Robot capable of moving at multiple degrees of freedom

Abstract

The utility model discloses a robot capable of moving in multiple degrees of freedom, which comprises a trunk, a hip support, two legs, a waist driving motor and two leg driving motors, the waist driving motor is arranged in the middle of the hip support, and the two leg driving motors are respectively arranged on two sides of the hip support. The trunk is connected to the waist driving motor and is used for rotating and swinging left and right under the driving of the waist driving motor, and the two leg parts are respectively connected to the two leg part driving motors and are used for rotating and swinging left and right under the driving of the leg part driving motors. By the adoption of the design mode, the hip support is matched with the waist driving motor, the trunk can rotate and swing left and right, and therefore the flexibility between the trunk and the hip can be improved, the hip support is matched with the leg driving motor, and the legs can rotate and swing left and right; therefore, the flexibility between the hip and the leg can be improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot capable of multi-degree-of-freedom movement. Background Technology

[0002] In recent years, the robotics industry has developed rapidly, especially humanoid robots, which have become one of the focal points of the domestic and international robotics technology field. The flexibility of humanoid robot activities is a key focus of humanoid robot design. Existing humanoid robots mainly include structures such as torso, hips, and legs. How to improve the flexibility of the connection between the torso and hips, as well as the flexibility of the connection between the legs and hips, has become an urgent problem to be solved. Utility Model Content

[0003] In order to overcome at least one of the defects described in the prior art, the present invention provides a robot capable of multi-degree-of-freedom movement to solve the problems of improving the flexibility of the connection between the torso and hip and the flexibility of the connection between the legs and hip that urgently need to be solved in the prior art.

[0004] The present invention provides a technical solution to address the problem by disclosing a robot capable of multi-degree-of-freedom movement. The robot includes a torso, a hip support, two legs, a waist drive motor, and two leg drive motors. The waist drive motor is located in the middle of the hip support, and the two leg drive motors are respectively located on both sides of the hip support. The torso is connected to the waist drive motor and is used to rotate and swing left and right under the drive of the waist drive motor. The two legs are respectively connected to the two leg drive motors and are used to rotate and swing left and right under the drive of the leg drive motors.

[0005] As an optional implementation, in this embodiment of the present invention, the waist drive motor includes a waist swing motor and a waist rotation motor. The waist swing motor is fixed to the hip support, the waist rotation motor is connected to the waist swing motor, and the torso is connected to the waist rotation motor. The leg drive motor includes a leg swing motor and a leg rotation motor. The leg swing motor is fixed to the hip support, the leg rotation motor is connected to the leg swing motor, and the leg is connected to the leg rotation motor.

[0006] As an optional implementation, in this embodiment of the present invention, the hip support includes a support body, a waist motor support, and two leg motor supports. The waist swing motor and the two leg swing motors are fixed to the rear end of the support body. The waist motor support is located at the front end of the support body and connects the waist swing motor and the waist rotation motor, and is used to drive the waist rotation motor to rotate under the drive of the waist swing motor. The leg motor support is located at the front end of the support body and connects to the leg swing motor and the waist rotation motor, and is used to drive the leg rotation motor to rotate under the drive of the leg swing motor.

[0007] As an optional implementation, in this embodiment of the present invention, the support body includes a first mounting hole and two second mounting holes passing through the front and rear ends. The two second mounting holes are respectively located on the two lower sides of the first mounting hole. The waist motor support is located at the front end of the support body corresponding to the first mounting hole. The waist swing motor is installed in the first mounting hole and passes through the first mounting hole to be connected to the waist motor support. The leg motor support is located at the front end of the support body corresponding to the second mounting hole. The two leg swing motors are respectively installed in the two second mounting holes and pass through the second mounting holes to be connected to the leg motor support.

[0008] As an optional implementation, in this embodiment of the present invention, the waist swing motor is provided with a first fixed flange and a first output flange. The waist swing motor is fixed to the support body through the first fixed flange, and the waist motor support is fixed to the first output flange. The leg swing motor is provided with a second fixed flange and a second output flange. The leg swing motor is fixed to the support body through the second fixed flange, and the leg motor support is fixed to the second output flange.

[0009] As an optional implementation, in this embodiment of the present invention, the waist motor bracket is provided with a first positioning groove, the end of the waist rotation motor is installed in the first positioning groove, the leg motor bracket is provided with a second positioning groove, and the end of the leg rotation motor is installed in the second positioning groove.

[0010] As an optional implementation, in this embodiment of the present invention, the waist rotation motor is provided with a third output flange, the torso is fixed to the third output flange, the leg rotation motor is provided with a fourth output flange, and the legs are fixed to the fourth output flange.

[0011] As an optional implementation, in this embodiment of the present invention, the waist swing motor, the waist rotation motor, the leg swing motor and the waist rotation motor all include a motor and a reducer.

