CN201432303Y - Knee-joint mechanism of humanoid robot - Google Patents

Knee-joint mechanism of humanoid robot Download PDF

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Publication number
CN201432303Y
CN201432303Y CN2009201217195U CN200920121719U CN201432303Y CN 201432303 Y CN201432303 Y CN 201432303Y CN 2009201217195 U CN2009201217195 U CN 2009201217195U CN 200920121719 U CN200920121719 U CN 200920121719U CN 201432303 Y CN201432303 Y CN 201432303Y
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Prior art keywords
knee
joint
motor
fixed
thigh
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Expired - Lifetime
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CN2009201217195U
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Chinese (zh)
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朱秋国
熊蓉
周建军
张大松
褚健
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

The utility model discloses a knee-joint mechanism of a humanoid robot, comprising a knee joint connected with a thigh and a calf, and a knee-joint driving mechanism; the moment output by a motor is overlapped by utilizing dual motor driving, the capacity of the joint for outputting moment is improved, and the phenomenon that the motor emits head under long-time working state is avoided. In the knee-joint driving mechanism, an eccentric fine-tuning tensioning pulley coaxial to a motor shaft is adopted, the distance of the motor shaft and a knee-joint input shaft can be adjusted by adjusting the angle of the eccentric fine-tuning tensioning pulley, so as to realize a fine-tuning function. When in operation, two encoders can obtain a counting-rate-difference feedback signal of the dual motorin a real-time manner, so as to be convenient for master-slave control of the dual motor, be beneficial to obtaining the joint angle information correctly, correct mechanical transmission error and improve the control accuracy. The knee-joint mechanism of the humanoid robot has compact structure, convenient assembly and disassembly and reliable operation.

