CN201432304Y - Double T shaped waist joint structure of humanoid robot - Google Patents
Double T shaped waist joint structure of humanoid robot Download PDFInfo
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- CN201432304Y CN201432304Y CN2009201217208U CN200920121720U CN201432304Y CN 201432304 Y CN201432304 Y CN 201432304Y CN 2009201217208 U CN2009201217208 U CN 2009201217208U CN 200920121720 U CN200920121720 U CN 200920121720U CN 201432304 Y CN201432304 Y CN 201432304Y
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Abstract
The utility model relates to a double T shaped waist joint structure of a humanoid robot, comprising a waist rotating structure and a waist pitching structure; the waist rotating structure comprises aT-shaped waist main board, a rotating harmonic wave reducer, a waist rotating shaft and a motor; the waist pitching structure comprises a pitching harmonic wave reducer which realizes rotation and pitching movement of the waist joint by utilizing the tooth difference transmission of the harmonic wave reducer; in the utility model, the whole waist part adopts the double T shaped structure, the integral intensity and rigidity of the waist part are enhanced, the movement range of the waist part is expanded, the effect caused by body unbalance and the weight of the upper part of the body can be endured, and the requirement of bringing into operation of the upper part of the body can be met. The double T shaped waist joint structure has light weight, compact structure and high transmission accuracy, and the waist structure of the humanoid robot can meet the requirements of large-range rotation, pitching movement and quick response.
Description
Technical field
The utility model belongs to the robot field, relates to a kind of double-T type waist joint structure of anthropomorphic robot.
Background technology
Up to now, the motor of the most of employing band of the robot waist that development is more successful in the world encoder and harmonic speed reducer are as the drive unit of joint of robot.As the ASIMO of Japan, HRP-2, the KHR-3 of Korea S.Waist joint is the important joint that the robot upper body is connected with lower limb, and when bearing upper body weight, also need to overcome the influence that brings because of the imbalance of upper body, so most of robots all do not have waist, also has only a deflection free degree as ASIMO, KHR-3.
Chinese patent CN1864942A discloses a kind of waist structure of anthropomorphic robot, and it has waist pitching and two frees degree of transfer, but the waist rigidity of this structure is connected the existence deficiency with motor.
Summary of the invention
The purpose of this utility model is to be factors such as the rigidity that takes into full account waist requires, motor service life and transmission efficiency, and proposes a kind of double-T type waist joint structure of anthropomorphic robot.
The double-T type waist joint structure of anthropomorphic robot of the present utility model comprises rotation structure and waist luffing structure two parts in the waist:
Rotation structure comprises the T type waist mainboard that is made of dull and stereotyped and cylinder in the waist, just taken turns by first of coaxial line device, the transfer harmonic speed reducer that first wave producer and first flexbile gear are formed, the waist shaft and the motor that constitute by upper frame and bottom cylinder, first of transfer harmonic speed reducer has just been taken turns and has been fixed on the waist mainboard, first axis of just having taken turns overlaps with the cylinder axis of waist mainboard, motor has first encoder, be fixed in the cylinder of waist shaft bottom by motor flange, motor shaft and motor shaft sleeve are fixed together, and motor shaft sleeve is connected by key with first wave producer.At the two ends of motor shaft sleeve first deep groove ball bearing and second deep groove ball bearing are arranged respectively, the bottom cylinder of waist shaft places the cylinder of waist mainboard, is provided with to do axially and the crossed roller bearing and the deep groove ball bearing of radial support between waist shaft cylinder outer wall and waist mainboard cylinder inner wall;
The waist luffing structure comprises cylinder and has just been taken turns by second of coaxial line device, the pitching harmonic speed reducer that second wave producer and second flexbile gear are formed, cylinder is fixed on a side of waist shaft upper frame, second of pitching harmonic speed reducer has just been taken turns the opposite side that is fixed on waist shaft upper frame, second wheel and the cylinder axis coincidence just, second wave producer is connected with the power shaft of pitching harmonic speed reducer, first synchronous pulley is installed on the power shaft, having the support of pitching motor of second encoder and the shell of pitching harmonic speed reducer fixes, second synchronous pulley is installed on the pitching motor axle, first synchronous pulley links to each other by being with synchronously with second synchronous pulley, on the output shaft of pitching harmonic speed reducer, right side plate is installed, by bearing left side plate is installed on the cylinder, right side plate links to each other by top panel with left side plate.
