CN105690419A - Hip joint and ankle joint general mechanism and humanoid robot - Google Patents
Hip joint and ankle joint general mechanism and humanoid robot Download PDFInfo
- Publication number
- CN105690419A CN105690419A CN201610201506.8A CN201610201506A CN105690419A CN 105690419 A CN105690419 A CN 105690419A CN 201610201506 A CN201610201506 A CN 201610201506A CN 105690419 A CN105690419 A CN 105690419A
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- rotating unit
- fixed division
- hip joint
- ankle joint
- current mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a hip joint and ankle joint general mechanism and a humanoid robot. The hip joint and ankle joint general mechanism comprises a support frame and an X-direction rotating unit; and the X-direction rotating unit is rotationally connected to the support frame with X direction as axis. The hip joint and ankle joint general mechanism is characterized by further comprising a Y-direction rotating unit; the Y-direction rotating unit is rotationally connected to the X-direction rotating unit with Y direction as axis; the support frame is provided with a first fixed connecting part; the X-direction rotating unit is provided with a second fixed connecting part; the first fixed connecting part is a general fixed connecting part of the Y-direction rotating unit and soles of the humanoid robot; the second fixed connecting part is a general fixed connecting part of thighs and shanks of the humanoid robot; and the Y-direction rotating unit is additionally provided with a third fixed connecting part connected with a waist part of the humanoid robot. The hip joint and ankle joint general mechanism of the humanoid robot, provided by the invention, realizes common use of a hip joint and an ankle joint, and reduces the total part type number of the robot.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of hip joint and ankle joint current mechanism and anthropomorphic robot。
Background technology
The robot that anthropomorphic robot refers to apish form and behavior and manufactures and designs, anthropomorphic robot has extremity, trunk and head, in extremity, the hip joint of leg, knee joint and ankle joint are rotational structure, are realized the anthropomorphic motion of hip joint, knee joint and ankle joint by drive unit drives rotational structure。
In prior art, hip joint simulates the different motion form in different joints with ankle joint, its composition structure is different, such two articulation structures have all multiple components differed so that total parts of robot are numerous, make troubles to the design of robot, processing and assembling。
Summary of the invention
It is an object of the invention to provide a kind of hip joint and ankle joint current mechanism and anthropomorphic robot, the problem that total parts to solve anthropomorphic robot of the prior art are numerous。
To achieve these goals, the present invention provides following technical scheme:
The hip joint of a kind of anthropomorphic robot and ankle joint current mechanism, including bracing frame, X to rotating unit, described X is to rotating unit with X to being rotationally connected with on support frame as described above for axis, also including Y-direction rotating unit, described Y-direction rotating unit is rotationally connected with described X on rotating unit with Y-direction for axis；
Support frame as described above is provided with the first Fixed Division, described X is provided with the second Fixed Division on rotating unit, described first Fixed Division is the general Fixed Division of the sole of Y-direction rotating unit and described anthropomorphic robot, described second Fixed Division is the general Fixed Division of the thigh of described anthropomorphic robot and shank, and described Y-direction rotating unit is additionally provided with the 3rd Fixed Division of the waist connecting described anthropomorphic robot；
Described Y-direction and X are to perpendicular。
Above-mentioned hip joint and ankle joint current mechanism, described Y-direction rotating unit is harmonic speed reducer。
Above-mentioned hip joint and ankle joint current mechanism, described X includes motor, gear unit and driven member to rotating unit, described motor is fixed on support frame as described above, the output shaft of described motor drives described driven member by described gear unit, described driven member is with X to being rotationally connected with on support frame as described above for axis, and described second Fixed Division is opened in described driven member。
Above-mentioned hip joint and ankle joint current mechanism, described gear unit is Timing Belt V belt translation structure, and described drive mechanism is placed on support frame as described above。
Above-mentioned hip joint and ankle joint current mechanism, described driven member is cross-piece, and two ends wherein relative on described cross-piece are rotationally connected with on support frame as described above by bearing, and the other end of described cross-piece is provided with described second Fixed Division。
Above-mentioned hip joint and ankle joint current mechanism, at least one end of described cross-piece is provided with end cap, and described end cap is fixed on described cross-piece by screw element, and described bearing is arranged on described end cap。
Above-mentioned hip joint and ankle joint current mechanism, in described first Fixed Division, the second Fixed Division and the 3rd Fixed Division, at least one is multiple fixing hole。
A kind of anthropomorphic robot, including sole, thigh, shank and waist, also includes the above-mentioned hip joint of at least two and ankle joint current mechanism；
Described sole connects the first Fixed Division of a described hip joint and ankle joint current mechanism, and described shank connects the second Fixed Division of a described hip joint and ankle joint current mechanism；
Described waist connects the 3rd Fixed Division of another described hip joint and ankle joint current mechanism, and described thigh connects second Fixed Division of another described hip joint and ankle joint current mechanism。
In technique scheme, the hip joint of anthropomorphic robot provided by the invention and ankle joint current mechanism, the general Fixed Division connector as waist and thigh is passed through when connecting Y-direction rotating unit, the general Fixed Division connector as shank and sole is passed through when being not connected to Y-direction rotating unit, so achieve the general of hip joint and ankle joint, decrease the number of types of the total parts of robot so that the design of robot, processing and assemble convenient。
Owing to above-mentioned hip joint and ankle joint current mechanism have above-mentioned technique effect, comprise this hip joint and also should have corresponding technique effect with the anthropomorphic robot of ankle joint current mechanism。
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, the accompanying drawing used required in embodiment will be briefly described below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the present invention, for those of ordinary skill in the art, it is also possible to obtain other accompanying drawing according to these accompanying drawings。
The structural representation of the hip joint that Fig. 1 provides for the embodiment of the present invention and ankle joint current mechanism；
The structural representation of the cross-piece that Fig. 2 provides for the embodiment of the present invention；
The exploded perspective view of the hip joint that Fig. 3 provides for the embodiment of the present invention and ankle joint current mechanism；
Bio-robot waist that Fig. 4 provides for the embodiment of the present invention and the connection diagram of thigh；
Anthropomorphic robot shank that Fig. 5 provides for the embodiment of the present invention and the connection diagram of sole。
Description of reference numerals:
1, bracing frame；2, X is to rotating unit；21, motor；22, gear unit；23, driven member；231, cross-piece；232, end cap；3, Y-direction rotating unit；4, the first Fixed Division；5, the second Fixed Division；6, the 3rd Fixed Division；7, sole；8, thigh；9, shank；10, waist。
Detailed description of the invention
In order to make those skilled in the art be more fully understood that technical scheme, below in conjunction with accompanying drawing, the present invention is further detailed。
As Figure 1-5, the hip joint of a kind of anthropomorphic robot that the embodiment of the present invention provides and ankle joint current mechanism, including bracing frame 1, X to rotating unit 2, X is to rotating unit 2 with X to being rotationally connected with on bracing frame 1 for axis, also including Y-direction rotating unit 3, Y-direction rotating unit 3 is rotationally connected with X on rotating unit 2 with Y-direction for axis；Bracing frame 1 is provided with the first Fixed Division 4, X is provided with the second Fixed Division 5 on rotating unit 2, first Fixed Division 4 is the general Fixed Division of the sole 7 of Y-direction rotating unit 3 and anthropomorphic robot, second Fixed Division 5 is the general Fixed Division of the thigh 8 of anthropomorphic robot and shank 9, and Y-direction rotating unit 3 is additionally provided with the 3rd Fixed Division 6 of the waist 10 connecting anthropomorphic robot；Y-direction and X are to perpendicular。
Concrete, hip joint and ankle joint current mechanism (hereinafter referred to as current mechanism) can not only be used for the hip joint of anthropomorphic robot and use, also can use as ankle joint, bracing frame 1 is the agent structure of current mechanism, it is on the one hand as the skeleton of current mechanism, all the other each parts are mounted on bracing frame 1, and bracing frame 1 is support mechanism on the other hand, and the weight of the structure of its connection such as waist 10 or shank 9 is all supported by bracing frame 1。Preferably, bracing frame 1 is the frame structure that a monoblock aircraft aluminum processes, and is undertaken strengthening design by floor and reinforcement inside frame structure, it is clear that, except said frame structure, bracing frame 1 is referring also to the joint skeleton structure of anthropomorphic robot in prior art。X is the active unit of universal architecture to rotating unit 2, it includes a standing part and a movable part, standing part and movable part are rotationally connected with X to for axis, its standing part is fixed on bracing frame 1, movable part connects other structure such as Y-direction rotating unit 3 or shank 9, so realize being rotationally connected of other structure and bracing frame 1, X may refer to rotation connection structures all kinds of in prior art to rotating unit 2, such as bearing, gear transmission structure or V belt translation structure, Y-direction rotating unit 3 is similarly the active unit of universal architecture, its structure can referring to X to rotating unit 2, it differs mainly from the different of axis installation direction to rotating unit 2 from X, both steer axises are perpendicular, so independent X can realize the rotation on one direction of universal architecture to rotating unit 2, the X being connected then can realize the rotation in perpendicular both direction to rotating unit 2 and Y-direction rotating unit 3。
In the present embodiment, bracing frame 1 is provided with the first Fixed Division 4, X is provided with the second Fixed Division 5 on rotating unit 2, Y-direction rotating unit 3 is additionally provided with the 3rd Fixed Division 6, each Fixed Division is for connecting each ingredient of anthropomorphic robot, it is Detachable connection structure, such as interface arrangment, spiro connection structure etc., if the first Fixed Division 4 is multiple through hole, Y-direction rotating unit 3 is synchronously arranged with multiple through hole being oppositely arranged, and realizes affixed to rotating unit 2 of Y-direction rotating unit 3 and X by nut with through the bolt of through hole。When current mechanism uses as ankle joint, bracing frame 1 is affixed with the sole 7 of anthropomorphic robot by the first Fixed Division 4, X realizes affixed with the shank 9 of anthropomorphic robot to rotating unit 2 by the second Fixed Division 5, now X is to for horizontal direction, so, realizing the sole 7 pitch rotation relative to shank 9 by X to the rotation of rotating unit 2, current mechanism is not connected to Y-direction rotating unit 3 as ankle joint when using；When current mechanism uses as hip joint, bracing frame 1 is connected with Y-direction rotating unit 3 by the first Fixed Division 4, the one end deviating from bracing frame 1 on Y-direction rotating unit 3 is affixed with the waist 10 of anthropomorphic robot by the 3rd Fixed Division 6, simultaneously, X realizes affixed with the thigh 8 of anthropomorphic robot to rotating unit 2 by the second Fixed Division 5, such current mechanism is connected to thigh 8 and the waist 10 of anthropomorphic robot, now, waist 10 and thigh 8 can realize respectively Y-direction and X to rotation, namely deflection and end rotation。
In the present embodiment, first Fixed Division 4 and the second Fixed Division 5 are general Fixed Division, general Fixed Division should be interpreted broadly here, namely the part or all of structure offered on the first Fixed Division 4 is for connecting Y-direction rotating unit 3, the part or all of structure offered on first Fixed Division 4 is for connecting sole 7, as the first Fixed Division 4 has two groups of through holes in the form of a ring, the through hole of its outer-loop is used for connecting Y-direction rotating unit 3, the through hole of internal ring is used for sole 7, certainly preferred, first Fixed Division 4 only has one group of through hole in the form of a ring, Y-direction rotating unit 3 and sole 7 are affixed each through this group through hole and bracing frame 1；Second Fixed Division 5 is as the same。
