rotation axes of the first revolute joint (110) and the fourth revolute joint (140) are parallel in space. The first revolute joint (110) and the fourth revolute joint (140) are spaced 18° apart circumferentially along the base platform (300). The first rotating joint (110) and the second rotating joint (120) intersect at the center of the base platform (300), and the rotating joints of the third rotating joint (130) and the fourth rotating joint (140) intersect at the center of the movable platform (200). The second rotating joint (120) and the third rotating joint (130) are arranged at the same angle in the circumference of the base platform (300). The first rotating joint (110) and the second rotating joint (120) are arranged at a 90° interval in the circumference of the base platform (300), and the third rotating joint (130) and the fourth rotating joint (140) are arranged at a 90° interval in the circumference of the base platform (300).

5. The spherical parallel mechanism for the hip and shoulder joints of a humanoid robot according to claim 4, characterized in that, The motion branch (100) and the rotating component are arranged in three groups, and the interval between adjacent rotating components is 120°.

6. The spherical parallel mechanism for the hip and shoulder joints of a humanoid robot according to claim 4, characterized in that, The drive module (400) includes: The outer shell (450) is disposed on the lower surface of the base platform (300), and the fuselage is connected to the outer shell (450); A servo drive motor (440) is installed inside the housing (450), and its output end is connected to the drive shaft (430) through a worm gear module (420). The driving gear (410) is located at one end of the drive shaft (430), which passes through the housing (450) and extends outward. The driving gear (410) is located at one end of the drive shaft (430). The rotating component is a driven gear, and the driving gear (410) and the driven gear are meshed together.

7. The spherical parallel mechanism for the hip and shoulder joints of a humanoid robot according to claim 6, characterized in that, The first revolute joint (110) includes: The first rotary joint connecting shaft (111) has a first keyway on the inner ring of the driven gear, and the front end of the first rotary joint connecting shaft (111) is connected to the first keyway through a first connecting key. The first ring is connected to one end of the first connecting rod (150), and its interior defines a first inner hole (151). The first inner hole (151) is provided with a second keyway. The rear end of the first rotating pair connecting shaft (111) is connected to the second keyway through a second connecting key. The first bearing (112) has an inner cavity near its rear end. The outer ring of the first bearing (112) is interference-fitted with the inner cavity. The base platform (300) is provided with a first mounting shaft (310) corresponding to the axis of the driven gear. The inner ring of the first bearing (112) is interference-fitted with the first mounting shaft (310). Driven gear fastening screw, the front end of the first rotating pair connecting shaft (111) is provided with a first threaded hole, the driven gear fastening screw is inserted axially from the driven gear and connected with the first threaded hole to axially fasten the driven gear.

8. The spherical parallel mechanism for the hip and shoulder joints of a humanoid robot according to claim 7, characterized in that, The second revolute joint (120) includes: The second ring is connected to one end of the second connecting rod (160), and its interior defines a second inner hole (161). The second mounting shaft (152) has a tail disc of the first connecting rod (150) at the other end of the first connecting rod (150) corresponding to the second ring. The tail disc of the first connecting rod (150) is arranged coaxially with the second ring. The second mounting shaft (152) is arranged along the axial direction of the tail disc of the first connecting rod (150). The second bearing (122) has an inner ring that is interference-fitted with the second mounting shaft (152) and an outer ring that is interference-fitted with the second inner hole (161); The second rotating pair fastening screw (121) is provided on the second mounting shaft (152) with a second threaded hole. The second rotating pair fastening screw (121) is inserted from the second inner hole (161) and connected with the second threaded hole to axially fasten the second bearing (122).

9. The spherical parallel mechanism for the hip and shoulder joints of a humanoid robot according to claim 8, characterized in that, The third rotary joint (130) includes: The third ring is connected to the other end of the second link (160), and its interior defines a third inner hole (162). The third mounting shaft (171) is provided with a tail disk of the third connecting rod (170) at one end corresponding to the third ring. The tail disk of the third connecting rod (170) is arranged coaxially with the third ring. The third mounting shaft (171) is arranged along the axial direction of the tail disk of the third connecting rod (170). The third bearing (132) has an inner ring that is interference-fitted with the third mounting shaft (171) and an outer ring that is interference-fitted with the third inner hole (162); The third rotating pair fastening screw (131) is provided on the third mounting shaft (171) with a third threaded hole. The third rotating pair fastening screw (131) is inserted from the third inner hole (162) and connected with the third threaded hole to axially fasten the third bearing (132).

10. The spherical parallel mechanism for the hip and shoulder joints of a humanoid robot according to claim 9, characterized in that, The fourth revolute joint (140) includes: The fourth ring is connected to the other end of the third link (170) and defines a fourth inner hole (172) inside. The fourth mounting shaft (210) is disposed on the side of the movable platform (200) and corresponds to the axis of the fourth ring; The fourth bearing (142) has an inner ring that is interference-fitted with the fourth mounting shaft (210) and an outer ring that is interference-fitted with the fourth inner hole (172); The fourth rotating pair fastening end cap (141) is provided with a fourth threaded hole on the fourth mounting shaft (210). The fourth rotating pair fastening end cap (141) is inserted into the fourth inner hole (172) and connected with the fourth threaded hole to axially fasten the fourth bearing (142).

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