Analog robot body motion control means

Abstract

A motion control component for a simulated robot's body includes a torso base and a thoracic support. The thoracic support is rotatably mounted above the torso base via a bidirectional rotating mechanism, allowing it to rotate forward and backward and left and right relative to the torso base. Side waist telescopic support devices are rotatably connected to the middle of both sides of the thoracic support and the torso base, and waist and abdomen telescopic drive devices are rotatably mounted to the rear of both sides of the thoracic support and the torso base, used to drive the thoracic support to rotate on the torso base. This invention features a compact structure, small footprint, high flexibility, simple motion control logic, and eliminates the need for repeated decoupling. It can accurately locate and achieve a neutral position for the robot's body in its natural state, while maintaining overall design balance.

Description

Technical Field

[0001] This utility model belongs to the technical field of robot control, specifically relating to a component for controlling the body motion of a simulated robot. Background Technology

[0002] Robots are hailed as the "crown jewel of manufacturing," and humanoid robots are among the most technically challenging to manufacture. In recent years, the technology of humanoid robots has developed rapidly, but the vast majority of robot bodies still use the traditional direct-drive motor configuration, and the movement of the robot's waist and abdomen is driven only by motors. This movement mode is extremely rigid for humanoid robots and cannot achieve the same effect as the coordinated body language of a human.

[0003] In the prior art, patent document CN221561356U discloses a waist mechanism for a humanoid bionic robot, including a drive shaft and a torso mounting base. A bracket is fixedly connected to the top of the drive shaft, and a first drive mechanism is arranged inside the bracket. A second drive mechanism is arranged in the middle of the first drive mechanism. The rotation of the first drive gear causes the first helical gear to rotate, and the connecting rod is rotatably connected to the worm gear frame, thereby driving the worm gear frame to rotate, which in turn drives the torso mounting base to rotate, realizing the forward and backward tilting motion of the waist. The rotation of the second drive gear causes the second helical gear to rotate, and the second helical gear is fixedly connected to the driving gear through a transmission shaft. The driving gear meshes with the driven gear, thereby driving the worm to rotate, which in turn drives the worm wheel to rotate, which in turn drives the torso mounting base to rotate, realizing the left and right swaying function of the waist. While the above solution achieves forward and backward tilting and left and right swaying movements, and the rotation axis is on the same plane, resulting in stable operation and a more realistic biomimetic effect, its drive scheme was previously complex, with excessive structural mass and space occupation. Multiple transmissions made decoupling difficult when designing the control algorithm, and it was difficult to accurately find the neutral position of the robot's body. Furthermore, the series of transmission mechanisms involved in the second drive gear caused an imbalance in weight between the left and right sides of the robot, requiring additional power to maintain the balance of the torso mounting base. If lightweight transmission materials were used to reduce the impact of the imbalance of the torso mounting base, it would easily lead to insufficient drive torque. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by proposing a simulated robot body motion control component that is compact in structure, occupies little space, is highly flexible, has simple motion control logic, does not require repeated decoupling, can accurately locate and realize the robot body in a neutral position in its natural state, and has an overall balanced design.

[0005] The specific technical solution is as follows: A simulated robot body motion control component includes a body base frame and a thoracic support frame. The thoracic support frame is rotatably mounted above the body base frame via a bidirectional rotation mechanism, enabling the thoracic support frame to rotate forward and backward and left and right relative to the body base frame. Side waist telescopic support devices are rotatably connected to the middle parts of both sides of the thoracic support frame and the body base frame, and waist and abdomen telescopic drive devices are rotatably provided to the rear parts of both sides of the thoracic support frame and the body base frame, for driving the thoracic support frame to rotate on the body base frame.

[0006] Preferably, a shoulder and arm support frame is rotatably mounted on both sides of the top of the thoracic support frame, and a shoulder joint motor is mounted on the other end of the shoulder and arm support frame to drive the arm to lift. At least one control support arm is rotatably mounted in the middle of the shoulder and arm support frame, and a shoulder and arm control motor is mounted in the middle of the thoracic support frame. An eccentric disk is provided at the output end of the shoulder and arm control motor, and the control support arm is rotatably connected to the deflection center of the eccentric disk.

[0007] Preferably, the bidirectional rotation mechanism consists of a cross support member and two rotation support ear assemblies. The two rotation support ear assemblies are respectively fixedly installed at the bottom of the thoracic support frame and the top of the body frame. The cross support member has four rotation support shafts, with two opposite rotation support shafts being concentric. The rotation support ear assembly has two opposite support ears, which are rotatably mounted on the support shafts through a bearing structure.

[0008] Preferably, the rotating support ear assembly also has a fixed mounting plate, with two opposing support ears fixedly disposed on both sides of the fixed mounting plate and integrally formed. Mounting holes are provided around the fixed mounting plate, and the fixed mounting plate is fixedly installed at the bottom of the thoracic support / top of the body frame by bolts / screws passing through the mounting holes.

[0009] Preferably, the waist and abdomen telescopic drive device is equipped with a motion control motor and a motion control support arm. The motion control motor is installed on the side of the body frame, and the output end of the motion control motor is provided with an eccentric disk. The deflection center of the eccentric disk is provided with a rotating ball joint structure that is rotatably connected to one end of the motion control support arm. The other end of the motion control support arm is rotatably connected to the thoracic support through the rotating ball joint structure. The motion control support arm is inclined.

[0010] Preferably, the motion control support arm has an inclination angle of 60°–85° with the horizontal direction, and the motion control support arms of the two waist and abdomen telescopic drive devices are inclined in opposite directions.

[0011] Preferably, the side waist telescopic support device is provided with a driven telescopic push rod. The two ends of the driven telescopic push rod are respectively connected to the sides of the body base frame and the thoracic support frame through a rotating ball joint structure. The driven telescopic push rod is inclined, and the inclination direction is opposite to the motion control support arm on the corresponding side.

[0012] Preferably, the side waist telescopic support device is equipped with an electric push rod. The two ends of the electric push rod are respectively connected to the sides of the body base frame and the thoracic support frame through a rotating ball joint structure. The electric push rod is inclined, and the inclination direction is opposite to the motion control support arm on the corresponding side.

[0013] Preferably, a control display screen mounting part and a data interface part are provided on the front or rear side of the thoracic stent.

[0014] Preferably, an equipment mounting cavity is provided in the body frame and / or thoracic support.

[0015] The advantages of this utility model are: compact structure, small space occupation, high flexibility, simple motion control logic, no need for repeated decoupling, able to accurately find and realize the robot body in a neutral position in its natural state, and the overall design is balanced. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0017] Figure 2 This is a front view of the entire utility model.

[0018] Figure 3 This is a schematic diagram of the overall rear structure of this utility model.

[0019] In the diagram: 1. Body frame; 2. Thoracic support; 3. Lateral lumbar telescopic support device; 4. Abdominal telescopic drive device; 5. Bidirectional rotation mechanism; 6. Shoulder and arm support frame; 7. Control display screen mounting part; 8. Data interface part; 9. Equipment mounting cavity; Driven telescopic push rod 31; electric push rod 32; motion control motor 41; motion control support arm 42; Cross-shaped support component 51; Rotating support ear assembly 52; Shoulder joint motor 61; control support arm 62; shoulder arm control motor 63. Detailed Implementation

[0020] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0021] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" 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.

[0022] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. Example

[0023] like Figure 1 , Figure 2 and Figure 3 As shown: A simulated robot body motion control component is provided, which includes a body base frame 1 and a thoracic support frame 2. The thoracic support frame 2 is rotatably mounted above the body base frame 1 through a bidirectional rotation mechanism 5, so that the thoracic support frame 2 can rotate forward and backward and left and right relative to the body base frame 1. Side waist telescopic support devices 3 are rotatably connected to the middle part of both sides of the thoracic support frame 2 and the body base frame 1, and waist and abdomen telescopic drive devices 4 are rotatably provided to the rear part of both sides of the thoracic support frame 2 and the body base frame 1, which are used to drive the thoracic support frame 2 to rotate on the body base frame 1.

[0024] The aforementioned thoracic support frame 2 has shoulder and arm support frames 6 rotatably mounted on both sides of its top. A shoulder joint motor 61 is mounted on the other end of the shoulder and arm support frame 6 to drive arm lifting. A control support arm 62 is rotatably mounted in the middle of the shoulder and arm support frame 6. A shoulder and arm control motor 63 is mounted in the middle of the thoracic support frame 2. An eccentric disk is provided at the output end of the shoulder and arm control motor 63. The control support arm 62 is rotatably connected to the deflection center of the eccentric disk. The control support arm 62 is preferably tilted, forming a crank-connecting rod structure through the eccentric disk to power the shoulder and arm control motor 63. The rotational force is converted into a torque that controls the up-and-down movement of the shoulder arm support frame 6, which is specifically manifested as the swaying of the robot's shoulder, increasing the degree of freedom and making it more realistic. Alternatively, control support arms 62 can be rotatably installed on both sides of the middle of the shoulder arm support frame 6. Accordingly, each shoulder arm support frame 6 needs to be equipped with two shoulder arm control motors 63 for control, or one shoulder arm support frame 6 can be used with a rotation damper. This not only provides more balanced support for the shoulder arm support frame 6, but also provides greater support force, enabling it to drive heavier arms or have a higher arm load capacity.

[0025] The bidirectional rotation mechanism 5 consists of a cross-shaped support member 51 and two rotating support ear assemblies 52. The two rotating support ear assemblies 52 are respectively fixedly installed at the bottom of the thoracic support frame 2 and the top of the torso base frame 1. The cross-shaped support member 51 has four rotating support shafts, with two opposing rotating support shafts being concentric. The rotating support ear assembly 52 has two opposing support ears, which are rotatably mounted on the support shafts via bearing structures. Through the cross-shaped support member 51, forward tilting, backward tilting, and left and right twisting movements are achieved on the same plane of the rotating shafts, resulting in stable operation and a more realistic biomimetic effect. Moreover, the structure is compact, occupies little space, and has high flexibility.

[0026] The rotating support ear assembly 52 also has a fixed mounting plate. Two opposing support ears are fixedly installed on both sides of the fixed mounting plate and are integrally formed. Mounting holes are provided around the fixed mounting plate. The fixed mounting plate is fixedly installed at the bottom of the thoracic support 2 / top of the torso base 1 by bolts / screws passing through the mounting holes. Compared with the integrated design of the rotating support ear assembly 52 with the thoracic support 2 / torso base 1, the rotating support ear assembly 52 can be independently and detachably installed, which facilitates the overall installation and disassembly of the bidirectional rotating mechanism 5, thereby facilitating later maintenance.

[0027] The lumbar and abdominal extension drive device 4 is equipped with a motion control motor 41 and a motion control support arm 42. The motion control motor 41 is installed on the side of the torso base frame 1, and an eccentric disk is provided at the output end of the motion control motor 41. The deflection center of the eccentric disk is provided with a rotating ball joint structure that is rotatably connected to one end of the motion control support arm 42. The other end of the motion control support arm 42 is rotatably connected to the thoracic support frame 2 through the rotating ball joint structure. The motion control motor 41 forms a crank-connecting rod structure through the eccentric disk, realizing the conversion of rotational torque into linear extension and retraction of the motion control support arm 42. Thus, the two motion control support arms 42 connected to the rear sides of the thoracic support frame 2 extend and retract respectively to control the forward tilting, backward tilting, and left and right twisting movements of the thoracic support frame 2. Specifically: When both motion control support arms 42 extend upwards simultaneously to push the rear of the thoracic support 2, the thoracic support 2 tilts forward relative to the body base 1. Conversely, when the motion control support arms 42 retract downwards simultaneously, the thoracic support 2 is pulled back or tilted backwards relative to the body base 1. When the left motion control support arm 42 extends upwards while the right motion control support arm 42 retracts downwards with the same stroke, the thoracic support 2 twists to the right relative to the body base 1, and vice versa. The above describes a single action. To achieve a combined forward or backward tilting motion with left and right twisting, it is only necessary to have different stroke distances or speeds for the upward extension and downward retraction of the two motion control support arms 42. The entire control process does not have a complex transmission system, further reducing structural weight and space occupation, and simplifying the motion control logic. It does not require repeated decoupling and can accurately find and achieve the robot's body in a neutral position in its natural state by setting the relative initial positions of the motion control motors 41, while maintaining overall design balance. In addition, the motion control support arm 42 is tilted to avoid jamming of the motion control motor 41 and to make the space layout more convenient.

[0028] The motion control support arm 42 has an inclination angle of 60°–85° with the horizontal direction, and the motion control support arms 42 of the two waist and abdomen telescopic drive devices 4 are tilted in opposite directions, making the structural design more symmetrical and balanced.

[0029] like Figure 2 As shown, the side waist telescopic support device 3 is equipped with a driven telescopic push rod 31. The two ends of the driven telescopic push rod 31 are connected to the sides of the body base frame 1 and the thoracic support 2 respectively through a rotating ball joint structure. The driven telescopic push rod 31 is inclined, and the inclination direction is opposite to the motion control support arm 42 on the corresponding side. In this way, the pushing support force inside the box and the pushing support force to the outside are more balanced. The driven telescopic push rod 31 has a certain damping to balance the support of the thoracic support 2 relative to the body base frame 1 and maintain its position. That is, at least after the motion control motor 41 adjusts the thoracic support 2 to the neutral position and the power is cut off, it will not tilt to the sides due to gravity, and the thoracic support 2 will have a greater supporting force.

[0030] Or, such as Figure 3 As shown, the lateral waist telescopic support device 3 is configured as an electric push rod 32. The two ends of the electric push rod 32 are connected to the sides of the torso base frame 1 and the thoracic support frame 2 respectively through a rotating ball joint structure. The electric push rod 32 is inclined, and the inclination direction is opposite to the motion control support arm 42 on the corresponding side. If it is configured as an electric push rod 32, there will be redundant driving force, which will enhance the control support torque. However, the design cost and the strength of the control logic will be increased accordingly. Therefore, it is generally not used. However, it should be noted that the above-mentioned waist and abdomen telescopic drive device 4 and shoulder arm support frame 6 control mechanism can be replaced by electric push rods. As long as the device that ultimately realizes telescopic drive can be controlled.

[0031] A control display screen mounting part 7 and a data interface part 8 are provided on the front or rear side of the thoracic support 2. The display screen mounting part 7 is used to install the control screen for manual control of the robot from the outside. The data interface part 8 is used for secondary development of the robot or data extraction. If the display screen mounting part 7 and the data interface part 8 are located on the front side of the thoracic support 2, they need to be concealed by the outer shell to avoid affecting the aesthetics of the robot. An equipment mounting cavity 9 is provided in the body base frame 1 and / or the thoracic support 2 for installing control circuit boards and other equipment.

[0032] 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.

Claims

1. A simulated robot body motion control component, characterized in that: It includes a torso frame (1) and a thoracic support (2). The thoracic support (2) is rotatably mounted above the torso frame (1) via a bidirectional rotating mechanism (5), so that the thoracic support (2) can rotate forward and backward and left and right relative to the torso frame (1). Side waist telescopic support devices (3) are rotatably connected to the middle of both sides of the thoracic support (2) and the torso frame (1). Waist and abdomen telescopic drive devices (4) are rotatably provided to the rear of both sides of the thoracic support (2) and the torso frame (1) to drive the thoracic support (2) to rotate on the torso frame (1).

2. The simulated robot body motion control component according to claim 1, characterized in that: The thoracic support frame (2) is rotatably mounted on both sides of the top. The shoulder joint motor (61) is mounted on the other end of the shoulder joint motor (6) for driving the arm to lift. At least one control support arm (62) is rotatably mounted in the middle of the shoulder joint motor (6). A shoulder control motor (63) is mounted in the middle of the thoracic support frame (2). An eccentric disk is provided at the output end of the shoulder control motor (63). The control support arm (62) is rotatably connected to the deflection center of the eccentric disk.

3. The simulated robot body motion control component according to claim 1 or 2, characterized in that: The bidirectional rotation mechanism (5) consists of a cross support member (51) and two rotation support ear assemblies (52). The two rotation support ear assemblies (52) are respectively fixedly installed at the bottom of the thoracic support (2) and the top of the body base frame (1). The cross support member (51) has four rotation support shafts, and the two opposite rotation support shafts are concentric. The rotation support ear assembly (52) has two opposite support ears, and the support ears are rotatably installed on the support shafts through a bearing structure.

4. The simulated robot body motion control component according to claim 3, characterized in that: The rotating support ear assembly (52) also has a fixed mounting plate. Two opposing support ears are fixedly installed on both sides of the fixed mounting plate and are integrally formed. Mounting holes are provided around the fixed mounting plate. The fixed mounting plate is fixedly installed at the bottom of the thoracic support (2) / top of the body frame (1) by bolts / screws passing through the mounting holes.

5. The simulated robot body motion control component according to any one of claims 1, 2, or 4, characterized in that: The waist and abdomen telescopic drive device (4) is equipped with a motion control motor (41) and a motion control support arm (42). The motion control motor (41) is installed on the side of the body base frame (1), and the output end of the motion control motor (41) is provided with an eccentric disk. The deflection center of the eccentric disk is provided with a rotating ball joint structure that is rotatably connected to one end of the motion control support arm (42). The other end of the motion control support arm (42) is rotatably connected to the thoracic support frame (2) through the rotating ball joint structure. The motion control support arm (42) is inclined.

6. The simulated robot body motion control component according to claim 5, characterized in that: The angle of inclination of the motion control support arm (42) to the horizontal direction is 60°–85°, and the motion control support arms (42) of the two waist and abdomen telescopic drive devices (4) are tilted in opposite directions.

7. The simulated robot body motion control component according to claim 5, characterized in that: The side waist telescopic support device (3) is provided with a driven telescopic push rod (31). The two ends of the driven telescopic push rod (31) are respectively connected to the sides of the body base frame (1) and the thoracic support frame (2) through a rotating ball joint structure. The driven telescopic push rod (31) is inclined and the inclination direction is opposite to the motion control support arm (42) on the corresponding side.

8. The simulated robot body motion control component according to claim 5, characterized in that: The side waist telescopic support device (3) is equipped with an electric push rod (32). The two ends of the electric push rod (32) are connected to the sides of the body base frame (1) and the thoracic support frame (2) respectively through a rotating ball joint structure. The electric push rod (32) is inclined, and the inclination direction is opposite to the motion control support arm (42) on the corresponding side.

9. The simulated robot body motion control component according to any one of claims 1, 2, 4, 6-8, characterized in that: A control display screen mounting part (7) and a data interface part (8) are provided on the front or rear side of the thoracic stent (2).

10. The simulated robot body motion control component according to claim 9, characterized in that: Equipment mounting cavities (9) are provided in the body frame (1) and / or the thoracic support (2).

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