In the present embodiment, for realizing other action of anthropomorphic robot, in bracing frame 1, it is additionally provided with Z-direction rotating unit, it is the GU Generic Unit of hip joint and ankle joint, its structure and working principle can constitute three-dimensional cartesian coordinate system referring to Y-direction rotating unit 3, X to, Y-direction and Z-direction, does not repeat。
In the present embodiment, each rotating unit all uses motor as driver element, and driver element is the indispensable unit of anthropomorphic robot in prior art, and dependency structure referring to prior art, can not repeat。
The hip joint of the anthropomorphic robot that the present embodiment provides and ankle joint current mechanism, the general Fixed Division connector as waist 10 and thigh 8 is passed through when connecting Y-direction rotating unit 3, the general Fixed Division connector as shank 9 and sole 7 is passed through when being not connected to Y-direction rotating unit 3, so achieve the general of hip joint and ankle joint, decrease the number of types of the total parts of robot so that the design of robot, processing and assemble convenient。
In the present embodiment, preferably, Z-direction rotating unit and Y-direction rotating unit 3 are harmonic speed reducer, internal circular spline that harmonic speed reducer includes fixing, flexbile gear and make the wave producer of flexbile gear generation radial deformation, it has the advantages such as high accuracy, high-bearing capacity, when using as hip joint, bracing frame 1 is connected by screw is fixing with the flexbile gear of harmonic speed reducer, and the steel wheel of harmonic speed reducer is connected by screw is fixing with the waist 10 of anthropomorphic robot。
In the present embodiment, further, X includes motor 21, gear unit 22 and driven member 23 to rotating unit 2, motor 21 is fixed on bracing frame 1, the output shaft of motor 21 drives driven member 23 by gear unit 22, and driven member 23 is with X to being rotationally connected with on bracing frame 1 for axis, and the second Fixed Division 5 is opened in driven member 23, namely the driver element of universal architecture is motor 21, and this motor 21 is fixed on bracing frame 1。
In the present embodiment, preferably, gear unit 22 is toothed belt transmission structure, toothed belt transmission structure is placed on bracing frame 1, affixed driving pulley on motor 21 axle, affixed driven pulley in driven member 23, two mutual transmissions of belt wheel, so realizing the motor 21 driving to driven member 23, external toothed belt transmission structure is comparatively directly perceived, it is simple to safeguard。
In the present embodiment, it is furthermore preferred that driven member 23 is cross-piece 231, two ends wherein relative on cross-piece 231 are rotationally connected with on bracing frame 1 by bearing, and the other end of cross-piece 231 is provided with the second Fixed Division 5, cross-piece 231 symmetrical configuration, uniform stressed。Further preferably, at least one end of cross-piece 231 is provided with end cap 232, end cap 232 is fixed on cross-piece 231 by screw element, bearing is arranged on end cap 232, end cap 232 can pass through alignment pin and realize and being accurately positioned of cross-piece 231, and realizes cheaply being connected of cross-piece 231 and other parts by end cap 232。
The embodiment of the present invention also provides for a kind of anthropomorphic robot, including sole 7, thigh 8, shank 9 and waist 10, also includes the above-mentioned hip joint of at least two and ankle joint current mechanism；Sole 7 connects the first Fixed Division 4 of a hip joint and ankle joint current mechanism, and shank 9 connects the second Fixed Division 5 of a hip joint and ankle joint current mechanism；Waist 10 connects the 3rd Fixed Division 6 of another hip joint and ankle joint current mechanism, and thigh 8 connects second Fixed Division 5 of another hip joint and ankle joint current mechanism。
Owing to above-mentioned hip joint and ankle joint current mechanism have above-mentioned technique effect, comprise this hip joint and also should have corresponding technique effect with the anthropomorphic robot of ankle joint current mechanism。
Below some one exemplary embodiment of the present invention is only described by the mode of explanation, undoubtedly, for those of ordinary skill in the art, when without departing from the spirit and scope of the present invention, it is possible to by various different modes, described embodiment is modified。Therefore, above-mentioned accompanying drawing and description are inherently illustrative, should not be construed as the restriction to the claims in the present invention protection domain。
Claims (8)
1. the hip joint of an anthropomorphic robot and ankle joint current mechanism, including bracing frame, X to rotating unit, described X is to rotating unit with X to being rotationally connected with on support frame as described above for axis, it is characterized in that, also including Y-direction rotating unit, described Y-direction rotating unit is rotationally connected with described X on rotating unit with Y-direction for axis；
Support frame as described above is provided with the first Fixed Division, described X is provided with the second Fixed Division on rotating unit, described first Fixed Division is the general Fixed Division of the sole of Y-direction rotating unit and described anthropomorphic robot, described second Fixed Division is the general Fixed Division of the thigh of described anthropomorphic robot and shank, and described Y-direction rotating unit is additionally provided with the 3rd Fixed Division of the waist connecting described anthropomorphic robot；
Described Y-direction and X are to perpendicular。
2. hip joint according to claim 1 and ankle joint current mechanism, it is characterised in that described Y-direction rotating unit is harmonic speed reducer。
3. hip joint according to claim 1 and ankle joint current mechanism, it is characterized in that, described X includes motor, gear unit and driven member to rotating unit, described motor is fixed on support frame as described above, the output shaft of described motor drives described driven member by described gear unit, described driven member is with X to being rotationally connected with on support frame as described above for axis, and described second Fixed Division is opened in described driven member。
4. hip joint according to claim 3 and ankle joint current mechanism, it is characterised in that described gear unit is gear transmission structure, and described gear transmission structure is placed on support frame as described above。
5. hip joint according to claim 3 and ankle joint current mechanism, it is characterized in that, described driven member is cross-piece, and two ends wherein relative on described cross-piece are rotationally connected with on support frame as described above by bearing, and the other end on described cross-piece is provided with described second Fixed Division。
6. hip joint according to claim 5 and ankle joint current mechanism, it is characterized in that, at least one end of described cross-piece is provided with end cap, and described end cap is fixed on described cross-piece by screw element, and described bearing and/or the second Fixed Division may be contained within described end cap。
7. hip joint according to claim 2 and ankle joint current mechanism, it is characterised in that in described first Fixed Division, the second Fixed Division and the 3rd Fixed Division, at least one is multiple fixing hole。
8. an anthropomorphic robot, including sole, thigh, shank and waist, it is characterised in that also include the hip joint described at least two any one of claim 1-7 and ankle joint current mechanism；
Described sole connects the first Fixed Division of a described hip joint and ankle joint current mechanism, and described shank connects the second Fixed Division of a described hip joint and ankle joint current mechanism；
Described waist connects the 3rd Fixed Division of another described hip joint and ankle joint current mechanism, and described thigh connects second Fixed Division of another described hip joint and ankle joint current mechanism。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610201506.8A CN105690419B (en) | 2016-03-31 | 2016-03-31 | Hip joint and ankle-joint current mechanism and anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610201506.8A CN105690419B (en) | 2016-03-31 | 2016-03-31 | Hip joint and ankle-joint current mechanism and anthropomorphic robot |
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| Publication Number | Publication Date |
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| CN105690419A true CN105690419A (en) | 2016-06-22 |
| CN105690419B CN105690419B (en) | 2019-04-23 |
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| CN201610201506.8A Active CN105690419B (en) | 2016-03-31 | 2016-03-31 | Hip joint and ankle-joint current mechanism and anthropomorphic robot |
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Cited By (1)
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| CN106184463A (en) * | 2016-08-15 | 2016-12-07 | 北京钢铁侠科技有限公司 | There is the robot joints mechanism of dead-center position detection function |
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| CN105690419B (en) | 2019-04-23 |
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