Humanoid robot torso device

Abstract

The utility model discloses a humanoid robot torso device, including head acquisition control unit, torso support, waist torsion motor module, waist pitch motor module, neck torsion motor module, neck pitch motor module, neck motor mounting bracket, head mounting bracket, waist mounting bracket, waist pitch motor module is located on waist torsion motor module, and waist mounting bracket is connected waist pitch motor module correspondingly, and torso support is located on waist mounting bracket correspondingly, and neck torsion motor module is located on torso support, and neck motor mounting bracket is connected neck torsion motor module correspondingly, and neck pitch motor module is located on neck motor mounting bracket, and head mounting bracket is connected neck pitch motor module correspondingly, and head acquisition control unit is located on head mounting bracket. The utility model whole simple structure, compact, has promoted the flexibility of humanoid robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a humanoid robot torso device. Background Technology

[0002] Humanoid robots represent a significant research area in robotics, with one of their core objectives being to mimic human bipedal walking. The torso, as the central component connecting the head and limbs, directly determines the robot's overall motion performance and interactive capabilities based on its flexibility, stability, and lightweight design. Existing humanoid robot torsos suffer from structural complexity, bulkiness, insufficient degrees of freedom, and poor flexibility. Utility Model Content

[0003] The technical problem to be solved by this utility model embodiment is to provide a humanoid robot torso device to simplify the structure and improve flexibility.

[0004] To address the aforementioned technical problems, this utility model provides a humanoid robot torso device, including a head acquisition and control unit, a torso support, a waist torsion motor module, a waist pitch motor module, a neck torsion motor module, a neck pitch motor module, a neck motor mounting bracket, a head mounting bracket, and a waist mounting bracket. The waist pitch motor module is mounted on the waist torsion motor module, and the waist mounting bracket is correspondingly connected to the waist pitch motor module. The torso support is correspondingly mounted on the waist mounting bracket, the neck torsion motor module is mounted on the torso support, and the neck motor mounting bracket is correspondingly connected to the neck torsion motor module. The neck pitch motor module is mounted on the neck motor mounting bracket, the head mounting bracket is correspondingly connected to the neck pitch motor module, and the head acquisition and control unit is mounted on the head mounting bracket.

[0005] Furthermore, the waist pitch motor module is equipped with a waist limiting component for limiting the pitch angle of the waist mounting bracket.

[0006] Furthermore, the torso support adopts a hollow design.

[0007] Furthermore, the neck motor mounting bracket is L-shaped.

[0008] Furthermore, the head mounting bracket is inverted L-shaped.

[0009] Furthermore, handrails are provided on the torso support.

[0010] The beneficial effects of this invention are as follows: This invention decomposes the movements of the waist and neck into two degrees of freedom, "torsion" and "pitch," each driven by an independent motor module. This design mimics the multi-degree-of-freedom movement capabilities of the human spine and cervical vertebrae, enabling the humanoid robot not only to walk using its legs but also to actively adjust its center of gravity through flexible waist rotation and pitch, compensating for swaying during walking. It can also perform a variety of upper body movements such as turning, bending, raising, and lowering the head, greatly enhancing the stability of movement and the naturalness of interaction. Furthermore, the overall structure of this invention is simple and compact, improving the flexibility of the humanoid robot. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of the humanoid robot torso device from one angle, according to an embodiment of this utility model.

[0012] Figure 2 This is a three-dimensional structural view of the humanoid robot torso device from another angle, according to an embodiment of this utility model.

[0013] Figure 3 This is a three-dimensional structural diagram of the waist pitch motor module according to an embodiment of the present invention.

[0014] Explanation of icon numbers 300. Humanoid robot torso device; 301. Head acquisition and control unit; 302. Torso support; 303. Waist torsion motor module; 304. Waist pitch motor module; 305. Neck torsion motor module; 306. Neck pitch motor module; 307. Neck motor mounting bracket; 308. Head mounting bracket; 309. Waist mounting bracket; 310. Waist limiting component; 311. Handrail bracket. Detailed Implementation

[0015] 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.

[0016] 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.

[0017] 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.

[0018] Please refer to Figures 1-3 The humanoid robot torso device of this utility model embodiment includes a head acquisition and control unit, a torso support, a waist torsion motor module, a waist pitch motor module, a neck torsion motor module, a neck pitch motor module, a neck motor mounting bracket, a head mounting bracket, and a waist mounting bracket.

[0019] The head acquisition and control unit integrates sensors such as a camera, which is a common structure. The waist pitch motor module is located on the output end of the waist torsion motor module, and the waist mounting bracket is correspondingly connected to the output end of the waist pitch motor module. The torso support is correspondingly located on the waist mounting bracket. The neck torsion motor module is located on the torso support, and the neck motor mounting bracket is correspondingly connected to the output end of the neck torsion motor module. The neck pitch motor module is located on the neck motor mounting bracket. The head mounting bracket is correspondingly connected to the output end of the neck pitch motor module, and the head acquisition and control unit is located on the head mounting bracket. This invention can simulate a person's head-shaking motion; the neck pitch motor module and the neck torsion motor module can rotate ±90 degrees.

[0020] This invention decomposes the movements of the waist and neck into two degrees of freedom: "torsion" and "pitch," resulting in high flexibility and a wider acquisition angle for the head acquisition control unit. The layered, serially modular layout of this invention rationally distributes the heavier motor modules throughout the torso structure, particularly placing the heavier waist motor module in the lower part of the torso, which helps lower the overall center of gravity, thereby improving the stability of the humanoid robot in both static and dynamic states.

[0021] In one implementation, the waist pitch motor module is equipped with waist limiting components for limiting the pitch angle of the waist mounting bracket. There are two waist limiting components, which limit the pitch and roll angles of the waist mounting bracket respectively. This prevents the waist pitch angle from being too large, avoids damage to the motors, gears, or connecting structures of each motor module, and improves the service life and reliability of the torso device.

[0022] In one implementation, the torso support adopts a hollow design. This invention, while ensuring structural strength, minimizes the torso's weight, which helps reduce motor load and energy consumption. The hollow design also facilitates the laying of internal cables and the installation of other sensors or control units.

[0023] In one implementation, the neck motor mounting bracket is L-shaped, while the head mounting bracket is an inverted L-shape. This L-shaped mounting bracket allows for a more compact installation of the motor module onto the torso support, achieving weight reduction while optimizing the force transmission path, resulting in a more compact and rational overall structure.

[0024] As one implementation method, the torso support is equipped with handrails, which allow users to manually grab the humanoid robot and prevent it from falling over.

[0025] 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 torso device, comprising a head acquisition and control unit, characterized in that, It also includes a torso support, a lumbar torsion motor module, a lumbar pitch motor module, a neck torsion motor module, a neck pitch motor module, a neck motor mounting bracket, a head mounting bracket, and a lumbar mounting bracket. The lumbar pitch motor module is mounted on the lumbar torsion motor module, and the lumbar mounting bracket is correspondingly connected to the lumbar pitch motor module. The torso support is correspondingly mounted on the lumbar mounting bracket, the neck torsion motor module is mounted on the torso support, and the neck motor mounting bracket is correspondingly connected to the neck torsion motor module. The neck pitch motor module is mounted on the neck motor mounting bracket, the head mounting bracket is correspondingly connected to the neck pitch motor module, and the head acquisition and control unit is mounted on the head mounting bracket.

2. The humanoid robot torso device as described in claim 1, characterized in that, The waist pitch motor module is equipped with a waist limiting component for limiting the pitch angle of the waist mounting bracket.

3. The humanoid robot torso device as described in claim 1, characterized in that, The torso support features a hollow design.

4. The humanoid robot torso device as described in claim 1, characterized in that, The neck motor mounting bracket is L-shaped.

5. The humanoid robot torso device as described in claim 1, characterized in that, The head mounting bracket is inverted L-shaped.

6. The humanoid robot torso device as described in claim 1, characterized in that, The torso frame is equipped with handrails.

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