Waist omni-directional steering mechanism of humanoid robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a humanoid robot waist all-dimensional steering mechanism which comprises a supporting plate, an upper cover plate, a corrugated pipe and a lower surrounding plate are arranged on the upper side of the supporting plate and fixedly connected in sequence from top to bottom, the lower surrounding plate is fixedly connected with the supporting plate, and the corrugated pipe is fixedly connected with the supporting plate. A third connecting block is fixedly connected to the center of the supporting plate, and a second connecting block and a first connecting block are sequentially and rotationally connected to the upper portion of the third connecting block. The upper body of the robot achieves 360-degree all-dimensional rotation and completes the stooping action, the electronic gyroscope monitors the posture of the robot in real time, the controller adjusts joint movement according to feedback signals, stability and accuracy of steering and stooping actions are ensured, and the robot is compact in structure, flexible to control and convenient to use. And the motion ability and adaptability of the humanoid robot in a complex environment are remarkably improved.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, specifically a humanoid robot waist omnidirectional steering mechanism. Background Technology

[0002] Existing robot steering mechanisms are difficult to achieve 360-degree rotation, making the robot somewhat inconvenient to use in some scenarios. At the same time, the existing robot upper body components do not have bending capabilities and cannot perform bending movements. Therefore, this utility model solves this problem. Utility Model Content

[0003] The purpose of this invention is to provide a 360-degree turning mechanism for the waist of a humanoid robot to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A humanoid robot's omnidirectional steering mechanism for the waist includes a support plate. The upper side of the support plate has an upper cover plate, a corrugated pipe, and a lower enclosure plate, which are sequentially and fixedly connected from top to bottom. The lower enclosure plate is fixedly connected to the support plate. A third connecting block is fixedly connected to the center of the support plate. A second connecting block and a first connecting block are sequentially and rotatably connected above the third connecting block. The first connecting block is fixedly connected to the lower side of the upper cover plate. A controller and a pressure sensor are fixedly fixed to the upper side of the support plate. An electric telescopic rod is fixedly connected to the upper side of the pressure sensor. A pull rod is rotatably connected to the end of the output shaft of the electric telescopic rod. The upper end of the device is fixedly connected to the first connecting block. An electronic gyroscope is fixed to one side of the second connecting block. A rotating mechanism is provided below the support plate. The rotating mechanism includes an outer ring, ball bearings, an inner ring, a connecting plate, a servo motor, and a base plate. The outer ring is fixedly connected to the base plate. The inner ring is located inside the outer ring, and its upper side is fixedly connected to the support plate. The inner ring and the outer ring are provided with grooves on opposite sides. Multiple ball bearings matching the grooves are provided in the two grooves. The connecting plate is horizontally fixed inside the inner ring. The two ends of the servo motor are fixedly connected to the connecting plate and the base plate, respectively. The servo motor, pressure sensor, and electronic gyroscope are all electrically connected to the controller.

[0006] Preferably, the corrugated pipe is made of a flexible refractory material.

[0007] Preferably, the electronic gyroscope is a three-axis gyroscope and the model is L3G4200D.

[0008] Preferably, the controller is a Raspberry Pi, specifically a Raspberry Pi 5.

[0009] Preferably, the pressure sensor is model STG02 and the electric telescopic rod is model JC35J1.

[0010] Compared with the prior art, the beneficial effects of this utility model are: by setting an electric telescopic rod, servo motor and controller at the waist, the robot's upper body can achieve 360-degree omnidirectional rotation and complete bending actions. The electronic gyroscope monitors the robot's posture in real time, and the controller adjusts the joint movement according to the feedback signal to ensure the stability and accuracy of turning and bending actions. This utility model has a compact structure and flexible control, which significantly improves the humanoid robot's mobility and adaptability in complex environments. Attached Figure Description

[0011] Figure 1 This is a structural schematic diagram of a humanoid robot's omnidirectional steering mechanism at the waist, as proposed in this utility model.

[0012] Figure 2 Top view of the rotating mechanism.

[0013] In the diagram: 1-Base plate, 2-Connecting plate, 3-Servo motor, 4-Inner ring, 5-Ball bearing, 6-Outer ring, 7-Pressure sensor, 8-Electric telescopic rod, 9-Bell pipe, 10-Pull rod, 11-Top cover plate, 12-First connecting block, 13-Second connecting block, 14-Electronic gyroscope, 15-Third connecting block, 16-Lower enclosure plate, 17-Controller, 18-Support plate. Detailed Implementation

[0014] 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.

[0015] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not 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 utility model.

[0016] Please see Figure 1-2This utility model provides a technical solution: a humanoid robot's waist-mounted omnidirectional steering mechanism, including a support plate 18. The upper side of the support plate 18 is provided with an upper cover plate 11, a corrugated pipe 9, and a lower surrounding plate 16. The upper cover plate 11, corrugated pipe 9, and lower surrounding plate 16 are fixedly connected from top to bottom. The lower surrounding plate 16 is fixedly connected to the support plate 18, forming a stable cavity structure. A third connecting block 15 is fixedly connected to the center of the support plate 18. The connecting block 15 is located at the center of the cavity, facilitating convenient forward and backward tilting movements. Above the third connecting block 15, a second connecting block 13 and a first connecting block 12 are rotatably connected. The first connecting block 12 is fixedly connected to the lower side of the upper cover plate 11. The three connecting blocks achieve a certain... The structure is simple while allowing for angle rotation. A controller 17 and a pressure sensor 7 are fixed to the upper side of the support plate 18. An electric telescopic rod 8 is fixedly connected to the upper side of the pressure sensor 7. A pull rod 10 is rotatably connected to the output shaft end of the electric telescopic rod 8. The upper end of the pull rod 10 is fixedly connected to the first connecting block 12. The electric telescopic rod 8 can extend or retract under the action of the controller 7, thereby driving the rotation of the first connecting block 12 and the second connecting block 13 through the pull rod 10, thus realizing the robot's forward or backward tilting motion. The pressure sensor 7 detects the pressure value in real time and sends the value to the controller 17. When the value is the same as the preset value in the controller 17, the electric telescopic rod 8 stops its current movement and then moves in the opposite direction until the electric telescopic rod... The robot returns to its initial state. An electronic gyroscope 14 is fixed to one side of the second connecting block 13, monitoring the robot's motion posture. A rotating mechanism is located below the support plate 18, comprising an outer ring 6, ball bearings 5, an inner ring 4, a connecting plate 2, a servo motor 3, and a base plate 1. The outer ring 6 is fixedly connected to the base plate 1. The inner ring 4 is located inside the outer ring 6, and its upper side is fixedly connected to the support plate 18. Grooves are provided on opposite sides of the inner ring 4 and outer ring 6, with multiple ball bearings 5 ​​matching the grooves within each groove. The connecting plate 2 is horizontally fixed inside the inner ring 4. The two ends of the servo motor 3 are fixedly connected to the connecting plate 2 and the base plate 1, respectively. The servo motor 3 drives the inner ring 4 to rotate, thereby achieving the rotation of the upper component. The outer ring 6 and the ball bearing 5 limit the inner ring 4 during rotation, ensuring that the inner ring is subjected to uniform force during rotation and preventing the bottom rotating mechanism from breaking during pitching. The servo motor 3, pressure sensor 7, and electronic gyroscope 14 are all electrically connected to the controller 17, which ensures the smooth operation of each electrical component. Furthermore, the bellows 9 is made of flexible fire-resistant material, which allows for bending while being fire-resistant, increasing its usability and preventing damage to internal equipment in case of fire. Furthermore, the electronic gyroscope 14 is a three-axis gyroscope, model L3G4200D, which has low material procurement costs. Furthermore, the controller is a Raspberry Pi, model Raspberry Pi 5, which has a compact structure, is easy to expand, and is convenient for development and maintenance.Furthermore, the pressure sensor 7 is model STG02, and the electric telescopic rod is model JC35J1, both compact models that meet the requirements of this robot.

[0017] Working Principle: This invention is a pitch and rotation component for a robot. By using a pressure sensor 7 and an electronic gyroscope 14, the robot's motion posture can be monitored in real time, and the data is sent to a controller 17. The controller 17 analyzes the data and then controls the operation of the electric telescopic rod 8. When forward or backward tilting is required, the electric telescopic rod 8 extends or retracts, which in turn drives the rotation of the first connecting block 12 and the second connecting block 13 via the pull rod 10, thereby achieving the pitch effect of the upper body. When the controller 17 detects that the data from the pressure sensor 7 and the electronic gyroscope 14 exceeds a preset value, the electric telescopic rod 8 stops moving and reverses its direction until it returns to its initial state. To prevent the robot from tipping over or being damaged by excessive weight, the upper cover plate 11, lower enclosure plate 16, and corrugated pipe 9 form a sealed assembly, ensuring the normal operation of all internal components. Three connecting blocks simulate animal joints to maintain the pitch angle while reducing structural complexity, saving costs, and facilitating maintenance. The lower rotating structure drives the servo motor 3 to achieve circular rotation, with the specific angle adjustable by the controller 17. Simultaneously, the inner ring 4 experiences even force within the outer ring 6, preventing jamming. The ball bearings 5 ​​reduce friction, allowing the rotating assembly to rotate smoothly even when the upper component is in a pitch position, and preventing the servo motor 3 from failing to operate due to excessive pitch angles. This invention, by incorporating an electric telescopic rod, servo motor, and controller at the waist, supports 360-degree omnidirectional rotation of the robot's upper body and allows for bending movements. An electronic gyroscope monitors the robot's posture in real time, and the controller adjusts joint movements based on feedback signals, ensuring the stability and accuracy of turning and bending actions. This invention features a compact structure and flexible control, significantly improving the humanoid robot's mobility and adaptability in complex environments.

[0018] Although embodiments of the present 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 present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot's waist-mounted omnidirectional steering mechanism, comprising a support plate (18), characterized in that: The upper side of the support plate (18) is provided with an upper cover plate (11), a corrugated pipe (9) and a lower enclosure plate (16). The upper cover plate (11), the corrugated pipe (9) and the lower enclosure plate (16) are fixedly connected from top to bottom. The lower enclosure plate (16) is fixedly connected to the support plate (18). A third connecting block (15) is fixedly connected to the center of the support plate (18). A second connecting block (13) and a first connecting block (12) are rotatably connected above the third connecting block (15). The first connecting block (12) is fixedly connected to the lower side of the upper cover plate (11). A controller (17) and a pressure sensor (7) are fixedly fixed on the upper side of the support plate (18). An electric telescopic rod (8) is fixedly connected to the upper side of the pressure sensor (7). A pull rod (10) is rotatably connected to the end of the output shaft of the electric telescopic rod (8). The upper end of the pull rod (10) is connected to the first connecting block (12). The second connecting block (13) is fixedly connected to an electronic gyroscope (14) on one side. The support plate (18) is provided with a rotating mechanism below it. The rotating mechanism includes an outer ring (6), a ball (5), an inner ring (4), a connecting plate (2), a servo motor (3), and a base plate (1). The outer ring (6) is fixedly connected to the base plate (1). The inner ring (4) is located inside the outer ring (6) and its upper side is fixedly connected to the support plate (18). The inner ring (4) and the outer ring (6) are provided with grooves on opposite sides. Multiple balls (5) matching the grooves are provided in the two grooves. The connecting plate (2) is horizontally fixed inside the inner ring (4). The two ends of the servo motor (3) are fixedly connected to the connecting plate (2) and the base plate (1) respectively. The servo motor (3), pressure sensor (7), and electronic gyroscope (14) are all electrically connected to the controller (17).

2. The omnidirectional steering mechanism for the waist of a humanoid robot according to claim 1, characterized in that: The corrugated pipe (9) is made of flexible refractory material.

3. The omnidirectional steering mechanism for the waist of a humanoid robot according to claim 1, characterized in that: The electronic gyroscope (14) is a three-axis gyroscope and its model number is L3G4200D.

4. The omnidirectional steering mechanism for the waist of a humanoid robot according to claim 1, characterized in that: The controller is a Raspberry Pi, specifically a Raspberry Pi 5.

5. The omnidirectional steering mechanism for the waist of a humanoid robot according to claim 1, characterized in that: The pressure sensor (7) is model STG02, and the electric telescopic rod (8) is model JC35J1.

Images