Description

The knee-joint mechanism of anthropomorphic robot
Technical field
The utility model belongs to the robot field, relates to a kind of knee-joint mechanism of anthropomorphic robot.
Background technology
Up to now, the motor of the most of employing band of the robot that development is more successful in the world encoder and harmonic speed reducer are as the drive unit of joint of robot.Find according to retrieval existing document, robot in motion process because the motor torque deficiency, the heating phenomenon is more serious, people's such as Kenji KANEKO paper: the HRP-2P that describes in " Humanoid Robot HRP-2 " can not continuous walking 30 minutes, and this far can not satisfy human requirement to robot.And the knee joint of robot is most important in the robot motion, also needs to satisfy the function of rapid starting/stopping when it bears upper body weight, so kneed driving force is had higher requirement.The regulating wheel that uses in the robot can improve the efficient of transmission, but the adjustable tension wheel structure that most of robot adopts is bigger, and be easy to generate loosening in use for some time and poor effect that make tensioning, so it is just very important to improve the mechanism of regulating wheel.Chinese patent CN1683123A discloses a kind of use motor encoder and potentiometer is formed the dicyclo detection system, detects the flexible driving error of joint speed reducer, but it does not consider the signal that the differential feedback needs under the bi-motor principal and subordinate control model.In addition, potentiometric mounting means is easy to produce loosening through experiment test, and loading and unloading inconvenience.
Summary of the invention
The purpose of this utility model is the knee-joint mechanism that proposes that a kind of driving moment is big, tension structure is compact, has the anthropomorphic robot of joint error-detecting function.
Anthropomorphic robot knee-joint mechanism of the present utility model comprises the knee joint and the knee joint driving mechanism that connect thigh and shank;
Knee joint comprises harmonic speed reducer and the knee sleeve of being made up of firm wheel, wave producer and the flexbile gear of coaxial line device in housing, the power shaft of harmonic speed reducer and output shaft are coaxial to be nested with, one end of harmonic speed reducer power shaft is fixed on the wave producer, the other end is fixed first synchronous pulley, between the power shaft of harmonic speed reducer and output shaft, be provided with two bearings, flexbile gear is fixed on the output shaft, output shaft is connected with a side of thigh by crossed roller bearing, one end of knee sleeve and the firm wheel of harmonic speed reducer are fixed, and at the knee sleeve and between just having taken turns seal cover have been arranged.The other end of knee sleeve is connected with the opposite side of thigh by deep groove ball bearing.Adorn on the knee sleeve
Figure G2009201217195D00011
The knee flange is arranged, and the knee flange is connected with shank.Be fixed with potentiometer flange and potentiometer in the knee sleeve, be fixed with axle sleeve on the potentiometric axle, axle sleeve is connected with flange on being fixed on thigh;
The knee joint driving mechanism comprises first motor that has first encoder, second motor that has second encoder, on the axle of first motor second synchronous pulley is installed, the end face of first motor is fixed with the first eccentricity fine adjustment regulating wheel, on the axle of second motor the 3rd synchronous pulley is installed, the end face of second motor is fixed with the second eccentricity fine adjustment regulating wheel, second synchronous pulley links to each other with first synchronous pulley by being with synchronously with the 3rd synchronous pulley, and the first eccentricity fine adjustment regulating wheel and the second eccentricity fine adjustment regulating wheel and thigh are fixed.
In order to make structure compact more, load and unload conveniently, the potentiometer flange can be connected with the knee sleeve by screw thread.
The utility model compact conformation, mounting or dismounting are convenient, and are reliable, utilize the moment that Dual-motors Driving can superimposed motor output, improved the ability of joint output torque, the phenomenon of having avoided motor to work long hours and generate heat state under.Adopt in the knee joint driving mechanism with motor shaft to keep coaxial eccentricity fine adjustment regulating wheel, just can adjust motor shaft to the distance between the knee joint power shaft as long as adjust the angle of setting-up eccentricity fine setting regulating wheel like this, realize the effect of fine setting.During operation, two encoders can obtain the counting-rate-difference feedback signal of bi-motor in real time, are convenient to bi-motor is carried out principal and subordinate's control, help correctly obtaining joint angles information, correct mechanical driving error, have improved the accuracy of control.
Description of drawings
Fig. 1 is the integral entity figure of robot knee-joint mechanism;
Fig. 2 is the knee joint cutaway view;
Fig. 3 is firm wheel, wave producer and the flexbile gear schematic diagram of harmonic speed reducer.
Among the above-mentioned figure, 1. flange, 2. thigh, 3. shank, 4. knee flange, 5. knee sleeve, 6. harmonic speed reducer is 7. just taken turns, 8. wave producer, 9. flexbile gear, 10. power shaft, 11. crossed roller bearings, 12. output shaft, 13. bearings, 14. bearings, 15. housing, 16. seal covers, 17. potentiometers, 18. the potentiometer flange, 19. deep groove ball bearings, 20. axle sleeves, 21. first motor, 22. first encoders, 23. second motors, 24. second encoder, 25. first eccentricity fine adjustment regulating wheels, 26. second synchronous pulleys, 28. the 3rd synchronous pulley, 29. second eccentricity fine adjustment regulating wheels, 30. first synchronous pulleys.
The specific embodiment
Further specify the utility model below in conjunction with accompanying drawing.
With reference to accompanying drawing, anthropomorphic robot knee-joint mechanism of the present utility model comprises the knee joint and the knee joint driving mechanism that connect thigh and shank;
Knee joint comprises by the firm wheel 7 of coaxial line device in housing 15, harmonic speed reducer 6 and knee sleeve 5 that wave producer 8 and flexbile gear 9 are formed, the power shaft 10 of harmonic speed reducer 6 and output shaft 12 coaxial being nested with, one end of harmonic speed reducer 6 power shafts 10 is fixed on the wave producer 8, the other end is fixed first synchronous pulley 30, between the power shaft 10 of harmonic speed reducer 6 and output shaft 12, be provided with two bearings 13,14, flexbile gear 9 is fixed on the output shaft 12, output shaft 12 is connected with a side of thigh 2 by crossed roller bearing 11, one end of knee sleeve 5 and the firm wheel of harmonic speed reducer 67 are fixing, at knee sleeve 5 and between just having taken turns 7 seal cover 16 has been arranged, seal cover 16 is used to prevent that dust from entering in the harmonic speed reducer 6.The other end of knee sleeve 5 is connected with the opposite side of thigh 2 by deep groove ball bearing 19.Dress on the knee sleeve 5
Figure G2009201217195D00031
Knee flange 4 is arranged, and knee flange 4 is connected with shank 3.Take place 8 when rotating when power shaft drives ripple, just taken turns 7 and rotated, realized relatively rotating between thigh 2 and the shank 3 relative to flexbile gear 9.Be fixed with potentiometer flange 18 and potentiometer 17 in the knee sleeve 5, be fixed with axle sleeve 20 on the axle of potentiometer 17, axle sleeve 20 is connected with flange 1 on being fixed on thigh 2;
The knee joint driving mechanism comprises first motor 21 that has first encoder 22, second motor 23 that has second encoder 24, on the axle of first motor 21 second synchronous pulley 26 is installed, the end face of first motor 21 is fixed with the first eccentricity fine adjustment regulating wheel 25, on the axle of second motor 23 the 3rd synchronous pulley 28 is installed, the end face of second motor 23 is fixed with the second eccentricity fine adjustment regulating wheel 29, second synchronous pulley 26 links to each other with first synchronous pulley 30 by being with synchronously with the 3rd synchronous pulley 28, realizes the driving in joint with this., the first eccentricity fine adjustment regulating wheel 25 and the second eccentricity fine adjustment regulating wheel 29 are fixed with thigh.Usually, make on eccentricity fine adjustment regulating wheel 25,29 wheel faces and be distributed with the installing hole that several are connected with thigh, can regulate the setting angle of rotating eccentricity fine setting regulating wheel and thigh like this by installing hole, realize the tensioning purpose of band synchronously.

