CN116214571A - Hip joint composite joint motor structure and humanoid robot - Google Patents

Hip joint composite joint motor structure and humanoid robot Download PDF

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Publication number
CN116214571A
CN116214571A CN202310136220.6A CN202310136220A CN116214571A CN 116214571 A CN116214571 A CN 116214571A CN 202310136220 A CN202310136220 A CN 202310136220A CN 116214571 A CN116214571 A CN 116214571A
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CN
China
Prior art keywords
motor
swing motor
module
side swing
spin
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Pending
Application number
CN202310136220.6A
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Chinese (zh)
Inventor
王磊
舒斌
黄子钦
程刚
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Shanghai Qingbao Engine Robot Co ltd
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Shanghai Qingbao Engine Robot Co ltd
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Publication date
Application filed by Shanghai Qingbao Engine Robot Co ltd filed Critical Shanghai Qingbao Engine Robot Co ltd
Priority to CN202310136220.6A priority Critical patent/CN116214571A/en
Publication of CN116214571A publication Critical patent/CN116214571A/en
Pending legal-status Critical Current

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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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a hip joint compound joint motor structure and a humanoid robot, wherein the hip joint compound joint motor structure comprises a spin motor module, a side swing motor module and a front swing motor module, wherein: the spin motor module comprises a spin motor and a first shell for supporting the spin motor; the side swing motor module comprises a side swing motor for driving the spin motor module to swing laterally, a second shell for supporting the side swing motor, and a first transmission frame for receiving torque of the side swing motor and transmitting the torque to the first shell, wherein the first transmission frame comprises a U-shaped support which is rotatably supported on the side swing motor along the radial direction and is used for connecting the first shell, and a transmission ring which is sleeved outside a motor shaft of the side swing motor and is externally connected to the U-shaped support; the front swing motor module comprises a front swing motor for driving the side swing motor module to rotate, and a motor shaft of the front swing motor module is connected with the second shell along the radial direction. According to the invention, each driving module of the hip structure is arranged in a linear arrangement mode, so that the space stacking among the modules is reduced, and the structure is more compact.

Description

Hip joint composite joint motor structure and humanoid robot
Technical Field
The invention relates to the field of robots, in particular to a hip joint composite joint motor structure and a humanoid robot.
Background
The hip joint of the general humanoid robot is provided with three degrees of freedom, namely three degrees of freedom of thigh forward swing, side swing and spin, and most of the existing technical schemes are to respectively control the three degrees of freedom by using three driving modules, but the traditional hip structure is arranged on the three driving modules, and often has a space stacking phenomenon. As disclosed in patent CN 213799962U, the hip rotating assembly is in driving connection with the hip side-sway assembly by means of a U-shaped hip mounting bracket which is axially supported on the motor of the hip side-sway assembly, which results in stacking in the direction of the rotation center line of the hip side-sway assembly, and the hip mounting bracket is additionally provided with a partial structure in addition to the hip side-sway assembly, so that a large space is occupied in this direction.
Disclosure of Invention
In order to solve the problems, the invention provides a hip joint compound joint motor structure and a humanoid robot, wherein each driving module of a hip structure is arranged in a linear arrangement mode, so that space stacking among the modules is reduced, the hip structure is more compact, and the appearance and the motion state are more anthropomorphic.
The invention is realized by the following scheme: the utility model provides a compound joint motor structure of hip joint, includes spin motor module, side pendulum motor module and front pendulum motor module, wherein:
the spin motor module comprises a spin motor for driving the thigh structure to rotate and a first shell for supporting the spin motor;
the side swing motor module comprises a side swing motor for driving the spin motor module to swing laterally, a second shell for supporting the side swing motor, and a first transmission frame for receiving torque of the side swing motor and transmitting the torque to the first shell, wherein the first transmission frame comprises a U-shaped support which is radially and rotatably supported on the side swing motor, and a transmission ring which is sleeved outside a motor shaft of the side swing motor and is externally connected to the U-shaped support, and the first shell is connected with the U-shaped support;
the front swing motor module comprises a front swing motor used for driving the side swing motor module to rotate, and a motor shaft of the front swing motor is radially connected with the second shell.
The invention further improves the structure of the hip joint compound joint motor, which is characterized in that a first rotation center line of the spin motor module and a third rotation center line of the front swing motor module are perpendicular to a second rotation center line of the side swing motor module, and the first rotation center line, the second rotation center line and the third rotation center line are intersected at one point.
The hip joint composite joint motor structure is further improved in that the front swing motor, the side swing motor and the spin motor are hollow cup motors, and openings for communicating the hollows of the three hollow cup motors into a threading channel are formed in the first shell, the second shell and the U-shaped support.
The hip joint composite joint motor structure is further improved in that the first shell and the U-shaped support, and the motor shaft of the front swing motor and the second shell are detachably connected.
The invention further improves the structure of the hip joint compound joint motor, wherein a horn-shaped passive transmission disc is outwards formed on one side of the machine body of the side swing motor by the second machine shell, a horn-shaped active transmission disc is sleeved outside a motor shaft of the front swing motor, the active transmission disc is in butt joint connection with one large-mouth end of the passive transmission disc, and the motor shaft of the front swing motor penetrates through and is connected to one small-mouth end of the passive transmission disc.
The hip joint compound joint motor structure is further improved in that the driving transmission disc is connected with the driven transmission disc through a spigot structure matched screw, and a motor shaft of the front swing motor is connected with the driven transmission disc through a flange structure matched screw.
The invention also provides a humanoid robot, and the hip structure of the humanoid robot is the hip joint composite joint motor structure as described in any one of the above.
The invention further improves the humanoid robot in that when the thighs of the humanoid robot are in an upright, front swinging and back swinging state, the first rotation center line of the spin motor module is vertical to the third rotation center line of the front swinging motor module.
According to the invention, each driving module of the hip structure is arranged in a linear arrangement mode, so that the space stacking among the modules is reduced, the hip structure is more compact, the space requirement is reduced, and the appearance and the action are more anthropomorphic; the hollow cup motor is used as a driving motor, so that hollow wiring is realized, the wires are prevented from being exposed, and the winding problem in the hip joint movement process is solved; each motor module adopts modularized design, and convenient installation and disassembly are convenient for later maintenance.
Drawings
Fig. 1 shows a schematic front view of the motor structure of the hip joint composite joint according to the present invention in a linear arrangement.
Fig. 2 shows a schematic front view of the installation state of the motor structure of the hip joint composite joint of the present invention.
Fig. 3 shows a module exploded view of the installation state of the motor structure of the hip joint composite joint according to the present invention.
Fig. 4 shows a schematic side view of the installation of the motor structure of the hip joint composite joint of the present invention.
Fig. 5 shows a schematic view of section A-A of fig. 4.
Detailed Description
In order to solve the problem that the traditional hip structure occupies a large space due to space stacking of the connection between the modules, the invention provides the hip joint composite joint motor structure and the humanoid robot, wherein the driving modules of the hip structure are arranged in a linear arrangement mode, so that the space stacking between the modules is reduced, the hip structure is more compact, and the appearance and the movement state are more humanoid. The hip joint composite joint motor structure and the humanoid robot are further described below by referring to the drawings by using specific embodiments.
