Waist turning mechanism of humanoid robot

Abstract

The utility model discloses a waist rotating mechanism of humanoid robot, including waist pitch mechanism, rotation drive module, bearing, output adapter, bearing is located on the rotation drive module outer circle, and output adapter is located on the bearing, and output adapter connects the output shaft of rotation drive module, and the waist pitch mechanism is located on the output adapter. The utility model discloses simple structure, through the design of bearing position, load the weight above the waist to the bearing, and the torque produced also is by bearing load, reduces the load of speed reducer, has improved the service life of rotation drive module, has improved the load capacity of humanoid robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a waist rotation mechanism for a humanoid robot. Background Technology

[0002] In existing humanoid robots, the waist rotation mechanism is mounted between the upper and lower body to drive the upper body to rotate relative to the lower body, thus achieving waist torsion. Currently, the load-bearing capacity of the waist rotation mechanism in existing humanoid robots mainly relies on the reducer, which has poor load-bearing capacity and a short service life. Utility Model Content

[0003] The technical problem to be solved by this utility model embodiment is to provide a waist rotation mechanism for a humanoid robot to improve its load-bearing capacity.

[0004] To solve the above-mentioned technical problems, this utility model embodiment proposes a waist rotation mechanism for a humanoid robot, including a waist pitch mechanism, a rotation drive module, a bearing, and an output adapter. The bearing is disposed on the outer periphery of the rotation drive module, and the output adapter is correspondingly disposed on the bearing. The output adapter is connected to the output shaft of the rotation drive module, and the waist pitch mechanism is disposed on the output adapter.

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

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

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

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

[0009] Furthermore, the rotary drive module consists of a motor and a reducer.

[0010] The beneficial effects of this utility model are as follows: This utility model has a simple structure. Through the design of the bearing position, the weight above the waist is loaded onto the bearing, and the generated torque is also loaded by the bearing, which reduces the load on the reducer, improves the service life of the rotary drive module, and enhances the load-bearing capacity of the humanoid robot. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of the waist rotation mechanism of the humanoid robot according to an embodiment of the present invention.

[0012] Figure 2 This is a side view of the waist rotation mechanism of the humanoid robot according to an embodiment of the present invention.

[0013] Figure 3 yes Figure 2 Sectional view at point AA.

[0014] Figure 4 This is a partial structural diagram of the waist rotation mechanism of the humanoid robot according to an embodiment of the present invention.

[0015] Figure 5 This is a three-dimensional structural diagram of the waist pitching mechanism according to an embodiment of the present utility model.

[0016] Figure 6 This is a three-dimensional structural diagram of the rotary drive module according to an embodiment of the present invention.

[0017] Figure 7 This is a three-dimensional structural diagram of the output adapter of this utility model from one angle.

[0018] Figure 8 This is a three-dimensional structural view of the output adapter of this utility model embodiment from another angle.

[0019] Explanation of icon numbers 11. Rotary drive module; 12. Bearing; 13. Output shaft; 14. Limiting block; 20. Output adapter; 21. Limiting groove; 22. Positioning groove; 23. Bushing; 24. Fixing hole; 30. Waist pitching mechanism; 31. Positioning block. Detailed Implementation

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] In this embodiment of the invention, directional indicators (such as up, down, left, right, front, back, etc.) are only used to explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0023] Please refer to Figures 1 to 8The waist rotation mechanism of the humanoid robot in this embodiment includes a waist pitch mechanism, a rotation drive module, a bearing, and an output adapter. The waist pitch mechanism can be an existing waist pitch mechanism, and the back and above components of the humanoid robot are mounted on the waist pitch mechanism.

[0024] The bearing is mounted on the top outer periphery of the rotary drive module. The rotary drive module consists of a motor and a reducer. The output adapter is correspondingly mounted on the bearing. The weight of the humanoid robot's waist is supported by the bearing, eliminating the need for direct force on the reducer of the rotary drive module, thus improving service life and load-bearing capacity.

[0025] The output adapter connects to the output shaft of the rotary drive module in the middle. The waist pitch mechanism is located on the output adapter. When the humanoid robot needs to rotate its upper body components, it drives the rotary drive module, which in turn drives the waist pitch mechanism and the upper body components to rotate via the output adapter.

[0026] In one implementation, the bottom of the output adapter is provided with an arc-shaped limiting groove, and the rotary drive module is provided with a limiting block located in the limiting groove. This invention achieves the limitation of waist rotation through the cooperation of the limiting block and the limiting groove.

[0027] In one implementation, the output adapter is provided with a positioning groove, and the bottom of the waist pitch mechanism is provided with a positioning block embedded in the positioning groove. Preferably, there are multiple sets of positioning blocks and positioning grooves. This utility model, through the cooperation of positioning blocks and positioning grooves, facilitates the quick and easy assembly and fixed connection of the waist pitch mechanism to the waist rotation mechanism of a humanoid robot.

[0028] In one embodiment, the output adapter has a bushing in the middle, which is fitted onto the output shaft of the rotary drive module. The bushing has a fixing hole, into which a screw is installed. The output shaft of the rotary drive module is fixedly connected to the output adapter via the screw. This invention facilitates assembly and allows the output adapter to be quickly connected to the output shaft of the rotary drive module via screws.

[0029] In one implementation, the waist rotation mechanism of the humanoid robot also includes an encoder for detecting the rotation angle of the rotation drive module. The encoder detects the waist rotation angle in real time, facilitating intelligent control of the humanoid robot's posture.

[0030] 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 waist rotation mechanism for a humanoid robot, comprising a waist pitching mechanism, characterized in that, It also includes a rotary drive module, bearings, and an output adapter. The bearings are located on the outer periphery of the rotary drive module, and the output adapters are correspondingly located on the bearings. The output adapters are connected to the output shaft of the rotary drive module, and the waist pitch mechanism is located on the output adapters.

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

3. The waist rotation mechanism of the humanoid robot as described in claim 1, characterized in that, The output adapter is provided with a positioning groove, and the bottom of the waist pitch mechanism is provided with a positioning block embedded in the positioning groove.

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

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

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

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