Claims (3)

1, the knee-joint mechanism of anthropomorphic robot is characterized in that comprising knee joint and the knee joint driving mechanism that connects thigh and shank;
Knee joint comprises by the firm wheel (7) of coaxial line device in housing (15), harmonic speed reducer (6) and knee sleeve (5) that wave producer (8) and flexbile gear (9) are formed, the power shaft (10) of harmonic speed reducer (6) and coaxial being nested with of output shaft (12), one end of harmonic speed reducer (6) power shaft (10) is fixed on the wave producer (8), the other end is fixed first synchronous pulley (30), between the power shaft (10) of harmonic speed reducer (6) and output shaft (12), be provided with two bearings (13,14), flexbile gear (9) is fixed on the output shaft (12), output shaft (12) is connected with a side of thigh (2) by crossed roller bearing (11), the firm wheel (7) of one end of knee sleeve (5) and harmonic speed reducer (6) is fixing, between knee sleeve (5) and firm wheel (7) seal cover (16) has been arranged.The other end of knee sleeve (5) is connected with the opposite side of thigh (2) by deep groove ball bearing (19).Knee flange (4) is housed on the knee sleeve (5), and knee flange (4) is connected with shank (3).Be fixed with potentiometer flange (18) and potentiometer (17) in the knee sleeve (5), be fixed with axle sleeve (20) on the axle of potentiometer (17), axle sleeve (20) is connected with flange (1) on being fixed on thigh (2);
The knee joint driving mechanism comprises first motor (21) that has first encoder (22), second motor (23) that has second encoder (24), on the axle of first motor (21) second synchronous pulley (26) is installed, the end face of first motor (21) is fixed with the first eccentricity fine adjustment regulating wheel (25), on the axle of second motor (23) the 3rd synchronous pulley (28) is installed, the end face of second motor (23) is fixed with the second eccentricity fine adjustment regulating wheel (29), second synchronous pulley (26) links to each other with first synchronous pulley (30) by being with synchronously with the 3rd synchronous pulley (28), and the first eccentricity fine adjustment regulating wheel (25) and the second eccentricity fine adjustment regulating wheel (29) are fixed with thigh.
2, the knee-joint mechanism of anthropomorphic robot according to claim 1 is characterized in that potentiometer flange (18) is connected with knee sleeve (5) by screw thread.
3, the knee-joint mechanism of anthropomorphic robot according to claim 1 is characterized in that being distributed with the installing hole that several are connected with thigh on first, second eccentricity fine adjustment regulating wheel (25,29) wheel face.
CN2009201217195U 2009-06-04 2009-06-04 Knee-joint mechanism of humanoid robot Expired - Lifetime CN201432303Y (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103600356A (en) * 2013-11-26 2014-02-26 苏州晓炎自动化设备有限公司 Robot wrist drive mechanism
CN103600357A (en) * 2013-11-26 2014-02-26 苏州晓炎自动化设备有限公司 Robot elbow drive mechanism
CN106163746A (en) * 2014-04-03 2016-11-23 纳博特斯克有限公司 The articulation mechanism of humanoid robot
CN106239479A (en) * 2016-08-23 2016-12-21 哈尔滨工业大学 A kind of series connection flexible drive knee joint in lower limb assistance exoskeleton robot
CN107444515A (en) * 2017-09-15 2017-12-08 吴兰岸 A kind of leg structure of new education robot
CN107953362A (en) * 2017-12-29 2018-04-24 深圳市优必选科技有限公司 A kind of joint of robot rotational angle testing agency and robot
CN108705520A (en) * 2018-07-19 2018-10-26 埃夫特智能装备股份有限公司 One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot
CN109702765A (en) * 2017-10-26 2019-05-03 深圳市肯綮科技有限公司 A kind of power joint arrangement and lower limb power assistive device

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103600356A (en) * 2013-11-26 2014-02-26 苏州晓炎自动化设备有限公司 Robot wrist drive mechanism
CN103600357A (en) * 2013-11-26 2014-02-26 苏州晓炎自动化设备有限公司 Robot elbow drive mechanism
CN106163746A (en) * 2014-04-03 2016-11-23 纳博特斯克有限公司 The articulation mechanism of humanoid robot
CN106239479A (en) * 2016-08-23 2016-12-21 哈尔滨工业大学 A kind of series connection flexible drive knee joint in lower limb assistance exoskeleton robot
CN107444515A (en) * 2017-09-15 2017-12-08 吴兰岸 A kind of leg structure of new education robot
CN109702765A (en) * 2017-10-26 2019-05-03 深圳市肯綮科技有限公司 A kind of power joint arrangement and lower limb power assistive device
CN107953362A (en) * 2017-12-29 2018-04-24 深圳市优必选科技有限公司 A kind of joint of robot rotational angle testing agency and robot
CN108705520A (en) * 2018-07-19 2018-10-26 埃夫特智能装备股份有限公司 One kind being based on long-armed four shaft portion connection structure of exhibition six-DOF robot

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Granted publication date: 20100331

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