[0012] As an optional implementation, in this embodiment of the present invention, the motor is a DC servo motor, and the reducer is a harmonic reducer, a planetary reducer, or an RV linear reducer.

[0013] As an optional implementation, in this embodiment of the present invention, both the waist drive motor and the leg drive motor are connected to the hip support by means of screw fastening.

[0014] Implementing the embodiments of this utility model will have the following beneficial effects:

[0015] This invention relates to a robot capable of multi-degree-of-freedom movement, comprising a torso, a hip support, two legs, a waist drive motor, and two leg drive motors. The waist drive motor is located in the middle of the hip support, and the two leg drive motors are located on either side of the hip support. The torso is connected to the waist drive motor, enabling rotational and lateral swinging movements under its drive. The legs are connected to the two leg drive motors, enabling rotational and lateral swinging movements under their drive. This design, through the coordination of the hip support and the waist drive motors, enables rotational and lateral swinging movements of the torso, thus improving the flexibility between the torso and hips. Similarly, the coordination of the hip support and the leg drive motors enables rotational and lateral swinging movements of the legs, further enhancing the flexibility between the hips and legs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a robot capable of multi-degree-of-freedom movement according to an embodiment of the present invention.

[0018] Figure 2 This is a front view of a robot capable of multi-degree-of-freedom movement according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a portion of the structure of the multi-degree-of-freedom robot in this embodiment of the invention. Figure 1 ;

[0020] Figure 4 This is a schematic diagram of a portion of the structure of the multi-degree-of-freedom robot in this embodiment of the invention. Figure 2 ;

[0021] Figure 5 This is a structural exploded diagram of a part of the robot capable of multi-degree-of-freedom movement in an embodiment of this utility model.

[0022] Figure 6 This is a schematic diagram of the waist swing motor of a robot capable of multi-degree-of-freedom movement in an embodiment of this utility model.

[0023] The meanings of the reference numerals in the attached figures are as follows:

[0024] 1-Tortoise; 2-Hip support; 21-Support body; 211-First mounting hole; 212-Second mounting hole; 22-Waist motor support; 221-First positioning groove; 23-Leg motor support; 231-Second positioning groove; 3-Leg; 4-Waist drive motor; 41-Waist swing motor; 411-First fixed flange; 412-First output flange; 42-Waist rotation motor; 5-Leg drive motor; 51-Leg swing motor; 52-Leg rotation motor. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0027] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0028] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; 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, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0029] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0030] The technical solution of this utility model will be further described below with reference to the embodiments and accompanying drawings.

[0031] Example

[0032] Please refer to the following: Figures 1 to 6 This utility model discloses a robot capable of multi-degree-of-freedom movement. The robot includes a torso 1, a hip support 2, two legs 3, a waist drive motor 4, and two leg drive motors 5. The waist drive motor 4 is located in the middle of the hip support 2, and the two leg drive motors 5 are respectively located on both sides of the hip support 2. The torso 1 is connected to the waist drive motor 4 and is used to perform rotational movement and left-right swinging under the drive of the waist drive motor 4. The two legs 3 are respectively connected to the two leg drive motors 5 and are used to perform rotational movement and left-right swinging under the drive of the leg drive motors 5. With this design, the rotational movement and left-right swinging of the torso 1 can be achieved by the cooperation of the hip support 2 and the waist drive motor 4, thereby improving the flexibility between the torso 1 and the hip. The rotational movement and left-right swinging of the legs 3 can be achieved by the cooperation of the hip support 2 and the leg drive motors 5, thereby improving the flexibility between the hip and the legs 3.

[0033] In some embodiments, in order for the waist drive motor 4 to drive the torso 1 to swing and rotate, the waist drive motor 4 includes a waist swing motor 41 and a waist rotation motor 42. The waist swing motor 41 is fixed to the hip support 2, the waist rotation motor 42 is connected to the waist swing motor 41, and the torso 1 is connected to the waist rotation motor 42. In order for the leg drive motor 5 to drive the leg 3 to swing and rotate, the leg drive motor 5 includes a leg swing motor 51 and a leg rotation motor 52. The leg swing motor 51 is fixed to the hip support 2, the leg rotation motor 52 is connected to the leg swing motor 51, and the leg 3 is connected to the leg rotation motor 52.

[0034] Furthermore, the hip support 2 includes a support body 21, a waist motor support 22, and two leg motor supports 23. A waist swing motor 41 and two leg swing motors 51 are fixed to the rear end of the support body 21. The waist motor support 22 is located at the front end of the support body 21 and connects the waist swing motor 41 and the waist rotation motor 42, driving the waist rotation motor 42 to rotate under the drive of the waist swing motor 41. The leg motor support 23 is located at the front end of the support body 21 and connects to the leg swing motor 51 and the waist rotation motor 42, driving the leg rotation motor 52 to rotate under the drive of the leg swing motor 51. With this design, the waist swing motor 41 and the waist rotation motor 42 are connected in series, and the two leg swing motors 51 are connected in series with the two leg rotation motors 52 respectively. The three pairs of series-connected motors are fixed in parallel on the hip support 2, resulting in a simple structure and convenient installation.

