CN1351923A - Articulation coxae driving structure device for anthropomorphic robot - Google Patents
Articulation coxae driving structure device for anthropomorphic robot Download PDFInfo
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- CN1351923A CN1351923A CN 01144583 CN01144583A CN1351923A CN 1351923 A CN1351923 A CN 1351923A CN 01144583 CN01144583 CN 01144583 CN 01144583 A CN01144583 A CN 01144583A CN 1351923 A CN1351923 A CN 1351923A
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- 210000001624 hip Anatomy 0.000 claims abstract description 80
- 210000004394 hip joint Anatomy 0.000 claims abstract description 25
- 230000009467 reduction Effects 0.000 claims abstract description 11
- 210000000689 upper leg Anatomy 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 40
- 230000007246 mechanism Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 17
- 239000003638 chemical reducing agent Substances 0.000 description 7
- 210000002414 leg Anatomy 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The present invention relates to the robot technology. An articulation coxae driving structure device consists of four parts including hip transverse roll direction joint driving system, hip elevation direction joint drivin system, hip yaw direction joint driving system and hipo joint support mechanism. The hip transverxse roll direction joint driving system consists of motor, reduction gear, crank-rocker mechanism and roll joint shaft. The hip elevation direction joint driving system consists of motor, reduction gear, lead screw and nut driver, crank-block-linkage mechanism and hip elevation joint shaft. The hip yaw direction joint driving system consists of motor, reduction gear, worm and worm wheel mechanism and hip yaw joint shaft. The hip joint support mechanism consists of main support structure unit and thigh joint support unit. The articulation coxae driving structure device is favorable to bearing and modular assembly, and is simple in structure and easy to manufacture and assemble.
Description
Technical field
The present invention relates to a kind of articulation coxae driving structure device for anthropomorphic robot, belong to anthropomorphic robot's technical field.
Background technology
Leg structure is anthropomorphic robot's a important component part, and its design is one of key technology of anthropomorphic robot, because it has very big influence to whole anthropomorphic robot's energy efficiency.Realize anthropomorphic function, all necessary self-contained energy of anthropomorphic robot, because anthropomorphic robot's weight and volume is conditional, the entrained energy also is subject to certain restrictions on weight and volume, can only fulfil assignment with its limited energy.Seek out the anthropomorphic formula walking and the work of longer time of farther distance, unique method is to improve the efficient of walking leg, and wherein the appropriate design of leg structure is the important and valid approach of raising the efficiency.
In the research of anthropomorphic robot's walking leg, all be with artificial object both at home and abroad, by the bionical people's of machinery foot sport characteristic, and carry out necessary simplification, and start with from various gaits, adopt different structure transmission devices, do many experiments, accumulated more rich experience.Realize principle according to function bionics, frame for movement, present anthropomorphic robot all adopts a both legs 2*6=12 joint freedom degrees to realize anthropomorphic function, and its joint freedom degrees is distributed as shown in Figure 1.
Fig. 1 is anthropomorphic robot's joint of lower extremity structural representation.Wherein, the 1st, anthropomorphic robot's pin, the 2nd, the roll direction joint shaft of anthropomorphic robot's ankle, the 3rd, the pitch orientation joint shaft of anthropomorphic robot's ankle, the 4th, anthropomorphic robot's shank, the 5th, the pitch orientation joint shaft of anthropomorphic robot's knee, the 6th, anthropomorphic robot's thigh, the 7th, the roll direction joint shaft of anthropomorphic robot's hip, the 8th, anthropomorphic robot's hip frame, the 9th, the yaw direction joint shaft of anthropomorphic robot's hip, the 10th, anthropomorphic robot's upper body, the 11st, the pitching joint shaft of anthropomorphic robot's hip.
Home and abroad typical anthropomorphic robot's lower limb articulation coxae driving structure device all adopts composite construction at present, and adopt the cross normal axis to realize hip roll and the joint motions of pitching both direction, this structure can satisfy the hip joint of anthropomorphic robot motor function well taking under the condition of less spatial volume, and the yaw direction joint motions of easy and hip form three perpendicular quadrature concurrents, this helps improving transmission performance, reduces movement interference, simplify control algolithm, and then help control ruleization.
From the interrelated datas of consulting such as Chinese patent Information Network, at present in the relevant articulation coxae driving structure device for anthropomorphic robot of announcing, the most representative, most typical is the Honda robot series that Japanese honda company releases, its articulation coxae driving structure device such as Fig. 2, shown in Figure 3.
The P2 of the Honda robot hip joint composite construction diagram of gears that Fig. 2, Fig. 3 release for Japanese honda company, Fig. 2 is a front view, Fig. 3 is a vertical view.Wherein, the 6th, anthropomorphic robot's thigh, the 7th, the roll direction joint shaft of anthropomorphic robot's hip, the 8th, anthropomorphic robot's hip frame, the 11st, the pitch orientation joint shaft of anthropomorphic robot's hip, the 12nd, the hip joint of anthropomorphic robot main support, the 13rd, anthropomorphic robot's hip pitch orientation joint motions drive motor means, the 14th, the driving-belt in the belt driver, the 15th, anthropomorphic robot's hip roll direction joint motions drive motor means, the 16th, the driving pulley in the belt driver, the 17th, the driven pulley in the belt driver, the 18th, anthropomorphic robot's hip pitch orientation joint transmission harmonic gear reducer, the 19th, anthropomorphic robot's hip roll direction joint transmission harmonic gear reducer.
The joint transmission of anthropomorphic robot's hip roll direction installs and fixes with steel wheel and anthropomorphic robot's hip frame 8 of harmonic gear reducer 19, driven pulley 17 in its waveform generator and the belt driver connects firmly by axle, to realize synchronous turnover, its flexbile gear and anthropomorphic robot's hip roll direction joint shaft 7 (this axle is packed on the hip joint of anthropomorphic robot main support 12) connect firmly, to realize synchronous turnover, level is installed in anthropomorphic robot's hip roll direction joint motions drive motor means 15 of hip frame upper end by belt driver 14,16,17 and harmonic gear reducer 19 realize slowing down, commutation, increase driving torque, and use harmonic gear reducer differential gearing drive characteristic that hip joint of anthropomorphic robot main support 12 and anthropomorphic robot's hip frame 8 are relatively rotated around anthropomorphic robot's hip roll direction joint shaft 7, thereby realize the joint motions of anthropomorphic robot's hip roll direction; The joint motions of anthropomorphic robot's hip pitch orientation realize principle and function class with the joint motions of anthropomorphic robot's hip roll direction, just lack one-level band transmission decelerating device.
This hip joint of anthropomorphic robot transmission device can satisfy the harmonic gear deceleration transmission scheme that Honda company is adopted well, hip roll and pitching two direction joint power transmission shaft perpendicular quadratures, satisfied the less condition of volume that takies preferably, and the roll of hip, pitching and three direction joints of driftage power transmission shaft perpendicular quadrature concurrent, help improving transmission performance, reduce movement interference, simplify control algolithm, and then help control ruleization.But the non-regular face of this articulation coxae driving structure device for anthropomorphic robot and need machined surface on the high side, structure is relatively complicated, and required manufacturing, processing and assembly precision are had relatively high expectations, and certain technical difficulty is arranged, and parts are on the high side, are unfavorable for mounting or dismounting and carrying.Its hip pitch orientation joint motions drive motor means 13 is embedded in the hip joint transmission bracket device, hip roll and the transmission of the pitch orientation joint assembling scheme of harmonic gear reducer, one side requires drive motors and the harmonic gear reducer volume is as far as possible little, weight is light as far as possible, even in Japan, these also need customized, this hip joint device bending strength is decreased, for satisfying desirable strength, need high ratio of strength to weight contour energy material and high-quality foundry engieering inevitably.
Summary of the invention
The articulation coxae driving structure device that the purpose of this invention is to provide the roll of a kind of anthropomorphic robot's hip, hip pitching and the joint motions of hip yaw direction is characterized in that this apparatus structure is simply compact, is easy to process and assemble.
Articulation coxae driving structure device for anthropomorphic robot of the present invention is by hip roll direction joint transmission system, hip pitch orientation joint transmission system, and hip yaw direction joint transmission system and hip joint supporting structure device four parts are formed.Said hip roll direction joint transmission system is made up of the joint shaft of motor, mechanical reduction gear, crank rocker linkage and hip roll direction.Said hip pitch orientation joint transmission system is by motor, mechanical reduction gear, feed screw nut's transmission device, crank block linkage and hip pitch orientation joint shaft are formed, and said hip yaw direction joint transmission system is made up of motor, mechanical reduction gear, worm and gear and hip yaw direction joint shaft.Said hip joint supporting structure device is made up of hip joint transmission main support constructional device and thigh knuckle support constructional device, this hip joint supporting structure device is the shaped as frame structure, and have a fulcrum of realizing that hip roll direction and the joint transmission of hip pitch orientation are used, on this support, have hip roll direction is installed, the hip pitch orientation, the installing hole of hip yaw direction joint shaft and motor.
Articulation coxae driving structure device of the present invention, simplified structure is convenient to realize the modular assembling, reduces manufacturing, processing and assembly difficulty.
Description of drawings
Fig. 1: be anthropomorphic robot's joint of lower extremity structural representation.
Fig. 2, Fig. 3: be hip joint composite construction transmission device installation diagram in the prior art P2 robot, Fig. 2 is a front view, and Fig. 3 is a vertical view.
Fig. 4: be the transmission main support constructional device front view on the hip joint of anthropomorphic robot of the present invention.
Fig. 5: be the transmission main support constructional device left view on the hip joint of anthropomorphic robot of the present invention.
Fig. 6: be the thigh knuckle support constructional device front view on the hip joint of anthropomorphic robot of the present invention.
Fig. 7: be the thigh knuckle support constructional device vertical view on the hip joint of anthropomorphic robot of the present invention.
Fig. 8: be articulation coxae driving structure device for anthropomorphic robot D-D master cutaway view of the present invention.
Fig. 9: be that articulation coxae driving structure device for anthropomorphic robot A of the present invention is to view.
Figure 10: be articulation coxae driving structure device for anthropomorphic robot vertical view of the present invention.
The specific embodiment
The embodiment of the action of accompanying drawings articulation coxae driving structure device for anthropomorphic robot each several part of the present invention is as follows:
Articulation coxae driving structure device of the present invention is by hip roll direction joint transmission system, hip pitch orientation joint transmission system, and hip yaw direction joint transmission system and hip joint supporting structure device four parts are formed.Motor 28 its output shaft driven gears 31 of said hip roll direction joint transmission system (seeing Fig. 8, Fig. 9), gear 31 drives eccentric mechanism wheel 32, crankwheel 32 links to each other with connecting rod 33, one end of connecting rod 33 is porose, can drive the thigh knuckle support constructional device 20 hip roll direction joint shaft 7 that unrolls when can match (seeing Fig. 6, Fig. 7) connecting rod 33 motion and rotate, thereby realize anthropomorphic robot's hip roll action with the fulcrum 21 on the thigh knuckle support constructional device 20.Motor 35 (see figure 8)s of said hip pitch orientation joint transmission system drive screw mandrel 24 by reduction gearing 23, nut 26 is housed on the screw mandrel 24, there is the slide block can be on guide rail 25 on the nut 26, following motion, nut 26 links to each other with connecting rod 27, on nut 26, under drivening rod 27 motions when moving, one end of connecting rod 27 is porose, can match with fulcrum 22 (see figure 7)s on the thigh knuckle support constructional device 20, can drive thigh knuckle support constructional device 20 hip pitch orientation joint shaft 11 (see figure 9)s of unrolling during connecting rod 27 motion and rotate, thereby realize anthropomorphic robot's pitching action.
The motor 30 (seeing Fig. 8,9,10) of said hip yaw direction joint transmission system drives reduction gearing 29, worm gear, worm screw 36, and worm gear 36 matches with hip yaw direction nodal axisn 9, can realize anthropomorphic robot's yaw maneuver when worm gear 36 rotates.Said hip joint supporting structure device (Fig. 4,5,6,7) is the shaped as frame structure, wherein I is the installing hole of hip roll direction joint shaft 7, II is the installing hole of eccentric mechanism wheel 32, III is the installing hole of the motor 28 of hip roll direction articular system, IV is the installing hole of hip yaw direction joint shaft 9, V is the installing hole of hip roll direction joint shaft 7, and VI is the installing hole of hip pitch orientation nodal axisn 11.The 21st, the fulcrum that matches with the hole on the connecting rod 33, the 22nd, the fulcrum that matches with the hole on the connecting rod 27.
Claims (1)
1, a kind of articulation coxae driving structure device for anthropomorphic robot of being made up of hip roll direction joint transmission system, hip pitch orientation joint transmission system, hip yaw direction joint transmission system and hip joint supporting structure device four parts is characterized in that said hip roll direction joint transmission system is made up of motor, mechanical reduction gear, crank rocker linkage and hip roll direction nodal axisn; Said hip pitch orientation joint transmission system is made up of motor, mechanical reduction gear, feed screw nut's transmission device, crank block linkage and hip pitch orientation joint shaft; Said hip yaw direction joint transmission system is made up of motor, mechanical reduction gear, worm and gear and hip yaw direction joint shaft; Said hip joint supporting structure device is made up of hip joint transmission main support constructional device and thigh knuckle support constructional device, said hip joint supporting structure device is a thick stick shape structure, and have a fulcrum of realizing that hip roll direction and the transmission of pitch orientation joint are used, on the hip joint supporting structure, have hip roll direction is installed, the hip pitch orientation, the installing hole of hip yaw direction joint shaft and motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011445831A CN1164404C (en) | 2001-12-21 | 2001-12-21 | Articulation coxae driving structure device for anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011445831A CN1164404C (en) | 2001-12-21 | 2001-12-21 | Articulation coxae driving structure device for anthropomorphic robot |
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| Publication Number | Publication Date |
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| CN1351923A true CN1351923A (en) | 2002-06-05 |
| CN1164404C CN1164404C (en) | 2004-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB011445831A Expired - Fee Related CN1164404C (en) | 2001-12-21 | 2001-12-21 | Articulation coxae driving structure device for anthropomorphic robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354076C (en) * | 2006-03-02 | 2007-12-12 | 上海交通大学 | Adjustably moving mechanism of all directionally movable robot |
| CN100356078C (en) * | 2004-12-09 | 2007-12-19 | 财团法人工业技术研究所 | Structure of moving device using electromechanical to control clutch |
| TWI400149B (en) * | 2010-07-30 | 2013-07-01 | Hwa Hsia Inst Of Technology | Robot hip |
| CN103318290A (en) * | 2013-07-08 | 2013-09-25 | 北京理工大学 | Similar dual-A-arm suspended robot crotch lateral-deviation damping system |
| CN104128930A (en) * | 2014-07-29 | 2014-11-05 | 杭州沪清科技有限公司 | Anthropomorphic hip structure capable of freely moving in all directions |
| CN104690730A (en) * | 2015-02-06 | 2015-06-10 | 浙江工业大学 | Limb and body mechanism for humanoid robot |
| CN104890757A (en) * | 2015-06-24 | 2015-09-09 | 长春工业大学 | Traveling gear of humanoid robot |
| CN104943765A (en) * | 2015-07-20 | 2015-09-30 | 郑州轻工业学院 | Human-simulated ankle joint device with three degrees of freedom |
| CN108127640A (en) * | 2018-02-06 | 2018-06-08 | 东北大学 | A kind of have wide-angle and bend the wheeled anthropomorphic robot of function |
| CN110696940A (en) * | 2019-11-21 | 2020-01-17 | 上海交通大学 | Omnidirectional wheel foot type robot |
| CN110979505A (en) * | 2019-12-30 | 2020-04-10 | 深圳市优必选科技股份有限公司 | Hip joint structure and humanoid robot |
-
2001
- 2001-12-21 CN CNB011445831A patent/CN1164404C/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100356078C (en) * | 2004-12-09 | 2007-12-19 | 财团法人工业技术研究所 | Structure of moving device using electromechanical to control clutch |
| CN100354076C (en) * | 2006-03-02 | 2007-12-12 | 上海交通大学 | Adjustably moving mechanism of all directionally movable robot |
| TWI400149B (en) * | 2010-07-30 | 2013-07-01 | Hwa Hsia Inst Of Technology | Robot hip |
| CN103318290A (en) * | 2013-07-08 | 2013-09-25 | 北京理工大学 | Similar dual-A-arm suspended robot crotch lateral-deviation damping system |
| CN103318290B (en) * | 2013-07-08 | 2016-04-06 | 北京理工大学 | Class two lateral-deviation robot crotch lateral deviation shock mitigation system |
| CN104128930A (en) * | 2014-07-29 | 2014-11-05 | 杭州沪清科技有限公司 | Anthropomorphic hip structure capable of freely moving in all directions |
| CN104690730B (en) * | 2015-02-06 | 2016-03-02 | 浙江工业大学 | The four limbs of a kind of anthropomorphic robot and trunk mechanism |
| CN104690730A (en) * | 2015-02-06 | 2015-06-10 | 浙江工业大学 | Limb and body mechanism for humanoid robot |
| CN104890757A (en) * | 2015-06-24 | 2015-09-09 | 长春工业大学 | Traveling gear of humanoid robot |
| CN104943765A (en) * | 2015-07-20 | 2015-09-30 | 郑州轻工业学院 | Human-simulated ankle joint device with three degrees of freedom |
| CN104943765B (en) * | 2015-07-20 | 2017-04-12 | 郑州轻工业学院 | Human-simulated ankle joint device with three degrees of freedom |
| CN108127640A (en) * | 2018-02-06 | 2018-06-08 | 东北大学 | A kind of have wide-angle and bend the wheeled anthropomorphic robot of function |
| CN108127640B (en) * | 2018-02-06 | 2023-12-12 | 东北大学 | Wheel type humanoid robot with large-angle bending function |
| CN110696940A (en) * | 2019-11-21 | 2020-01-17 | 上海交通大学 | Omnidirectional wheel foot type robot |
| CN110696940B (en) * | 2019-11-21 | 2021-08-27 | 上海交通大学 | Omnidirectional wheel foot type robot |
| CN110979505A (en) * | 2019-12-30 | 2020-04-10 | 深圳市优必选科技股份有限公司 | Hip joint structure and humanoid robot |
| CN110979505B (en) * | 2019-12-30 | 2021-06-04 | 深圳市优必选科技股份有限公司 | Hip joint structure and humanoid robot |
| US11945528B2 (en) | 2019-12-30 | 2024-04-02 | Ubtech Robotics Corp Ltd | Hip joint mechanism and humanoid robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1164404C (en) | 2004-09-01 |
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