CN206085092U - A steering mechanism for on humanoid robot hip joint - Google Patents
A steering mechanism for on humanoid robot hip joint Download PDFInfo
- Publication number
- CN206085092U CN206085092U CN201621138270.XU CN201621138270U CN206085092U CN 206085092 U CN206085092 U CN 206085092U CN 201621138270 U CN201621138270 U CN 201621138270U CN 206085092 U CN206085092 U CN 206085092U
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- CN
- China
- Prior art keywords
- hip joint
- gear
- humanoid robot
- steering mechanism
- steering wheel
- Prior art date
- 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 utility model discloses a steering mechanism for on humanoid robot hip joint belongs to the robotechnology field. The utility model discloses an one end is equipped with the opening, the other end is provided with the cylindrical housing of through -hole, install and inside and lie in the epicyclie gear and the steering wheel of opening part in cylindrical housing, this epicyclie gear includes the sun gear, at least one planet wheel and external gear, sun gear and planetary gear meshing, planet wheel and outer gear engagement, the steering wheel sets up between epicyclie gear and through -hole, steering wheel one end and planet wheel fixed connection, the other end passes the through -hole, be provided with the bearing between this steering wheel and the cylindrical housing, rotate the mesh that has reached the increase hip joint degree of freedom through utilizing epicyclie gear to drive the steering wheel, avoided the hip joint only the motion that leads to of one degree of freedom rigidly change the emergence of phenomenon.
Description
Technical field
This utility model is related to robotics, more particularly to a kind of steering on humanoid robot hip joint
Mechanism.
Background technology
Humanoid robot is one kind of intelligent robot, with mechanics and the anti-raw development learned, studies humanoid robot
Become more and more popular.Humanoid robot utilizes bionics principle, realizes that robot is similar to by simulating the physiological structure of the mankind
In the motion of the mankind, humanoid robot joint of the lower extremity includes hip joint, knee joint and ankle joint, in humanoid robot motor process
In, hip joint serves extremely important effect, and existing humanoid robot hip joint mechanism is nearly all only one of which freedom
Spend, therefore robot cannot complete class people true to nature and turn to and walking motion, often seem stiffening in walking and steering, uses
Family experience is poor.
Utility model content
The purpose of this utility model is to provide a kind of steering mechanism on humanoid robot hip joint, mechanism's energy
Hip joint enough for humanoid robot provides two degree of freedom.
It is that, up to this purpose, this utility model is employed the following technical solutions：
A kind of steering mechanism on humanoid robot hip joint, including：
Cylinder blanket, one end opening, the other end is provided with through hole；
The cylindrical housing interior and the epicyclic train being located at opening are installed on, it includes sun gear, at least one
Individual planetary gear and external gear, the sun gear and the planetary gear are engaged, and the planetary gear and the external gear are engaged；
Steering wheel, it is arranged between the epicyclic train and the through hole, and described steering wheel one end is solid with the planetary gear
Fixed connection, the other end passes through the through hole, between the steering wheel and the cylinder blanket bearing is provided with.
Preferably, the planetary gear number is three, three planetary gears are arranged around the sun gear circular array
Cloth.
Preferably, the cylindrical housing exterior is provided with installing plate.
Preferably, being provided with installing hole on the installing plate.
Preferably, the installing plate is integrally formed with the cylinder blanket.
Preferably, the bearing is radial bearing.
Preferably, the number of the bearing is two, two bearings are respectively arranged in the cylinder blanket
The two ends in portion.
Preferably, being provided with the annular boss for positioning the bearing on the steering wheel.
Preferably, the steering wheel is fixedly connected with the planetary gear by limit shaft.
Preferably, the epicyclic train is made using No. 45 steel.