Referring to fig. 1 to 3, a hip joint composite joint motor structure includes a spin motor module 1, a side swing motor module 2 and a front swing motor module 3, wherein: the spin motor module 1 comprises a spin motor 11 for driving the thigh structure 4 to rotate and a first shell 12 for supporting the spin motor 11; the side swing motor module 2 comprises a side swing motor 21 for driving the side swing motor module 1 to swing, a second shell 22 for supporting the side swing motor 21, a first transmission frame 23 for receiving the torque of the side swing motor 21 and transmitting the torque to the first shell 12, wherein the first transmission frame 23 comprises a U-shaped support 231 which is supported on the side swing motor 21 in a radial and rotatable manner, and a transmission ring 232 which is sleeved outside a motor shaft of the side swing motor 21 and externally connected to the U-shaped support 231, and the first shell 12 is connected with the U-shaped support 231; the front swing motor module 3 includes a front swing motor 31 for driving the side swing motor module 2 to rotate, and a motor shaft of the front swing motor 31 is connected to the second housing 22 in a radial direction.
The present embodiment supports the side swing motor 21 by using the U-shaped support 231 supported in the radial direction and connects the spin motor module 1, and uses the driving ring 231 to receive the torque of the side swing motor 21 and transmit it to the U-shaped support 231. When the motor shaft of the side swing motor 21 rotates, the U-shaped support 231 is driven to rotate through the driving ring 232, so that the spin motor module 1 is driven to swing laterally, and the side swing motor 21 cannot move. The transmission ring 232 is sleeved on the motor shaft of the side swing motor 21, and is only connected with the U-shaped support in the radial direction. The above-described drive connection thus avoids a spatial stacking in the direction of the second centre line of rotation of the yaw motor module 2. Whereas in this embodiment the motor shaft of the front swing motor 31 is directly connected to the second housing of the side swing motor module 2 in the radial direction. Therefore, spatial stacking in the second rotation center line direction of the yaw motor module 2 is also avoided. Therefore, the hip joint compound joint motor structure realizes the spatial linear arrangement of the driving modules (shown in figure 1), reduces the spatial stacking among the modules, and in addition, the shell of each driving module is used as a machine component and a transmission part, so that the number of parts is reduced, the whole structure is compact, the structure is more compact, the space requirement is reduced, and the appearance and the action are more anthropomorphic.
In order to increase the connection stability of the front swing motor module 3 and the side swing motor module 2, in this embodiment, the second housing is formed with a horn-shaped passive driving disc 23 outwards on one side of the body of the side swing motor 21, a horn-shaped active driving disc 33 is sleeved outside the motor shaft of the front swing motor 31, the active driving disc 33 is in butt connection with the large end of the passive driving disc 23, and the motor shaft of the front swing motor 31 passes through and is connected to the small end of the passive driving disc 23. Specifically, the driving transmission disc 33 is connected with the driven transmission disc 23 through a spigot structure matching screw, and the motor shaft of the front swing motor 3 is connected with the driven transmission disc 23 through a flange structure matching screw.
As a preferred embodiment, the first rotation center line of the spin motor module 1 and the third rotation center line of the front swing motor module 3 are perpendicular to the second rotation center line of the side swing motor module 2, and the first rotation center line, the second rotation center line and the third rotation center line intersect at a point. That is, the axis of the U-shaped bracket 231 is located on the same cross section as the axis of the front swing motor 31, and the axis of the spin motor 11 coincides with the axis of the U-shaped bracket 231. The rotation center lines of the three driving modules intersect at one point, so that a motion algorithm is simplified, the motion response is faster, the appearance of the hip joint part is more similar to a human shape, and the motion is more anthropomorphic.
As a preferred embodiment, as shown in fig. 3 to 5, the front swing motor 31, the side swing motor 21 and the spin motor 11 are all hollow cup motors, and the first housing 12, the second housing 22 and the U-shaped support 231 are provided with openings 6 for communicating the hollows of the three hollow cup motors to form the threading channel 5. The embodiment realizes hollow wiring by using the threading channel 5, avoids the risks that the appearance is affected and the wires are easy to damage due to the exposure of the wires, and solves the winding problem in the hip joint movement process.
As a preferred embodiment, the first shell and the U-shaped support, and the motor shaft of the front swing motor and the second shell are detachably connected. Through detachable connection form for each module is the modularized design, and convenient ann tears open, be convenient for later maintenance.
The hip joint compound joint motor structure is mainly used as a hip structure of a humanoid robot, and when the hip joint compound joint motor structure is installed on the humanoid robot, the first rotation center line of the spin motor module 1 is perpendicular to the third rotation center line of the front swing motor module 3 (shown in fig. 2) in the state that the thighs are vertical, front swing and back swing. The shape of the hip structure is more humanoid and the humanoid robot is more humanoid.
The control method for controlling the thigh structure movement by utilizing the hip joint compound joint motor structure comprises the following steps:
1. when only controlling the thigh structure to swing sideways, only controlling the swing motor module 2 to rotate so as to drive the spin motor module 1 to swing to a preset swing position;
2. when only controlling thigh structure to swing forwards or backwards: the first rotation center line of the spin motor module 1 is required to be ensured to be vertical to the third rotation center line (namely, the position shown in fig. 2), at the moment, the third rotation center line of the front swing motor module 3 is arranged to be parallel to the space Y axis, the second rotation center line of the side swing motor module 2 is arranged to be parallel to the space X axis, and the first rotation center line of the spin motor module 1 is arranged to be parallel to the space Z axis, namely, the rotation center lines of the three modules are in an orthogonal state; then controlling the front swing motor module 3 to rotate so as to drive the side swing motor module 2 to rotate and drive the spin motor module 1 to realize front swing;
3. when the thigh structure is controlled to rotate, the spin motor module 1 is controlled to rotate by a designated angle.
Of course, the control mode described above is only a single motion, and the modes described above may be combined for control for a compound motion.
The present invention has been described in detail with reference to the embodiments of the drawings, and those skilled in the art can make various modifications to the invention based on the above description. Accordingly, certain details of the illustrated embodiments are not to be taken as limiting the invention, which is defined by the appended claims.

Claims (8)

1. The utility model provides a compound joint motor structure of hip joint which characterized in that, including spin motor module, side pendulum motor module and front pendulum motor module, wherein:
the spin motor module comprises a spin motor for driving the thigh structure to rotate and a first shell for supporting the spin motor;
the side swing motor module comprises a side swing motor for driving the spin motor module to swing laterally, a second shell for supporting the side swing motor, and a first transmission frame for receiving torque of the side swing motor and transmitting the torque to the first shell, wherein the first transmission frame comprises a U-shaped support which is radially and rotatably supported on the side swing motor, and a transmission ring which is sleeved outside a motor shaft of the side swing motor and is externally connected to the U-shaped support, and the first shell is connected with the U-shaped support;
the front swing motor module comprises a front swing motor used for driving the side swing motor module to rotate, and a motor shaft of the front swing motor is radially connected with the second shell.
2. The hip joint compound joint motor structure of claim 1, wherein a first rotation center line of the spin motor module and a third rotation center line of the front swing motor module are perpendicular to a second rotation center line of the side swing motor module, and the first rotation center line, the second rotation center line, and the third rotation center line intersect at a point.
3. The hip joint compound joint motor structure according to claim 1, wherein the front swing motor, the side swing motor and the spin motor are hollow cup motors, and openings for communicating the hollows of the three hollow cup motors into threading channels are formed in the first casing, the second casing and the U-shaped support.
4. The hip joint compound joint motor structure of claim 1, wherein the first housing and the U-shaped bracket, and the motor shaft of the front swing motor and the second housing are detachably connected.
5. The hip joint compound joint motor structure of claim 1, wherein a passive transmission disc in a horn mouth shape is formed outwards on one side of the body of the side swing motor by the second shell, an active transmission disc in a horn mouth shape is sleeved outside a motor shaft of the front swing motor, the active transmission disc is in butt joint connection with one large mouth end of the passive transmission disc, and the motor shaft of the front swing motor penetrates through and is connected to one small mouth end of the passive transmission disc.
6. The hip joint compound joint motor structure of claim 5, wherein the active driving disk and the passive driving disk are connected through spigot structure fit screws, and the motor shaft of the front swing motor and the passive driving disk are connected through flange structure fit screws.
7. A humanoid robot, characterized in that the hip structure of the humanoid robot is the hip joint composite joint motor structure according to any one of claims 1 to 6.
8. The humanoid robot of claim 7, wherein the first rotation center line of the spin motor module is perpendicular to the third rotation center line of the front swing motor module when the thighs of the humanoid robot are in the upright, front swing and rear swing states.
CN202310136220.6A 2023-02-20 2023-02-20 Hip joint composite joint motor structure and humanoid robot Pending CN116214571A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310136220.6A CN116214571A (en) 2023-02-20 2023-02-20 Hip joint composite joint motor structure and humanoid robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310136220.6A CN116214571A (en) 2023-02-20 2023-02-20 Hip joint composite joint motor structure and humanoid robot

Publications (1)

Publication Number Publication Date
CN116214571A true CN116214571A (en) 2023-06-06

Family

ID=86569058

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310136220.6A Pending CN116214571A (en) 2023-02-20 2023-02-20 Hip joint composite joint motor structure and humanoid robot

Country Status (1)

Country Link
CN (1) CN116214571A (en)

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