[0035] Furthermore, in order to enable connection between the waist motor bracket 22 and the waist swing motor 41 located at both ends of the support body 21, and between the leg motor bracket 23 and the leg swing motor 51, the support body 21 includes a first mounting hole 211 passing through the front end and the rear end and two second mounting holes 212. The two second mounting holes 212 are respectively located on the two lower sides of the first mounting hole 211. The waist motor bracket 22 is located at the front end of the support body 21 corresponding to the first mounting hole 211. The waist swing motor 41 is installed in the first mounting hole 211 and passes through the first mounting hole 211 to connect to the waist motor bracket 22. The leg motor bracket 23 is located at the front end of the support body 21 corresponding to the second mounting hole 212. The two leg swing motors 51 are respectively installed in the two second mounting holes 212 and pass through the second mounting holes 212 to connect to the leg motor bracket 23.

[0036] In order to facilitate the positioning and installation of the waist rotation motor 42 on the waist motor bracket 22 and the leg rotation motor 52 on the leg motor bracket 23, the waist motor bracket 22 is provided with a first positioning groove 221, and the end of the waist rotation motor 42 is installed in the first positioning groove 221. The leg motor bracket 23 is provided with a second positioning groove 231, and the end of the leg rotation motor 52 is installed in the second positioning groove 231.

[0037] In some embodiments, to fix the waist swing motor 41 to the support body 21 and drive the waist motor bracket 22 to swing, the waist swing motor 41 is provided with a first fixed flange 411 and a first output flange 412. The waist swing motor 41 is fixed to the support body 21 through the first fixed flange 411, and the waist motor bracket 22 is fixed to the first output flange 412, with the swing rotation axis horizontally forward. To fix the leg swing motor 51 to the support body 21 and drive the leg motor bracket 23 to swing, the leg swing motor 51 is provided with a second fixed flange and a second output flange. The leg swing motor 51 is fixed to the support body 21 through the second fixed flange, and the leg motor bracket 23 is fixed to the second output flange, with the rotation axis of the rotating motor perpendicular to the rotation axis of the swing motor.

[0038] Similarly, in order for the waist rotation motor 42 to drive the torso 1 to swing, the waist rotation motor 42 is provided with a third output flange, and the torso 1 is fixed to the third output flange. In order for the leg rotation motor 52 to drive the leg 3 to swing, the leg rotation motor 52 is provided with a fourth output flange, and the leg 3 is fixed to the fourth output flange.

[0039] In some embodiments, the waist swing motor 41, waist rotation motor 42, leg swing motor 51, and waist rotation motor 42 all include a motor and a reducer. This design, with the addition of a reducer, reduces the motor speed and load, lowers operating noise, and makes the robot's operation smoother and quieter. It is understood that in other embodiments, a direct-drive mode without a reducer can also be used, and this is not limited here.

[0040] Preferably, the motor is a DC servo motor. Using a DC servo motor offers advantages such as high precision, fast response, and low noise, resulting in more accurate, faster, and quieter robot operation. Preferably, the reducer is a harmonic reducer, planetary reducer, or RV cycloidal reducer. This embodiment uses a harmonic reducer as an example.

[0041] In some embodiments, the waist drive motor 4 and the leg drive motor 5 are both connected to the hip support 2 by screws. Specifically, the three swing motors are all connected to the support body 21, the three swing motors are all connected to the three motor connecting brackets, and the three rotary motors are all connected to the three motor connecting brackets by screws. This design is simple in structure and easy to install. It is understood that in other optional embodiments, the above structures can also be connected by riveting, welding, or other methods, which are not limited here.

[0042] The robot with multi-degree-of-freedom movement provided by this utility model includes a torso 1, a hip support 2, two legs 3, a waist drive motor 4, and two leg drive motors 5. The waist drive motor 4 is located in the middle of the hip support 2, and the two leg drive motors 5 are respectively located on both sides of the hip support 2. The torso 1 is connected to the waist drive motor 4 and is used to perform rotational movement and left-right swinging under the drive of the waist drive motor 4. The two legs 3 are respectively connected to the two leg drive motors 5 and are used to perform rotational movement and left-right swinging under the drive of the leg drive motors 5. With this design, the rotational movement and left-right swinging of the torso 1 can be realized by the cooperation of the hip support 2 and the waist drive motor 4, thereby improving the flexibility between the torso 1 and the hip. The rotational movement and left-right swinging of the legs 3 can be realized by the cooperation of the hip support 2 and the leg drive motors 5, thereby improving the flexibility between the hip and the legs 3.