The beneficial effects of the utility model：
Steering mechanism on humanoid robot hip joint provided by the utility model includes cylinder blanket, planet
Gear train and steering wheel, the one end open of cylinder blanket, the other end is provided with through hole, and epicyclic train is installed on cylinder blanket
Inside is simultaneously located at opening, and the epicyclic train includes sun gear, at least one planetary gear and external gear, sun gear and planetary gear
Engagement, planetary gear and external gear are engaged, and steering wheel is arranged between epicyclic train and through hole, and steering wheel one end is fixed with planetary gear and connected
Connect, the other end passes through through hole, and between the steering wheel and cylinder blanket bearing is provided with, by using epicyclic train steering wheel is driven
Rotation reaches the purpose for increasing hip joint degree of freedom, overcomes lacking for movable machinery caused by hip joint only one of which degree of freedom
Fall into.
Description of the drawings
Fig. 1 is the A-A profiles of the steering mechanism on humanoid robot hip joint of the present utility model；
Fig. 2 is the B-B profiles of the steering mechanism on humanoid robot hip joint of the present utility model.
In figure：1st, cylinder blanket；101st, through hole；102nd, installing plate；103rd, installing hole；2nd, epicyclic train；201st, too
Sun wheel；202nd, planetary gear；203rd, limit shaft；204th, external gear；3rd, steering wheel；4th, bearing；5th, annular boss.
Specific embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by specific embodiment.
As depicted in figs. 1 and 2 for the steering mechanism on humanoid robot hip joint include cylinder blanket 1, planet
Gear train 2 and steering wheel 3, the one end open of cylinder blanket 1, the other end is provided with through hole 101, the center of through hole 101 and its institute
Cylinder blanket 1 bottom center overlap, cylinder blanket 1 is evenly arranged with multiple installing plates 102 outside it, each
It is provided with multiple installing holes 103 on installing plate 102, the number of installing hole can be two, installing plate 102 and cylinder blanket 1
The processing mode that integrally formed processing mode can be adopted or welded together after processing respectively, integrally formed processing side
Formula procedure of processing is few, and bulk strength is relatively good.Epicyclic train 2 is installed on the inside of cylinder blanket 1 and is located at opening,
Epicyclic train 2 includes sun gear 201, at least one planetary gear 202 and external gear 204, sun gear 201, planetary gear 202 and outer
The transverse tooth thickness of gear 204 is equal, and sun gear 201 and planetary gear 202 are intermeshed, and planetary gear 202 and external gear 204 are intermeshed,
Motor drive sun gear 201 is rotated, and sun gear 201 drives planetary gear 202 to rotate, and planetary gear 202 drives external gear 204 to rotate,
The Jing planetary gears 202 of sun gear 201 are transferred force on external gear 204, and the number of planetary gear 202 is preferably 3, such design
The stability for being conducive to power to transmit, the material of epicyclic train 2 adopts No. 45 steel, No. 45 steel to meet use requirement, and phase
To relatively cheap.Steering wheel 3 is arranged at the inside of cylinder blanket 1, and the one end of steering wheel 3 is fixedly connected with planetary gear 202, connected mode
Prioritizing selection limit shaft 203 is fixedly connected, and the other end passes through through hole 101, and between steering wheel 3 and cylinder blanket 1 bearing is provided with
4, bearing 4 can adopt radial bearing, rotate that smooth and frictional force is little in rotation process, and bearing 4 is by steering wheel 3
Annular boss 5 is positioned, and the number prioritizing selection of bearing 4 two, the annular boss 5 for positioning bearing 4 is similarly two, two
Bearing 4 is respectively arranged in the two ends of cylindrical housing interior, and one of bearing 4 is located at the He of annular boss 5 near through hole 101
Between the bottom surface that through hole 101 is located, another bearing 4 is located remotely between 101 annular boss 5 and planetary gear 202.
