CN1454752A - Bio-robot waist mechanism - Google Patents
Bio-robot waist mechanism Download PDFInfo
- Publication number
- CN1454752A CN1454752A CN 02109592 CN02109592A CN1454752A CN 1454752 A CN1454752 A CN 1454752A CN 02109592 CN02109592 CN 02109592 CN 02109592 A CN02109592 A CN 02109592A CN 1454752 A CN1454752 A CN 1454752A
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- CN
- China
- Prior art keywords
- connecting rod
- bio
- output shaft
- differential gear
- gear
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The presnet invention relates to a robot waist structure. It comprises the two differential pulley system, the up-down board, the middle board, the connecting rod, and soft cable. In the structure the two differential pulley system have to free degrees whether closed or not, and them are installed on the down board. The first and the second connecting rod are fixed on the center axes, the down end of the first connecting rod is connected with the first output axes which is drove by the first and second electromotor, the down end of the second connecting rod is connected with the down board. The third and fourth connecting rod is installed between the middle board and the up board. The first and second soft cable are linked to the center axes of the up board and the second output axes that is driven by the first and second electromotor.
Description
Technical field
The present invention relates to robot engineering, specifically a kind of bio-robot waist mechanism.
Background technology
Traditional bio-robot waist mechanism usually adopts the tandem drive mode, realizes the motion of pitching and inclination both direction.There is following shortcoming in this mode:
1) because tandem drive makes the drive motors of one of them direction and the load that driving-chain becomes another motor, increased the load of motor;
2) tandem drive requires the motor of driving both direction motion and driving-chain to be in two Different Plane up and down, has increased the height of waist, and the anthropomorphic robot center of gravity is improved, and has reduced the kinetic stability of anthropomorphic robot;
3) error of tandem drive is the accumulation of two joint errors, causes the amplification of waist error.
In addition, bio-robot waist mechanism also can adopt the parallel institution mode, and its parallel institution can be arranged drive motors in one plane, overcome the above-mentioned shortcoming of serial mechanism, but the range of movement of parallel institution is little, has limited the range of movement of anthropomorphic robot.
Summary of the invention
The purpose of this invention is to provide that a kind of stability of a system is good, kinematic accuracy is high, power consumption is little, become the big a kind of bio-robot waist mechanism of rigidity range of movement.
To achieve these goals, technical scheme of the present invention is: by two differential gear train sealing transmission mechanisms, upper and lower plates, intermediate plate, connecting rod, gentle Suo Zucheng, wherein: two differential gear trains have two frees degree, still have two frees degree after two differential gear train transmission sealings, two differential gear train transmission mechanisms are installed on the lower plate, the first～two small end is fixedly mounted on the central axis of intermediate plate, the first connecting rod lower end is connected with first output shaft that is driven jointly by the first～two motor, the second connecting rod lower end is hinged in lower plate, the three～four connecting rod and intermediate plate and upper plate two ends are affixed, on its central axis, the first～two gentle rope two ends are fixed in respectively between the central axis and second output shaft by the common driving of the first～two motor of upper plate; Described the first～two gentle rope oppositely joins by the cylinder and second output shaft.
Bio-robot waist mechanism of the present invention has following advantage:
1) the present invention adopts the drive motors of both direction and driving-chain to be arranged on the lower plate, has reduced the load of motor, has reduced the height of waist, thereby has reduced the center of gravity (height of waist reduce near half) of anthropomorphic robot, has improved the stability of system.
2) because the present invention adopts two differential gear train sealing kinds of drive, and adder wherein has the characteristics of Dual-motors Driving unidirectional motion, thereby greatly reduce power of motor (drive motors power reduces by 40%), reduced the electrical source consumption of anthropomorphic robot.
3) owing to adopted gentle rope to drive, can realize that bio-robot waist becomes rigidity control, improve the compliance and the antijamming capability of system, safer when anthropomorphic robot is cooperated with the people.
4) because two drive motors of the present invention are not arranged in series, therefore, there is not the accumulation of joint error, improved the kinematic accuracy of waist.
5) bio-robot waist mechanism of the present invention is except having overcome in the prior art the above-mentioned shortcoming of serial mechanism, and its range of movement is identical with serial mechanism, and is higher than parallel institution.
6) bio-robot waist mechanism of the present invention has been realized the miniaturization of anthropomorphic robot, has improved motion and power performance, has also prolonged driving power service life.
Description of drawings
Fig. 1 is two differential gear train sealings of the present invention transmission mechanism schematic diagram.
Fig. 2 is installed in structural representation on the lower plate for differential gear train sealing transmission system of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples in detail the present invention is described in detail.
Shown in Fig. 1～2, the present invention is by two differential gear train sealing transmission mechanisms, upper and lower plates, intermediate plate, connecting rod, gentle Suo Zucheng, wherein: two differential gear trains have two frees degree, still have two frees degree after two differential gear train transmission sealings, two differential gear train transmission mechanisms are installed on the lower plate 4, the first～two connecting rod 1,1
1The upper end be fixedly mounted on the central axis of intermediate plate 5, first connecting rod 1 lower end with by the first～two motor I
1, I
2The common first output shaft A that drives
1Connect second connecting rod 1
1The lower end is hinged in lower plate 4, the three～four connecting rods 2,2
1Affixed with intermediate plate 5 and upper plate 6 two ends, on its central axis, the first～two gentle rope 3,3
1Two ends be fixed in respectively the central axis of upper plate 6 with by the first～two motor I
1, I
2The common second output shaft A that drives
2Between;
Described the first～two gentle rope 3,3
1By the cylinder and the second output shaft A
2Oppositely join.