[0043] The above provides a detailed description of a multi-degree-of-freedom robot disclosed in the embodiments of this utility model. This article uses specific examples to illustrate the principles and implementation methods of this utility model. The description of the above embodiments is only for the purpose of helping to understand the multi-degree-of-freedom robot and its core ideas of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robot capable of multi-degree-of-freedom movement, characterized in that, It includes a torso (1), a hip support (2), two legs (3), a waist drive motor (4), and two leg drive motors (5). The waist drive motor (4) is located in the middle of the hip support (2), and the two leg drive motors (5) are respectively located on both sides of the hip support (2). The torso (1) is connected to the waist drive motor (4) and is used to rotate and swing left and right under the drive of the waist drive motor (4). The two legs (3) are respectively connected to the two leg drive motors (5) and are used to rotate and swing left and right under the drive of the leg drive motors (5).

2. The robot capable of multi-degree-of-freedom movement according to claim 1, characterized in that: The waist drive motor (4) includes a waist swing motor (41) and a waist rotation motor (42). The waist swing motor (41) is fixed on the hip support (2). The waist rotation motor (42) is connected to the waist swing motor (41). The torso (1) is connected to the waist rotation motor (42). The leg drive motor (5) includes a leg swing motor (51) and a leg rotation motor (52). The leg swing motor (51) is fixed on the hip support (2). The leg rotation motor (52) is connected to the leg swing motor (51). The leg (3) is connected to the leg rotation motor (52).

3. The robot capable of multi-degree-of-freedom movement according to claim 2, characterized in that: The hip support (2) includes a support body (21), a waist motor support (22), and two leg motor supports (23). The waist swing motor (41) and the two leg swing motors (51) are fixed to the rear end of the support body (21). The waist motor support (22) is located at the front end of the support body (21) and connects the waist swing motor (41) and the waist rotation motor (42). It is used to drive the waist rotation motor (42) to rotate under the drive of the waist swing motor (41). The leg motor support (23) is located at the front end of the support body (21) and connects the leg swing motor (51) and the waist rotation motor (42). It is used to drive the leg rotation motor (52) to rotate under the drive of the leg swing motor (51).

4. The robot capable of multi-degree-of-freedom movement according to claim 3, characterized in that: The support body (21) includes a first mounting hole (211) and two second mounting holes (212) passing through the front and rear ends. The two second mounting holes (212) are respectively located on the two lower sides of the first mounting hole (211). The waist motor bracket (22) is located at the front end of the support body (21) corresponding to the first mounting hole (211). The waist swing motor (41) is installed in the first mounting hole (211) and passes through the first mounting hole (211) to be connected to the waist motor bracket (22). The leg motor bracket (23) is located at the front end of the support body (21) corresponding to the second mounting hole (212). The two leg swing motors (51) are respectively installed in the two second mounting holes (212) and pass through the second mounting holes (212) to be connected to the leg motor bracket (23).

5. The robot capable of multi-degree-of-freedom movement according to claim 3, characterized in that: The waist swing motor (41) is provided with a first fixed flange (411) and a first output flange (412). The waist swing motor (41) is fixed to the support body (21) through the first fixed flange (411). The waist motor bracket (22) is fixed to the first output flange (412). The leg swing motor (51) is provided with a second fixed flange and a second output flange. The leg swing motor (51) is fixed to the support body (21) through the second fixed flange. The leg motor bracket (23) is fixed to the second output flange.

6. The robot capable of multi-degree-of-freedom movement according to claim 3, characterized in that: The waist motor bracket (22) is provided with a first positioning groove (221), and the end of the waist rotation motor (42) is installed in the first positioning groove (221). The leg motor bracket (23) is provided with a second positioning groove (231), and the end of the leg rotation motor (52) is installed in the second positioning groove (231).

7. The robot capable of multi-degree-of-freedom movement according to claim 2, characterized in that: The waist rotation motor (42) is provided with a third output flange, the torso (1) is fixed to the third output flange, the leg rotation motor (52) is provided with a fourth output flange, and the leg (3) is fixed to the fourth output flange.

8. The robot capable of multi-degree-of-freedom movement according to any one of claims 2 to 7, characterized in that: The waist swing motor (41), the waist rotation motor (42), the leg swing motor (51) and the waist rotation motor (42) all include a motor and a reducer.

9. The robot capable of multi-degree-of-freedom movement according to claim 8, characterized in that: The motor is a DC servo motor, and the reducer is a harmonic reducer, planetary reducer, or RV linear reducer.

10. The robot capable of multi-degree-of-freedom movement according to any one of claims 1 to 7, characterized in that: The waist drive motor (4) and the leg drive motor (5) are both connected to the hip support (2) by means of screw fastening.

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