CN101104270A - Robot waist joint - Google Patents
Robot waist joint Download PDFInfo
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- CN101104270A CN101104270A CNA2007100625544A CN200710062554A CN101104270A CN 101104270 A CN101104270 A CN 101104270A CN A2007100625544 A CNA2007100625544 A CN A2007100625544A CN 200710062554 A CN200710062554 A CN 200710062554A CN 101104270 A CN101104270 A CN 101104270A
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- branched chain
- servomotor
- movement branched
- waist joint
- motion platform
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Abstract
The invention discloses a robot waist joint, which is characterized in that: in a first motion branch chain (2), a first servo motor (9) is arranged on a base (1); one end of a crank (6) is fixedly connected with a rotary shaft of the first servo motor (9) and the other end of the crank (6), through a first spherical hinge (7), is connected with one end of a fixed-length rod (8), the other end of which is connected with a motion platform (3) through a second spherical hinge (10); in a second motion branch chain (5), a second servo motor (15) is arranged on the base (1); one end of an active curved rod (14) is fixedly connected with a rotary shaft of the second servo motor (15) and the other end of the active curved rod (14), through a first rotary side hinge (13) , is connected with one end of a driven curved rod (12), the other end of which is connected with the motion platform (3) through a second rotary side hinge (11). The invention has the characteristics of big pitching angle, simple structure, strong loading capacity and low inertia. The invention can simulate the three-dimension rotation of human waist, and is particularly suitable for the waist joint and coxa joint of the humanoid robot.
Description
Technical field
The present invention relates to the Robotics field, particularly relate to a kind of waist joint of anthropomorphic robot.
Background technology
The anthropomorphic robot system is a front subject that highly intersects, and has caused domestic and international many experts' attention.Wherein, the anthropomorphic robot waist joint is one of difficult point in the anthropomorphic robot design.At present, the anthropomorphic robot waist joint mainly adopts serial mechanism and parallel institution, wherein, there are weak points such as complex structure, inertia be big in cascaded structure, as the HRP series anthropomorphic robot's of the ETI (Ministry of Economy, Trade andIndustry) of Japan development waist joint and the abdomen waist motion that Huang Guoming proposes etc.; And advantage such as waist joint in parallel mechanism has compact conformation, bearing capacity is big, inertia is little and response speed is fast, the differential waist joint in parallel that proposes as Zhao Tiejun etc., but the differential waist joint of this parallel connection can only be realized pitching and inclination campaign, the waist movement of simulating human fully.
Summary of the invention
In order to overcome the prior art above shortcomings, the invention provides a kind of robot waist joint, this robot waist joint is the waist movement of simulating human fully, has that luffing angle is big, simple in structure, bearing capacity is big and advantage such as response speed is fast.
The technical solution adopted in the present invention is: link to each other by three movement branched chain between pedestal and the motion platform, these three movement branched chain are respectively first movement branched chain, second movement branched chain identical with two-strip structure.Wherein, first servomotor is installed on the pedestal, and an end of crank is connected on the turning cylinder of first servomotor, and the other end of crank links to each other with an end of connecting-rods with constant lengh by first ball pivot, and the other end of connecting-rods with constant lengh links to each other with motion platform by second ball pivot.Second servomotor is installed on the pedestal, initiatively an end of curved bar is connected on the turning cylinder of second servomotor, initiatively the other end of curved bar links to each other with an end of driven curved bar by the first revolute pair hinge, and the other end of driven curved bar links to each other with motion platform by the second revolute pair hinge.In second movement branched chain, the turning cylinder axis that connects the shaft axis of the first revolute pair hinge of curved bar and driven curved bar initiatively, the shaft axis of the second revolute pair hinge that is connected driven curved bar and motion platform and second servomotor is in space junction and a bit.Drive corresponding crank and two active curved bars respectively by first servomotor and two second servomotors, can realize the Three dimensional rotation of motion platform, but the motion of the Three dimensional rotation of simulating human waist.
The invention has the beneficial effects as follows: owing to adopt the parallel-connection structure layout, advantage such as have that luffing angle is big, simple in structure, bearing capacity is big and response speed is fast can be applicable to the waist joint of anthropomorphic robot.
Description of drawings
Fig. 1 is a kind of structure chart of robot waist joint;
Fig. 2 is a kind of structure chart of robot waist joint movement branched chain.
In Fig. 1, Fig. 2,1. pedestal, 2. first movement branched chain, 3. motion platform, 4,5. second movement branched chain, the 6. crank, 7. first ball pivot, 8. connecting-rods with constant lengh, 9. first servomotor, 10. second ball pivot, 11. the second revolute pair hinge, 12. driven curved bars, 13. first revolute pair hinges, 14. moving curved bar, 15. second servomotors.