The mechanism is located at machine person trunk and thigh junction, and the motor in machine person trunk can drive this
Mechanism and the thigh unitary rotation being connected with the mechanism, when external gear 204 is fixed, the planetary gear 202 driven by sun gear 201
Not only rotation is also revolved round the sun around sun gear 201, is forced to rotate by the steering wheel 3 that limit shaft 203 is connected with planetary gear 202, so that
Hip joint increased one degree of freedom, reach purpose of the hip joint with two degree of freedom, and the design of two degree of freedom is favourable
In the fluency of robot motion and attractive in appearance, so as to obtain more preferable Consumer's Experience.Can be played using epicyclic train 2 is being had
Realize in the small space of limit big speed ratio from and obtain the effect of enough steering moments, and structure is simplified, easy to assembly, entity
Take up room small volume, and the perfect cooperation of epicyclic train 2 and steering wheel 3 makes robot action during waving coherent, smooth
And great aesthetic feeling, the mechanism is totally enclosed to be designed to effectively reduce noise, and security performance is relatively good.
Obviously, above-described embodiment of the present utility model is used for the purpose of clearly explanation this utility model example, and
It is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other changes in different forms.There is no need to give all of embodiment
It is exhaustive.All any modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in
Within this utility model scope of the claims.
Claims (10)
1. a kind of steering mechanism on humanoid robot hip joint, it is characterised in that include：
Cylinder blanket, one end opening, the other end is provided with through hole；
The cylindrical housing interior and the epicyclic train being located at opening are installed on, it includes sun gear, at least one row
Star-wheel and external gear, the sun gear and the planetary gear are engaged, and the planetary gear and the external gear are engaged；
Steering wheel, it is arranged between the epicyclic train and the through hole, and described steering wheel one end is fixed with the planetary gear and connected
Connect, the other end passes through the through hole, and between the steering wheel and the cylinder blanket bearing is provided with.
2. the steering mechanism on humanoid robot hip joint according to claim 1, it is characterised in that the planet
Wheel number is three, and three planetary gears are arranged around the sun gear circular array.
3. the steering mechanism on humanoid robot hip joint according to claim 1, it is characterised in that the cylinder
Shape housing exterior is provided with installing plate.
4. the steering mechanism on humanoid robot hip joint according to claim 3, it is characterised in that the installation
Installing hole is provided with plate.
5., according to a kind of arbitrary described steering mechanism on humanoid robot hip joint of claim 3 or 4, its feature exists
In the installing plate is integrally formed with the cylinder blanket.
6. the steering mechanism on humanoid robot hip joint according to claim 1, it is characterised in that the bearing
For radial bearing.
7. according to claim 1 or 6 for the steering mechanism on humanoid robot hip joint, it is characterised in that it is described
The number of bearing is two, and two bearings are respectively arranged in the two ends of the cylindrical housing interior.
8. the steering mechanism on humanoid robot hip joint according to claim 7, it is characterised in that the steering wheel
On be provided with annular boss for positioning the bearing.
9. the steering mechanism on humanoid robot hip joint according to claim 1, it is characterised in that the steering wheel
It is fixedly connected by limit shaft with the planetary gear.
10. the steering mechanism on humanoid robot hip joint according to claim 1, it is characterised in that the row
Star gear train is made using No. 45 steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621138270.XU CN206085092U (en) | 2016-10-19 | 2016-10-19 | A steering mechanism for on humanoid robot hip joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621138270.XU CN206085092U (en) | 2016-10-19 | 2016-10-19 | A steering mechanism for on humanoid robot hip joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206085092U true CN206085092U (en) | 2017-04-12 |
Family
ID=59975723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621138270.XU Expired - Fee Related CN206085092U (en) | 2016-10-19 | 2016-10-19 | A steering mechanism for on humanoid robot hip joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206085092U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272534A (en) * | 2016-10-19 | 2017-01-04 | 上海未来伙伴机器人有限公司 | A kind of steering mechanism on humanoid robot hip joint |
-
2016
- 2016-10-19 CN CN201621138270.XU patent/CN206085092U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272534A (en) * | 2016-10-19 | 2017-01-04 | 上海未来伙伴机器人有限公司 | A kind of steering mechanism on humanoid robot hip joint |
| CN106272534B (en) * | 2016-10-19 | 2019-06-28 | 上海未来伙伴机器人有限公司 | A kind of steering mechanism on humanoid robot hip joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 Termination date: 20201019 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |