CN101579860A - Double-T type waist joint structure of humanoid robot - Google Patents
Double-T type waist joint structure of humanoid robot Download PDFInfo
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- CN101579860A CN101579860A CNA2009100993704A CN200910099370A CN101579860A CN 101579860 A CN101579860 A CN 101579860A CN A2009100993704 A CNA2009100993704 A CN A2009100993704A CN 200910099370 A CN200910099370 A CN 200910099370A CN 101579860 A CN101579860 A CN 101579860A
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Abstract
The invention relates to a double-T type waist joint structure of a humanoid robot, comprising a waist transit structure and a waist pitch structure; wherein, the waist transit structure comprises a T type waist main board, a transit harmonic reducer, a waist transit shaft and a motor; the waist pitch structure includes a pitch harmonic reducer; by adopting differential gear transmission principle of the harmonic reducers, the transiting and the pitching movement of the waist joint can be realized. The double-T type structure in adopted on the whole waist part, so as to enhance the whole intensity and rigidity of the waist part, thus expanding the range of motion of the waist part, bearing the weight of the upper part of the body and the influence caused by unbalanced movement of the body, and meeting the requirement of implementing the operation by the upper part of the body. The invention has light weight, compact structure and high transmission accuracy; furthermore, the waist part structure of the humanoid robot can meet the requirements of large-scale transiting and the pitching movement as well as quick response.
Description
Technical field
The invention belongs to the robot field, relate to a kind of double-T type waist joint structure of anthropomorphic robot.
Background technology
Up to now, the motor of the most of employing band of the robot waist that development is more successful in the world encoder and harmonic speed reducer are as the drive unit of joint of robot.As the ASIMO of Japan, HRP-2, the KHR-3 of Korea S.Waist joint is the important joint that the robot upper body is connected with lower limb, and when bearing upper body weight, also need to overcome the influence that brings because of the imbalance of upper body, so most of robots all do not have waist, also has only a deflection free degree as ASIMO, KHR-3.
Chinese patent CN1864942A discloses a kind of waist structure of anthropomorphic robot, and it has waist pitching and two frees degree of transfer, but the waist rigidity of this structure is connected the existence deficiency with motor.
Summary of the invention
The objective of the invention is to be factors such as the rigidity that takes into full account waist requires, motor service life and transmission efficiency, and propose a kind of double-T type waist joint structure of anthropomorphic robot.
The double-T type waist joint structure of anthropomorphic robot of the present invention comprises rotation structure and waist luffing structure two parts in the waist:
Rotation structure comprises the T type waist mainboard that is made of dull and stereotyped and cylinder in the waist, just taken turns by first of coaxial line device, the transfer harmonic speed reducer that first wave producer and first flexbile gear are formed, the waist shaft and the motor that constitute by upper frame and bottom cylinder, first of transfer harmonic speed reducer has just been taken turns and has been fixed on the waist mainboard, first axis of just having taken turns overlaps with the cylinder axis of waist mainboard, motor has first encoder, be fixed in the cylinder of waist shaft bottom by motor flange, motor shaft and motor shaft sleeve are fixed together, and motor shaft sleeve is connected by key with first wave producer.At the two ends of motor shaft sleeve first deep groove ball bearing and second deep groove ball bearing are arranged respectively, the bottom cylinder of waist shaft places the cylinder of waist mainboard, is provided with to do axially and the crossed roller bearing and the deep groove ball bearing of radial support between waist shaft cylinder outer wall and waist mainboard cylinder inner wall;
The waist luffing structure comprises cylinder and has just been taken turns by second of coaxial line device, the pitching harmonic speed reducer that second wave producer and second flexbile gear are formed, cylinder is fixed on a side of waist shaft upper frame, second of pitching harmonic speed reducer has just been taken turns the opposite side that is fixed on waist shaft upper frame, second wheel and the cylinder axis coincidence just, second wave producer is connected with the power shaft of pitching harmonic speed reducer, first synchronous pulley is installed on the power shaft, having the support of pitching motor of second encoder and the shell of pitching harmonic speed reducer fixes, second synchronous pulley is installed on the pitching motor axle, first synchronous pulley links to each other by being with synchronously with second synchronous pulley, on the output shaft of pitching harmonic speed reducer, right side plate is installed, by bearing left side plate is installed on the cylinder, right side plate links to each other by top panel with left side plate.
The present invention is based on the following T type structure of waist mainboard and be made of the double-T shaped structure of waist jointly the last T type structure that waist shaft, left and right sides side plate and waist top panel are formed, realize relatively rotating by a crossed roller bearing and a deep groove ball bearing between two T type structures, crossed roller bearing and deep groove ball bearing bear the axial and radial load between two T type structures respectively.Double-T shaped structure has strengthened the bulk strength and the rigidity of waist, has enlarged the range of movement of waist, can bear the influence that the uneven motion of upper body weight and health brings, and has satisfied the requirement of upper body enforcement operation.By processing to motor shaft, can effectively axial the and radial load that produces in the motion process be delivered on the deep groove ball bearing at two ends through motor shaft sleeve, standard the using method of motor, prolonged the service life of motor, guarantee the axiality requirement of rotating shaft simultaneously, make the precision and the efficient of transmission all obtain guarantee, improved the reliability of whole system.
Description of drawings
Fig. 1 is the double-T type waist joint structure cutaway view of anthropomorphic robot;
Fig. 2 is integral entity figure of the present invention;
Fig. 3 is a transfer harmonic speed reducer schematic diagram.
Among the above-mentioned figure: 1. waist mainboard, 2. the transfer harmonic speed reducer 3. first has just been taken turns, 4. first deep groove ball bearing, 5. motor shaft sleeve, 6. first wave producer, 7. first flexbile gear, 8. crossed roller bearing, 9. waist shaft, 10. second deep groove ball bearing, 11. motor flanges, 12. deep groove ball bearings, 13. output shaft, 14. motors, 15. first encoders, 16. left side plate, 17. cylinders, 18. top panels, 19. the pitching harmonic speed reducer, 20. second have just taken turns, 21. second wave producers, 22. second flexbile gear, 23. shells, 24. right side plates, 25. first synchronous pulley, 26. go into axle, 27. second encoders, 28. pitching motor, 29. supports, 30. second synchronous pulleys.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to accompanying drawing, the double-T type waist joint structure of anthropomorphic robot of the present invention comprises rotation structure and waist luffing structure two parts in the waist:
Rotation structure comprises the T type waist mainboard 1 that is made of dull and stereotyped and cylinder in the waist, just taken turns 3 by first of coaxial line device, the transfer harmonic speed reducer 2 that first wave producer 6 and first flexbile gear 7 are formed, the waist shaft 9 and the motor 14 that constitute by upper frame and bottom cylinder, first of transfer harmonic speed reducer 2 has just been taken turns 3 and has been fixed on the waist mainboard 1, the axis of the first firm wheel 3 overlaps with the cylinder axis p1 of waist mainboard 1, motor 14 has first encoder 15, be fixed in the waist shaft 9 bottom cylinders by motor flange 11,14 in motor and motor shaft sleeve 5 are fixed together, motor shaft sleeve 5 is connected by key with first wave producer 6, motor shaft drives first wave producer and rotates, thereby realizes waist transfer campaign.First deep groove ball bearing 4 and second deep groove ball bearing 10 are arranged respectively at the two ends of motor shaft sleeve 5, wherein, first deep groove ball bearing 4 is used for preventing the play of motor shaft sleeve 5 ends, and second deep groove ball bearing 10 is used for preventing that the axial force that first wave producer 6 produces from causing damage to motor 14.The bottom cylinder of waist shaft 9 places the cylinder of waist mainboard 1, between waist shaft 9 cylinder outer walls and waist mainboard 1 cylinder inner wall, be provided with crossed roller bearing 8 and deep groove ball bearing 12, crossed roller bearing 8 is mainly used to bear the axial force of waist shaft 9, and deep groove ball bearing 12 is mainly used to bear the radial load of waist shaft 9.Waist shaft 9 keeps coaxial rotation by crossed roller bearing 8 and deep groove ball bearing 12 with waist mainboard 1 cylinder.
The waist luffing structure comprises cylinder 17 and has just taken turns 20 by second of coaxial line device, the pitching harmonic speed reducer 19 that second wave producer 21 and second flexbile gear 22 are formed, cylinder 17 is fixed on a side of waist shaft 9 upper frames, the second firm wheel 20 of pitching harmonic speed reducer 19 is fixed on the opposite side of waist shaft 9 upper frames, second wheel 20 and the cylinder 17 axis p2 coincidence just, second wave producer 21 is connected with the power shaft 26 of pitching harmonic speed reducer 19, first synchronous pulley 25 is installed on the power shaft 26, the support 29 that has the pitching motor 28 of second encoder 27 is fixed with the shell 23 of pitching harmonic speed reducer 19, on 28 of the pitching motors second synchronous pulley 30 is installed, first synchronous pulley 25 links to each other by being with synchronously with second synchronous pulley 30, can transmit motion on the power shaft 26, drive second wave producer 21 and 22 rotations of second flexbile gear, thereby realize the waist elevating movement.
On the output shaft 13 of pitching harmonic speed reducer 19, right side plate 24 is installed, by bearing left side plate 16 is installed on the cylinder 17, right side plate 24 links to each other by top panel 18 with left side plate 16, and they and waist shaft 9 constitute waist pitching T type structures jointly, make rigidity be significantly improved.
Claims (1)
1, a kind of double-T type waist joint structure of anthropomorphic robot is characterized in that: comprise rotation structure and waist luffing structure two parts in the waist:
Rotation structure comprises the T type waist mainboard (1) that is made of dull and stereotyped and cylinder in the waist, (3) have just been taken turns by first of coaxial line device, the transfer harmonic speed reducer (2) that first wave producer (6) and first flexbile gear (7) are formed, the waist shaft (9) and the motor (14) that constitute by upper frame and bottom cylinder, first of transfer harmonic speed reducer (2) has just been taken turns (3) and has been fixed on the waist mainboard (1), first axis of just having taken turns (3) overlaps with the cylinder axis (p1) of waist mainboard (1), motor (14) has first encoder (15), be fixed in the cylinder of waist shaft (9) bottom by motor flange (11), motor (14) axle is fixed together with motor shaft sleeve (5), and motor shaft sleeve (5) is connected by key with first wave producer (6).First deep groove ball bearing (4) and second deep groove ball bearing (10) are arranged respectively at the two ends of motor shaft sleeve (5), the bottom cylinder of waist shaft (9) places the cylinder of waist mainboard (1), is provided with to do axially and the crossed roller bearing (8) and the deep groove ball bearing (12) of radial support between waist shaft (9) cylinder outer wall and waist mainboard (1) cylinder inner wall;
The waist luffing structure comprises cylinder (17) and has just taken turns (20) by second of coaxial line device, the pitching harmonic speed reducer (19) that second wave producer (21) and second flexbile gear (22) are formed, cylinder (17) is fixed on a side of waist shaft (9) upper frame, second of pitching harmonic speed reducer (19) has just been taken turns the opposite side that (20) are fixed on waist shaft (9) upper frame, second has just taken turns (20) and cylinder (17) axis (p2) coincidence, second wave producer (21) is connected with the power shaft (26) of pitching harmonic speed reducer (19), power shaft (26) is gone up first synchronous pulley (25) is installed, the support (29) that has the pitching motor (28) of second encoder (27) is fixed with the shell (23) of pitching harmonic speed reducer (19), on pitching motor (28) axle second synchronous pulley (30) is installed, first synchronous pulley (25) links to each other by being with synchronously with second synchronous pulley (30), on the output shaft (13) of pitching harmonic speed reducer (19), right side plate (24) is installed, cylinder (17) is gone up and by bearing left side plate (16) is installed, and right side plate (24) links to each other by top panel (18) with left side plate (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100993704A CN101579860B (en) | 2009-06-04 | 2009-06-04 | Double-T type waist joint structure of humanoid robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100993704A CN101579860B (en) | 2009-06-04 | 2009-06-04 | Double-T type waist joint structure of humanoid robot |
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| CN101579860A true CN101579860A (en) | 2009-11-18 |
| CN101579860B CN101579860B (en) | 2010-09-29 |
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| CN2009100993704A Expired - Fee Related CN101579860B (en) | 2009-06-04 | 2009-06-04 | Double-T type waist joint structure of humanoid robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101934525A (en) * | 2010-09-15 | 2011-01-05 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
| CN104029213A (en) * | 2013-03-07 | 2014-09-10 | 工程服务公司 | Two-joint Module |
| CN104308837A (en) * | 2014-09-25 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Six-axis robot |
| 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 |
| CN107507503A (en) * | 2017-09-29 | 2017-12-22 | 北京理工大学 | A kind of mechanical simulation apparatus for being used to train rotation handle method |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | Robot joint driving mechanism and robot |
| CN108044614A (en) * | 2017-12-30 | 2018-05-18 | 哈尔滨工业大学深圳研究生院 | A kind of redundant mechanical arm based on modularized joint |
| US10022861B1 (en) | 2017-04-27 | 2018-07-17 | Engineering Services Inc. | Two joint module and arm using same |
| CN110253625A (en) * | 2019-07-11 | 2019-09-20 | 北京理工大学 | Anthropomorphic robot waist joint and anthropomorphic robot |
| CN110815196A (en) * | 2019-10-18 | 2020-02-21 | 平安科技（深圳）有限公司 | Waist structure of robot |
-
2009
- 2009-06-04 CN CN2009100993704A patent/CN101579860B/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101934525B (en) * | 2010-09-15 | 2012-07-25 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
| CN101934525A (en) * | 2010-09-15 | 2011-01-05 | 北京航空航天大学 | Variable-rigidity flexible joint design of humanoid robot |
| CN104029213A (en) * | 2013-03-07 | 2014-09-10 | 工程服务公司 | Two-joint Module |
| US9481096B2 (en) | 2013-03-07 | 2016-11-01 | Engineering Services Inc. | Robotic arm |
| CN104029213B (en) * | 2013-03-07 | 2017-06-09 | 工程服务公司 | Doublejointed module |
| CN104308837A (en) * | 2014-09-25 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Six-axis robot |
| 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 |
| US10022861B1 (en) | 2017-04-27 | 2018-07-17 | Engineering Services Inc. | Two joint module and arm using same |
| CN107507503A (en) * | 2017-09-29 | 2017-12-22 | 北京理工大学 | A kind of mechanical simulation apparatus for being used to train rotation handle method |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | Robot joint driving mechanism and robot |
| CN108044614A (en) * | 2017-12-30 | 2018-05-18 | 哈尔滨工业大学深圳研究生院 | A kind of redundant mechanical arm based on modularized joint |
| CN110253625A (en) * | 2019-07-11 | 2019-09-20 | 北京理工大学 | Anthropomorphic robot waist joint and anthropomorphic robot |
| CN110253625B (en) * | 2019-07-11 | 2020-10-16 | 北京理工大学 | Humanoid robot waist joint and humanoid robot |
| WO2021003865A1 (en) * | 2019-07-11 | 2021-01-14 | 北京理工大学 | Humanoid robot waist joint and humanoid robot |
| US11364642B2 (en) | 2019-07-11 | 2022-06-21 | Beijing Institute Of Technology | Waist joint of humanoid robot and humanoid robot |
| CN110815196A (en) * | 2019-10-18 | 2020-02-21 | 平安科技（深圳）有限公司 | Waist structure of robot |
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| CN101579860B (en) | 2010-09-29 |
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Application publication date: 20091118 Assignee: Zhejiang Guozi Robot Technology Co., Ltd. Assignor: Zhejiang University Contract record no.: 2013330000081 Denomination of invention: Double-T type waist joint structure of humanoid robot Granted publication date: 20100929 License type: Exclusive License Record date: 20130422 |
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Granted publication date: 20100929 Termination date: 20210604 |