Robot hip translation mechanism based on AGV driving

Abstract

The utility model relates to the technical field of humanoid robots, and concretely relates to a robot crotch translation mechanism based on AGV drive, the top of the spine is installed with the head of the robot, the support for supporting the robot arm is installed on the spine below the head, the middle part of the spine is installed with the linear motor, the slide table is connected on the linear motor, the linear motor is connected with the ball bearing force structure through the slide table, the both ends of the ball bearing force structure are connected with the leg root joint of the robot, the bottom of the spine is connected with the AGV chassis, the utility model adds the slide table horizontal movement controlled by the linear stepping motor in the robot crotch, and the deflection angle of the thigh root joint is further controlled, the left and right translation of the crotch is realized, the robot can simulate human twist crotch and the like action, thereby solve the defects that the human action imitation is insufficient in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, specifically to a robot hip translation mechanism based on AGV drive. Background Technology

[0002] Humanoid robots typically use bipedal propulsion to achieve overall movement and posture control. This traditional bipedal approach has advantages in performing complex movements and mimicking human behavior, but it also has several drawbacks. For example, the complex structure of the bipedal legs leads to high manufacturing costs, the alternating leg movement makes it difficult to meet the demands of high-speed applications, and wear and tear issues arise during maintenance. While AGVs (Automated Guided Vehicles) also offer advantages, their lack of bipedal structure results in a significantly different appearance, hindering their ability to mimic human behavior or integrate into scenarios requiring human-like interaction.

[0003] To address these contradictions, existing technologies attempt to solve the problem by adding a two-legged structure to an AGV (Automated Guided Vehicle). However, the original drive system of an AGV is primarily based on planar movement, which differs significantly from the complex motion control required for a humanoid robot with two legs. Therefore, even after adding legs to an AGV-driven robot, the inherent limitations of AGV drive systems, such as their relatively fixed drive methods, still significantly restrict the robot's body posture and movement. This prevents the robot from achieving a wide variety of posture changes and makes it difficult to meet the needs of scenarios requiring high robot flexibility, such as dance performances and navigation in complex environments.

[0004] In view of the above problems, this utility model designs a robot hip translation mechanism based on AGV drive. By adding a slide controlled by a linear stepper motor to the robot's hip, the deflection angle of the thigh joint is controlled, thereby realizing the left and right translation of the hip and increasing the degree of freedom of the robot's body posture. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robot hip translation mechanism based on AGV drive. By adding a slide controlled by a linear stepper motor to the robot's hip, the deflection angle of the thigh joint can be controlled, thereby realizing the left and right translation of the hip and increasing the degree of freedom of the robot's body posture.

[0006] To achieve the above objectives, this utility model provides a robot hip translation mechanism based on AGV drive. The robot's head is installed at the top of the spine, and a support for the robot arm is installed on the spine below the head. A linear motor is installed in the middle of the spine, and a slide is connected to the linear motor. The linear motor is connected to a ball bearing support structure through the slide. The two ends of the ball bearing support structure are connected to the root joints of the robot's legs. An AGV chassis is connected to the bottom of the spine.

[0007] The AGV chassis is connected to the bottom of the robot's legs.

[0008] The AGV chassis includes a motor, wheels, battery, and navigation and positioning device.

[0009] The robotic arm rotates at different angles along the bearings at both ends of the support.

[0010] The two ends of the ball bearing load-bearing structure are ball bearings that connect to the root joints of the robot's legs.

[0011] The linear motor is a linear stepper motor.

[0012] The linear stepper motor is electrically connected to an external electrical pulse signal.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] This invention achieves left-right translation of the hip by adding a slide controlled by a linear stepper motor to the robot's hip, thereby controlling the deflection angle of the thigh joint and enabling the robot to simulate human hip twisting movements, thus solving the deficiency of existing technologies in imitating human movements.

[0015] This invention enables the robot's entire hip to be driven by only one motor, reducing manufacturing costs and maintaining the advantage of low AGV drive costs. Based on a relatively simple structure, it also reduces maintenance costs and complexity. Furthermore, due to the low power density and simple structure of the stepper motor, combined with the stable support of the ball bearing, the horizontal movement of the hip is more stable, improving the overall stability of the robot's operation and the realism of its simulation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0017] Figure 2 This is a partial structural schematic diagram of the present invention.

[0018] Figure 3 This is a schematic diagram of the extreme positions of the hip's left and right movements according to this utility model.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1. Head, 2. Spine, 3. Linear motor, 4. Slide table, 5. Ball bearing load-bearing structure, 6. AGV chassis. Detailed Implementation

[0021] The present invention will now be further described with reference to the accompanying drawings.

[0022] See Figures 1-3 This utility model provides a robot hip translation mechanism based on AGV drive. The top of the spine 2 is equipped with the robot head 1. The spine 2 below the head 1 is equipped with a bracket for supporting the robot arm. A linear motor 3 is installed in the middle of the spine 2. A slide 4 is connected to the linear motor 3. The linear motor 3 is connected to the ball bearing support structure 5 through the slide 4. The two ends of the ball bearing support structure 5 are connected to the root joint of the robot's leg. The bottom of the spine 2 is connected to the AGV chassis 6.

[0023] The AGV chassis 6 is connected to the bottom of the robot's legs.

[0024] The AGV chassis 6 includes a motor, wheels, battery, and navigation and positioning device.

[0025] The robotic arm rotates at different angles along the bearings at both ends of the support.

[0026] The two ends of the ball bearing load-bearing structure 5 are ball bearings connected to the root joints of the robot's legs.

[0027] Linear motor 3 is a linear stepper motor.

[0028] The linear stepper motor is electrically connected to an external electrical pulse signal.

[0029] Working principle:

[0030] This invention requires minimal debugging during use: when the robot needs to simulate hip twisting or perform other postures requiring hip movement, the control system sends electrical pulse signals to the linear stepper motor 3. The linear stepper motor 3 drives the slide 4 to move left or right horizontally. The slide 4 then causes the connected thigh joint to deflect, thereby achieving left-right translation of the hip. Combined with the movement of other parts of the robot, this completes various complex body postures. During this process, the ball bearing load-bearing structure 5 stably supports the weight of the legs, ensuring the smoothness and reliability of the entire movement.

[0031] The above are merely preferred embodiments of this utility model, intended only to aid in understanding the method and core concept of this application. The scope of protection of this utility model is not limited to the above embodiments; all technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the scope of protection of this utility model.

[0032] In the description of this utility model, it should be noted that the terms "upper", "lower", "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.

[0033] This invention comprehensively addresses the shortcomings of existing technologies where robots based on AGVs cannot achieve posture changes after adding a two-legged structure. By adding a horizontally moving linear stepper motor to the robot's hip area to drive the hip's left and right movement, combined with the movement of the hands and other parts, complex posture movements are achieved. The overall device is simple and reliable. Because the ball bearing load-bearing structure supports the weight of the legs, the requirements for the lateral drive motor are reduced, thus reducing manufacturing costs and providing better endurance. Its versatility in posture allows it to adapt to more application scenarios. Furthermore, the linear stepper motor is quieter, making it suitable for special scenarios with noise restrictions.

[0034] This invention breaks with the conventional thinking in the field that robot hip movements require high power and complex structures, reducing the requirements for the motor by using a ball bearing load-bearing structure. It also overcomes the traditional perception that AGV-driven robots cannot mimic humanoid postures, indirectly making people overlook the visual impact of AGVs through the richness of arm and hip postures, thus providing new ideas and directions for the design of robot drive systems.

Claims

1. A robot hip translation mechanism based on AGV drive, characterized in that, The top of the spine (2) is equipped with the robot's head (1), and a support for the robot's arm is installed on the spine (2) below the head (1). A linear motor (3) is installed in the middle of the spine (2), and a slide (4) is connected to the linear motor (3). The linear motor (3) is connected to the ball bearing support structure (5) through the slide (4). The two ends of the ball bearing support structure (5) are connected to the root joints of the robot's legs. An AGV chassis (6) is connected to the bottom of the spine (2).

2. The AGV-driven robot hip translation mechanism according to claim 1, characterized in that, The AGV chassis (6) is connected to the bottom of the robot's legs.

3. The AGV-driven robot hip translation mechanism according to claim 2, characterized in that, The AGV chassis (6) includes a motor, wheels, a battery, and a navigation and positioning device.

4. The AGV-driven robot hip translation mechanism according to claim 1, characterized in that, The robotic arm rotates at different angles along the bearings at both ends of the support.

5. The AGV-driven robot hip translation mechanism according to claim 1, characterized in that, The two ends of the ball bearing load-bearing structure (5) are ball bearings connected to the root joints of the robot's legs.

6. The AGV-driven robot hip translation mechanism according to claim 1, characterized in that, The linear motor (3) is a linear stepper motor.

7. The AGV-driven robot hip translation mechanism according to claim 6, characterized in that, The linear stepper motor is electrically connected to an external electrical pulse signal.

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