The specific embodiment
Fig. 1 is an embodiment disclosed by the invention, links to each other by three movement branched chain between pedestal 1 and the motion platform 3, and these three movement branched chain are respectively first movement branched chain 2, second movement branched chain 4 and 5 identical with two-strip structure.Wherein, first movement branched chain 2 partly is made up of first servomotor 9, crank 6 and connecting-rods with constant lengh 8 etc., wherein, first servomotor 9 is installed on the pedestal 1, one end of crank 6 is connected on the turning cylinder of first servomotor 9, the other end of crank 6 links to each other with an end of connecting-rods with constant lengh 8 by first ball pivot 7, and the other end of connecting-rods with constant lengh 8 links to each other with motion platform 3 by second ball pivot 10.Second movement branched chain 5 partly is made up of second servomotor 15, active curved bar 14 and driven curved bar 12 etc.Wherein, second servomotor 15 is installed on the pedestal 1, initiatively an end of curved bar 14 is connected on the turning cylinder of second servomotor 15, initiatively the other end of curved bar 12 links to each other with an end of driven curved bar 12 by the first revolute pair hinge 13, and the other end of driven curved bar 12 links to each other with motion platform 3 by the second revolute pair hinge 11.And the turning cylinder axis of the shaft axis of the shaft axis of the first revolute pair hinge 13, the second revolute pair hinge 11 and second servomotor 15 is in space junction and a bit.Drive corresponding crank 6 and two active curved bars 14 respectively by first servomotor 9 and two second servomotors 15, can realize the Three dimensional rotation of motion platform 3, but the motion of the Three dimensional rotation of simulating human waist.This waist joint luffing angle is big, simple in structure, and bearing capacity is strong, and inertia is little, is particularly suitable as the waist joint and the hip joint of anthropomorphic robot.
Claims (1)
1. robot waist joint, comprise pedestal (1), motion platform (3) and three movement branched chain that are connected between the two, described three movement branched chain are respectively first movement branched chain (2), second movement branched chain (4 identical with two-strip structure, 5), it is characterized in that: in first movement branched chain (2), first servomotor (9) is installed on the pedestal (1), one end of crank (6) is connected on the turning cylinder of first servomotor (9), the other end of crank (6) links to each other with an end of connecting-rods with constant lengh (8) by first ball pivot (7), and the other end of connecting-rods with constant lengh (8) links to each other with motion platform (3) by second ball pivot (10); In second movement branched chain (5), second servomotor (15) is installed on the pedestal (1), initiatively an end of curved bar (14) is connected on the turning cylinder of second servomotor (15), initiatively the other end of curved bar (14) links to each other with an end of driven curved bar (12) by the first revolute pair hinge (13), and the other end of driven curved bar (12) links to each other with motion platform (3) by the second revolute pair hinge (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100625544A CN100506495C (en) | 2007-08-08 | 2007-08-08 | Robot waist joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100625544A CN100506495C (en) | 2007-08-08 | 2007-08-08 | Robot waist joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101104270A true CN101104270A (en) | 2008-01-16 |
| CN100506495C CN100506495C (en) | 2009-07-01 |
Family
ID=38998456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100625544A Expired - Fee Related CN100506495C (en) | 2007-08-08 | 2007-08-08 | Robot waist joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100506495C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
| CN106426269A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Waist structure for humanoid robot and control method |
| CN115213873A (en) * | 2022-08-26 | 2022-10-21 | 重庆邮电大学 | Six-degree-of-freedom parallel robot with large-posture working space |
| CN115213873B (en) * | 2022-08-26 | 2024-05-14 | 重庆邮电大学 | Six-degree-of-freedom parallel robot with large-posture working space |
-
2007
- 2007-08-08 CN CNB2007100625544A patent/CN100506495C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
| CN106426269A (en) * | 2016-11-24 | 2017-02-22 | 深圳市旗瀚云技术有限公司 | Waist structure for humanoid robot and control method |
| CN115213873A (en) * | 2022-08-26 | 2022-10-21 | 重庆邮电大学 | Six-degree-of-freedom parallel robot with large-posture working space |
| CN115213873B (en) * | 2022-08-26 | 2024-05-14 | 重庆邮电大学 | Six-degree-of-freedom parallel robot with large-posture working space |
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| Publication number | Publication date |
|---|---|
| CN100506495C (en) | 2009-07-01 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Beijing Lingyun Dongyuan Technology Co., Ltd. Assignor: Yanshan University Contract fulfillment period: 2009.9.15 to 2015.9.15 contract change Contract record no.: 2009110000241 Denomination of invention: Robot waist joint Granted publication date: 20090701 License type: Exclusive license Record date: 20091019 |
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| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.9.15 TO 2015.9.15; CHANGE OF CONTRACT Name of requester: BEIJING LINGYUN DONGYUAN TECHNOLOGY CO., LTD. Effective date: 20091019 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090701 Termination date: 20160808 |
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| CF01 | Termination of patent right due to non-payment of annual fee |