The utility model is based on the following T type structure of waist mainboard and be made of the double-T shaped structure of waist jointly the last T type structure that waist shaft, left and right sides side plate and waist top panel are formed, realize relatively rotating by a crossed roller bearing and a deep groove ball bearing between two T type structures, crossed roller bearing and deep groove ball bearing bear the axial and radial load between two T type structures respectively.Double-T shaped structure has strengthened the bulk strength and the rigidity of waist, has enlarged the range of movement of waist, can bear the influence that the uneven motion of upper body weight and health brings, and has satisfied the requirement of upper body enforcement operation.By processing to motor shaft, can effectively axial the and radial load that produces in the motion process be delivered on the deep groove ball bearing at two ends through motor shaft sleeve, standard the using method of motor, prolonged the service life of motor, guarantee the axiality requirement of rotating shaft simultaneously, make the precision and the efficient of transmission all obtain guarantee, improved the reliability of whole system.
Description of drawings
Fig. 1 is the double-T type waist joint structure cutaway view of anthropomorphic robot;
Fig. 2 is integral entity figure of the present utility model;
Fig. 3 is a transfer harmonic speed reducer schematic diagram.
Among the above-mentioned figure: 1. waist mainboard, 2. the transfer harmonic speed reducer 3. first has just been taken turns, 4. first deep groove ball bearing, 5. motor shaft sleeve, 6. first wave producer, 7. first flexbile gear, 8. crossed roller bearing, 9. waist shaft, 10. second deep groove ball bearing, 11. motor flanges, 12. deep groove ball bearings, 13. output shaft, 14. motors, 15. first encoders, 16. left side plate, 17. cylinders, 18. top panels, 19. the pitching harmonic speed reducer, 20. second have just taken turns, 21. second wave producers, 22. second flexbile gear, 23. shells, 24. right side plates, 25. first synchronous pulley, 26. go into axle, 27. second encoders, 28. pitching motor, 29. supports, 30. second synchronous pulleys.
The specific embodiment
Further specify the utility model below in conjunction with accompanying drawing.
With reference to accompanying drawing, the double-T type waist joint structure of anthropomorphic robot of the present utility model comprises rotation structure and waist luffing structure two parts in the waist:
Rotation structure comprises the T type waist mainboard 1 that is made of dull and stereotyped and cylinder in the waist, just taken turns 3 by first of coaxial line device, the transfer harmonic speed reducer 2 that first wave producer 6 and first flexbile gear 7 are formed, the waist shaft 9 and the motor 14 that constitute by upper frame and bottom cylinder, first of transfer harmonic speed reducer 2 has just been taken turns 3 and has been fixed on the waist mainboard 1, the axis of the first firm wheel 3 overlaps with the cylinder axis p1 of waist mainboard 1, motor 14 has first encoder 15, be fixed in the waist shaft 9 bottom cylinders by motor flange 11,14 in motor and motor shaft sleeve 5 are fixed together, motor shaft sleeve 5 is connected by key with first wave producer 6, motor shaft drives first wave producer and rotates, thereby realizes waist transfer campaign.First deep groove ball bearing 4 and second deep groove ball bearing 10 are arranged respectively at the two ends of motor shaft sleeve 5, wherein, first deep groove ball bearing 4 is used for preventing the play of motor shaft sleeve 5 ends, and second deep groove ball bearing 10 is used for preventing that the axial force that first wave producer 6 produces from causing damage to motor 14.The bottom cylinder of waist shaft 9 places the cylinder of waist mainboard 1, between waist shaft 9 cylinder outer walls and waist mainboard 1 cylinder inner wall, be provided with crossed roller bearing 8 and deep groove ball bearing 12, crossed roller bearing 8 is mainly used to bear the axial force of waist shaft 9, and deep groove ball bearing 12 is mainly used to bear the radial load of waist shaft 9.Waist shaft 9 keeps coaxial rotation by crossed roller bearing 8 and deep groove ball bearing 12 with waist mainboard 1 cylinder.
The waist luffing structure comprises cylinder 17 and has just taken turns 20 by second of coaxial line device, the pitching harmonic speed reducer 19 that second wave producer 21 and second flexbile gear 22 are formed, cylinder 17 is fixed on a side of waist shaft 9 upper frames, the second firm wheel 20 of pitching harmonic speed reducer 19 is fixed on the opposite side of waist shaft 9 upper frames, second wheel 20 and the cylinder 17 axis p2 coincidence just, second wave producer 21 is connected with the power shaft 26 of pitching harmonic speed reducer 19, first synchronous pulley 25 is installed on the power shaft 26, the support 29 that has the pitching motor 28 of second encoder 27 is fixed with the shell 23 of pitching harmonic speed reducer 19, on 28 of the pitching motors second synchronous pulley 30 is installed, first synchronous pulley 25 links to each other by being with synchronously with second synchronous pulley 30, can transmit motion on the power shaft 26, drive second wave producer 21 and 22 rotations of second flexbile gear, thereby realize the waist elevating movement.
On the output shaft 13 of pitching harmonic speed reducer 19, right side plate 24 is installed, by bearing left side plate 16 is installed on the cylinder 17, right side plate 24 links to each other by top panel 18 with left side plate 16, and they and waist shaft 9 constitute waist pitching T type structures jointly, make rigidity be significantly improved.
Claims (1)
1, the double-T type waist joint structure of anthropomorphic robot is characterized in that: comprise rotation structure and waist luffing structure two parts in the waist:
Rotation structure comprises the T type waist mainboard (1) that is made of dull and stereotyped and cylinder in the waist, (3) have just been taken turns by first of coaxial line device, the transfer harmonic speed reducer (2) that first wave producer (6) and first flexbile gear (7) are formed, the waist shaft (9) and the motor (14) that constitute by upper frame and bottom cylinder, first of transfer harmonic speed reducer (2) has just been taken turns (3) and has been fixed on the waist mainboard (1), first axis of just having taken turns (3) overlaps with the cylinder axis (p1) of waist mainboard (1), motor (14) has first encoder (15), be fixed in the cylinder of waist shaft (9) bottom by motor flange (11), motor (14) axle is fixed together with motor shaft sleeve (5), and motor shaft sleeve (5) is connected by key with first wave producer (6).First deep groove ball bearing (4) and second deep groove ball bearing (10) are arranged respectively at the two ends of motor shaft sleeve (5), the bottom cylinder of waist shaft (9) places the cylinder of waist mainboard (1), is provided with to do axially and the crossed roller bearing (8) and the deep groove ball bearing (12) of radial support between waist shaft (9) cylinder outer wall and waist mainboard (1) cylinder inner wall;
The waist luffing structure comprises cylinder (17) and has just taken turns (20) by second of coaxial line device, the pitching harmonic speed reducer (19) that second wave producer (21) and second flexbile gear (22) are formed, cylinder (17) is fixed on a side of waist shaft (9) upper frame, second of pitching harmonic speed reducer (19) has just been taken turns the opposite side that (20) are fixed on waist shaft (9) upper frame, second has just taken turns (20) and cylinder (17) axis (p2) coincidence, second wave producer (21) is connected with the power shaft (26) of pitching harmonic speed reducer (19), power shaft (26) is gone up first synchronous pulley (25) is installed, the support (29) that has the pitching motor (28) of second encoder (27) is fixed with the shell (23) of pitching harmonic speed reducer (19), on pitching motor (28) axle second synchronous pulley (30) is installed, first synchronous pulley (25) links to each other by being with synchronously with second synchronous pulley (30), on the output shaft (13) of pitching harmonic speed reducer (19), right side plate (24) is installed, cylinder (17) is gone up and by bearing left side plate (16) is installed, and right side plate (24) links to each other by top panel (18) with left side plate (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201217208U CN201432304Y (en) | 2009-06-04 | 2009-06-04 | Double T shaped waist joint structure of humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201217208U CN201432304Y (en) | 2009-06-04 | 2009-06-04 | Double T shaped waist joint structure of humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201432304Y true CN201432304Y (en) | 2010-03-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201217208U Expired - Lifetime CN201432304Y (en) | 2009-06-04 | 2009-06-04 | Double T shaped waist joint structure of humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201432304Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103758932A (en) * | 2014-01-26 | 2014-04-30 | 浙江来福谐波传动股份有限公司 | Large-reduction-ratio angular harmonic speed reduction device |
-
2009
- 2009-06-04 CN CN2009201217208U patent/CN201432304Y/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103758932A (en) * | 2014-01-26 | 2014-04-30 | 浙江来福谐波传动股份有限公司 | Large-reduction-ratio angular harmonic speed reduction device |
| CN103758932B (en) * | 2014-01-26 | 2016-05-25 | 浙江来福谐波传动股份有限公司 | Big retarding is than angle harmonic speed changer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100331 Effective date of abandoning: 20090604 |