Robot Upper Half Body Support Structure with Triangular Frame
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Solution Overview
Problem
Conventional support structures for humanoid robots require high rigidity and weight to support arm units, leading to increased weight and energy consumption, which is not preferable for the lower half body and overall efficiency.
Innovation Solution
A support structure where the arm unit and actuator are mounted on a driving unit with high rigidity, connected to the upper half body support part and haunch bone part at specific points, forming a triangular support frame to distribute loads efficiently, reducing the overall weight of the upper half body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the arm units are supported at a location away from the backbone part, then the arm units can be mounted on the horizontal support member, but the rigidity of the horizontal support member and backbone part must be kept high, causing the weight of the upper half body to increase
Solution Approach 1:
The patent merges the driving unit with the support function by having the driving unit directly support the upper half body through connection to the backbone part. This integration eliminates the need for separate high-rigidity horizontal support members, as the driving unit itself provides the necessary support structure, thereby reducing overall weight while maintaining arm unit functionality.
Solution Approach 2:
The driving unit acts as an intermediary between the arm unit and the backbone part. Instead of directly mounting the arm unit on a heavy horizontal support member, the driving unit serves as a mediating structure that provides both actuation and support functions, allowing for weight reduction while maintaining structural integrity.
2Device complexity
If the arm units are directly connected with the skeletal structure member, then the connection is simple, but the skeletal structure member must directly receive loads from the arm units, requiring increased weight to ensure strength
Solution Approach 1:
The patent combines the actuator housing with the support function by having the driving unit support the upper half body. This merging of functions means the skeletal structure does not need to be oversized for load-bearing purposes, as the driving unit's connection to the backbone part provides the necessary support while the actuator housing serves dual purposes.
3Strength
If the weight of the upper half body is increased to ensure strength, then the strength against loads is improved, but the load to be supported by the lower half body structure increases, affecting energy consumption and driving efficiency
Solution Approach 1:
The patent merges the support function into the driving unit, which is already connected to the backbone part. This integration means the upper half body is supported by the driving unit's connection to the backbone, eliminating the need for additional heavy structural members. The result is reduced upper half body weight, which directly reduces the load on the lower half body and decreases energy consumption for movement.
Data Source
AI summary
A support structure for an upper half body of a robot includes: a columnar backbone pan extending in an upward direction from a haunch bone part of a robot; an upper half body support part connected to the backbone part; and a driving unit on which an arm unit of the robot is rotatably mounted and which has an accommodation space receiving at least a predetermined actuator for driving said arm unit to rotate from the outside of the arm unit, wherein the driving unit is connected to the upper half body support part and the haunch bone part at a first connection point on the upper half body support part which is away a predetermined distance from a connection point of the upper half body support part and the backbone part to a side thereof, and at a second connection point on the haunch bone part, respectively.