Bio-robot waist mechanism transmission process of the present invention:
Bio-robot waist mechanism of the present invention has adopted two differential gear train sealing transmission (see figure 1)s.There are two frees degree in a differential gear train, and after two differential gear train transmission sealings, still there are two frees degree in system, wherein, and I
1, I
2Be the first～two drive motors, A
1, A
2It is the first～two output shaft.During work, the first drive motors I
1Drive the first gear g
1, the first gear g
1With the second duplicate gear g
2Engagement, the second drive motors I
2Drive the 11 gear g
11, the 11 gear g
11With the 8th duplicate gear g
8Engagement, the 8th duplicate gear g
8With the 7th duplicate gear g
7Engagement, the 7th duplicate gear g
7With the 3rd duplicate gear g
3Engagement; Second and third duplicate gear g
2, g
3Drive installation is at first adder p
1On the first output shaft A
1Rotate; The second drive motors I
2Drive the 11 gear g
11, the 11 gear g
11With the 8th duplicate gear g
8Engagement, the first drive motors I
1Drive the first gear g
1, the first gear g
1With the second duplicate gear g
2Engagement, the second duplicate gear g
2With the 5th gear g
5Engagement, fourth, fifth gear g
4, g
5Coaxial rotation, the 4th gear g
4With the 6th gear g
6Engagement, the 6th gear g
6, the 9th gear g
9Coaxial rotation, the 9th gear g
9With the tenth duplicate gear g
10Engagement, the 8th duplicate gear g
8With the tenth duplicate gear g
10Drive second adder p
2On output shaft rotate the 12 gear g
12With second adder p
2Output shaft rotate the 12 gear g synchronously
12With the 14 gear g
14Engagement then drives the second output shaft A
2Rotate.
Differential gear train sealing transmission system is installed in (see figure 2) on the lower plate 4.The first output shaft A
1Drive first connecting rod 1, first connecting rod 1, second connecting rod 1
1The upper end is supported on the central axis of intermediate plate 5, and is affixed with intermediate plate 5, the lower end of first connecting rod 1 and the first output shaft A
1Connect second connecting rod 1
1Link to each other with lower plate 4 by hinge; The three～four connecting rod 2,2
1Affixed with intermediate plate 5 and upper plate 6 two ends, its two ends are fixed in respectively on the central axis of intermediate plate 5 and upper plate 6, and then upper plate 6 is done synchronous elevating movement with intermediate plate 5, thereby realize the elevating movement of waist; The first～two gentle rope 3,3
1One end is fixed on the central axis of upper plate 6, and the other end is fixed in the second output shaft A
2On, both adopt reverse connection, promptly gentle rope 3,3
1The direction of motion is opposite, like this, and by gentle rope 3,3
1Drive upper plate 6, realize the inclination campaign.Parts such as anthropomorphic robot trunk are installed by upper plate 6.
Claims (2)
1. bio-robot waist mechanism, it is characterized in that: by two differential gear train sealing transmission mechanisms, upper and lower plates, intermediate plate, connecting rod, gentle Suo Zucheng, wherein: two differential gear trains have two frees degree, still have two frees degree after two differential gear train transmission sealings, two differential gear train transmission mechanisms are installed on the lower plate (4) the first～two connecting rod (1,1
1) upper end be fixedly mounted on the central axis of intermediate plate (5), first connecting rod (1) lower end with by the first～two motor (I
1, I
2) the common first output shaft (A that drives
1) connect second connecting rod (1
1) lower end is hinged in lower plate (4), the three～four connecting rod (2,2
1) affixed with intermediate plate (5) and upper plate (6) two ends, on its central axis, the first～two gentle rope (3,3
1) two ends be fixed in respectively the central axis of upper plate (6) with by the first～two motor (I
1, I
2) the common second output shaft (A that drives
2) between.
2. according to the described bio-robot waist mechanism of claim 1, it is characterized in that: described the first～two gentle rope (3,3
1) by the cylinder and the second output shaft (A
2) oppositely join.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02109592 CN1251842C (en) | 2002-04-29 | 2002-04-29 | Bio-robot waist mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02109592 CN1251842C (en) | 2002-04-29 | 2002-04-29 | Bio-robot waist mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1454752A true CN1454752A (en) | 2003-11-12 |
| CN1251842C CN1251842C (en) | 2006-04-19 |
Family
ID=29256738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02109592 Expired - Fee Related CN1251842C (en) | 2002-04-29 | 2002-04-29 | Bio-robot waist mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1251842C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN115383790A (en) * | 2022-10-27 | 2022-11-25 | 中汽研汽车检验中心(宁波)有限公司 | Waist assembly of humanoid robot for automobile test |
-
2002
- 2002-04-29 CN CN 02109592 patent/CN1251842C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN115383790A (en) * | 2022-10-27 | 2022-11-25 | 中汽研汽车检验中心(宁波)有限公司 | Waist assembly of humanoid robot for automobile test |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1251842C (en) | 2006-04-19 |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |