CN207155831U - Robot hip joint drive mechanism and robot - Google Patents
Robot hip joint drive mechanism and robot Download PDFInfo
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- CN207155831U CN207155831U CN201720622895.1U CN201720622895U CN207155831U CN 207155831 U CN207155831 U CN 207155831U CN 201720622895 U CN201720622895 U CN 201720622895U CN 207155831 U CN207155831 U CN 207155831U
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Abstract
The utility model discloses a kind of robot hip joint drive mechanism and robot, wherein, robot hip joint drive mechanism includes moving platform, three groups of connecting rod drive components, silent flatforms；Silent flatform is fixedly connected on the bottom of trunk；Every group of connecting rod drive component includes first connecting rod, second connecting rod, hip motor；Three groups of hip motors are fixedly connected on the bottom of silent flatform along interval in the circumferential direction of silent flatform；The output shaft of every group of hip motor is connected to one end of corresponding second connecting rod, and the other end of second connecting rod is hinged with one end of corresponding first connecting rod, and the other end and the moving platform of first connecting rod are hinged；And three groups of first connecting rods are spaced distribution along in the circumferential direction at the top of moving platform.Robot hip joint drive mechanism provided by the utility model and robot, it can simulate the action of human hip well.
Description
Technical field
It the utility model is related to robotic equipment technical field, more particularly to a kind of robot hip joint drive mechanism and machine
Device people.
Background technology
It is well known that robot is the automatic installations for performing work.Its task is assistance or substitution human work
Work, such as production industry, construction industry, or dangerous work.As the improvement of people's living standards, our daily life
Also increasingly us are helped to complete a few thing by robot, such as：The robot of job shop, the machine for performing task of taking photo by plane
Device people and anthropomorphic robot of simulation human body compound action etc.；
One of the high-end product of anthropomorphic robot as industry manufacture field, played for industrial intelligent process very heavy
The effect wanted.
Anthropomorphic robot has a wide range of applications field, and it can not only be carried out generation under the adverse circumstances such as poisonous, dust
People's operation, and in medical field, can also assist a physician and be performed the operation, while the effective rehabilitation of handicapped patients is helped, in addition
It is also of common occurrence in the field such as amusement and manual service.Anthropomorphic robot has advantage as is evident below compared to other robot：
Relatively wheeled first or caterpillar mobile robot, double feet walking anthropomorphic robot have more flexible locomitivity, Neng Goushi
Various complicated ground environments are answered, go beyond obstacle ability with stronger；And relatively common robot, anthropomorphic robot have more
Intellectuality, interactive capability can be better achieved.
But traditional anthropomorphic robot its be still technological gap in terms of hip joint simulation, it is not all pacified typically
Hip joint drive mechanism is filled, therefore it can not simulate similar human hip and the torsion of complexity, freedom are realized in three dimensions
The action such as steering.
Therefore traditional anthropomorphic robot its still have technological deficiency in terms of human hip simulation.
Utility model content
The purpose of this utility model is to provide a kind of robot hip joint drive mechanism and robot, to solve above-mentioned ask
Topic.
In order to achieve the above object, the technical solution of the utility model is realized in：
The utility model provides a kind of robot hip joint drive mechanism, and the robot hip joint drive mechanism includes
Moving platform, three groups of connecting rod drive components, silent flatforms；The silent flatform is fixedly connected on the bottom of trunk mechanism；
Connecting rod drive component described in every group includes first connecting rod, second connecting rod, hip motor；Hip described in three groups drives
Interval is fixedly connected on the bottom of the silent flatform in dynamic circumferential direction of the motor along the silent flatform；Hip described in every group drives
The output shaft of dynamic motor be connected to corresponding to the second connecting rod one end, the other end of the second connecting rod with it is corresponding described
One end of first connecting rod is hinged, and the other end of the first connecting rod is hinged with the moving platform；And first connecting rod edge described in three groups
And distribution is spaced in the circumferential direction at the top of the moving platform.
Preferably, can embodiment as one kind；The first connecting rod is circular arc connecting rod, and the second connecting rod is circle
Curved rod；And the top of the moving platform is respectively provided with three first peaces along on the outside of the moving platform circumferencial direction
Tankage, and it is provided with connecting shaft in first mounting groove；The second mounting groove, and described are provided with the second connecting rod
Connecting shaft is provided with two mounting grooves；
The head end of the first connecting rod in connecting rod drive component structure described in every group is corresponding to be rotatably assorted described the
In connecting shaft in one mounting groove；The tail end of the first connecting rod in connecting rod drive component structure described in every group is corresponding to be rotated
Coordinate in the connecting shaft in second mounting groove.
Preferably, can embodiment as one kind；The robot hip joint drive mechanism also includes motor mount；Institute
Uniform intervals distribution in circumferential direction of the motor mount along the silent flatform is stated to set.
Preferably, can embodiment as one kind；The moving platform is specially round-shaped substrate.
Preferably, can embodiment as one kind；The silent flatform is specially triangular shaped substrate.
Preferably, can embodiment as one kind；The motor mount is detachably connected with the silent flatform.
Preferably, can embodiment as one kind；The hip motor is detachably connected on the motor mount
On.
Preferably, can embodiment as one kind；The first connecting rod, the second connecting rod are specially aluminum alloy junction component
Or stainless steel structure part.
Preferably, can embodiment as one kind；The hip motor is specially servomotor.
Correspondingly, the utility model additionally provides a kind of robot, including two groups of robot hip joint drive mechanisms, also wraps
Include trunk mechanism and two groups of leg sole running gears；
Wherein, the top of two groups of robot hip joint drive mechanisms is respectively separated the bottom for being connected to trunk mechanism；Every group
Leg sole running gear described in corresponding one group of the connection in the bottom of robot hip joint drive mechanism.
Compared with prior art, it is the advantages of the utility model embodiment：
A kind of robot hip joint drive mechanism provided by the utility model and robot, analyze the utility model embodiment
The primary structural configurations of the robot hip joint drive mechanism of offer are understood：The robot hip joint drive mechanism mainly includes dynamic
The structure such as platform, three groups of connecting rod drive components, silent flatforms；
Connecting rod drive component described in every group includes first connecting rod, second connecting rod, hip motor；Hip described in three groups drives
Interval is fixedly connected on the bottom of the silent flatform in dynamic circumferential direction of the motor along the silent flatform；Hip described in every group drives
The output shaft of dynamic motor be connected to corresponding to the second connecting rod one end, the other end of the second connecting rod with it is corresponding described
One end of first connecting rod is hinged, and the other end of the first connecting rod is hinged with the moving platform；And first connecting rod edge described in three groups
And distribution is spaced in the circumferential direction at the top of the moving platform；
In the structure of hip joint drive mechanism, main is exactly to be realized by three groups of connecting rod drive components by silent flatform to moving
The drive actions of platform；Every group of connecting rod drive component includes first connecting rod, second connecting rod, hip motor；In every group of connecting rod
In drive component motion process, hip motor implements power output to second connecting rod, then drives the by second connecting rod
One connecting rod realizes the actions such as complicated rotation；Simultaneously under three groups of connecting rod drive component collective effects, and then moving platform can be driven real
Existing complicated various rotational action, final realize drive leg sole running gear to provide the effect of driving power-assisted and turn to dynamic
Power acts on；Wherein, hip joint drive mechanism is to drive the major impetus output device of leg sole running gear, passes through hip joint
Drive mechanism provide an action (i.e. the rotational action can imitate action (i.e. wobbling action) that human thigh strides forward and
The action turned to all directions around)；It will be apparent that above-mentioned hip joint drive mechanism is that have three free spherical surface parallel connected machines
Structure.
To sum up, robot hip joint drive mechanism provided by the utility model, its mainly by moving platform, first connecting rod and
The mechanical realizations such as second connecting rod, motor, silent flatform and support are formed；Corresponding skill is realized by three groups of connecting rod drive components
Art acts, and so as to realize, free angle turns to adaptation action in three dimensions, and it is very true that it simulates the effect of human hip
It is real.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the general assembly structural representation for the robot hip joint drive mechanism that the utility model embodiment provides；
Fig. 2 is the three-dimensional assembling structure schematic diagram for the robot that the utility model embodiment provides；
Fig. 3 is the main view assembling structure schematic diagram for the robot that the utility model embodiment provides；
The partial structural diagram for the robot that the utility model embodiment that Fig. 4 is Fig. 3 provides；
Label：
100- trunks mechanism；
200- hip joint drive mechanisms；211- moving platforms；212- first connecting rods；213- second connecting rods；214- hips drive
Motor；215- silent flatforms；216- motor mounts；
300- legs sole running gear.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
The utility model is described in further detail below by specific examples of the implementation and with reference to accompanying drawing.
Referring to Fig. 1, a kind of robot hip joint drive mechanism of the utility model embodiment offer, the robot hip closes
Section drive mechanism 200 includes moving platform 211, three groups of connecting rod drive components, silent flatforms 215；The silent flatform 215 is fixedly connected on
The bottom of the trunk；
Connecting rod drive component described in every group includes first connecting rod 212, second connecting rod 213, hip motor 214；Three groups
Interval is fixedly connected on the silent flatform 215 in circumferential direction of the hip motor 214 along the silent flatform 215
Bottom；The output shaft of hip motor 214 described in every group be connected to corresponding to the second connecting rod 213 one end, described the
The other end of two connecting rods 213 is hinged with one end of the corresponding first connecting rod 212, the other end of the first connecting rod 212 with
The moving platform 211 is be hinged；And it is spaced in circumferential direction of the first connecting rod 212 described in three groups along the top of moving platform 211
Arranged distribution.
The primary structural configurations for analyzing above-mentioned robot hip joint drive mechanism are understood：In the structure of hip joint drive mechanism
In, main is exactly that the drive actions by silent flatform to moving platform are realized by three groups of connecting rod drive components；Every group of connecting rod driving group
Part includes first connecting rod 212, second connecting rod 213, hip motor 214；In every group of connecting rod drive component motion process,
Hip motor 214 implements power output to second connecting rod 213, then drives first connecting rod 212 by second connecting rod 213
Realize the actions such as complicated rotation；Simultaneously under three groups of connecting rod drive component collective effects, and then it is complicated that moving platform can be driven to realize
Various rotational action, final realize drive leg sole running gear 300 to provide the effect of driving power-assisted and steering power
Effect；Wherein, hip joint drive mechanism is to drive the major impetus output device of leg sole running gear, is driven by hip joint
Motivation structure provide an action (i.e. the rotational action can imitate action (i.e. wobbling action) that human thigh strides forward and to
The action that surrounding all directions turn to)；It will be apparent that above-mentioned hip joint drive mechanism is that have three free sphere parallel mechanisms.
Robot hip joint drive mechanism provided by the utility model, it is mainly by moving platform, first connecting rod and second
The mechanical realizations such as connecting rod, motor, silent flatform and support are formed；Realize that corresponding technology is moved by three groups of connecting rod drive components
Make, so as to realize, free angle turns to adaptation action in three dimensions, and it is very true that it simulates the effect of human hip.
The concrete structure of the robot hip joint drive mechanism provided below the utility model embodiment and specific skill
Art effect, which is done, to be described in detail：
In robot hip joint driving mechanism structure；The first connecting rod 212 is circular arc connecting rod, and described second connects
Bar 213 is circular arc connecting rod；
And the top of the moving platform 211 is respectively provided with three along on the outside of the circumferencial direction of moving platform 211
First mounting groove, and it is provided with connecting shaft in first mounting groove；The second installation is provided with the second connecting rod 213
Groove, and it is provided with connecting shaft in second mounting groove；
The head end of the first connecting rod 212 in connecting rod drive component structure described in every group is corresponding to be rotatably assorted described
In connecting shaft in first mounting groove；The tail end of the first connecting rod 212 in connecting rod drive component structure described in every group is right
It should be rotatably assorted in the connecting shaft in second mounting groove.
In robot hip joint driving mechanism structure；The robot hip joint drive mechanism 200 also includes motor and pacified
Fill seat 216；Uniform intervals distribution is set in circumferential direction of the motor mount 216 along the silent flatform 215.It is described
Moving platform 211 is specially round-shaped substrate.
It should be noted that above-mentioned moving platform can select to use various structures shape, such as circular, rectangle and polygon
Shape；But in the technical scheme of the present embodiment, above-mentioned moving platform 211, which preferably selects to use, has round-shaped substrate knot
Structure, and its substrate area is smaller, is easy to it to realize that the freedom and flexibility of all directions rotate.
Preferably, can embodiment as one kind；The silent flatform 215 is specially triangular shaped substrate.
It should be noted that above-mentioned silent flatform can select to use various structures shape, such as circular, rectangle and polygon
Shape；But in the technical scheme of the present embodiment, above-mentioned silent flatform 215 is preferably selected using the board structure with triangle,
And the silent flatform is bigger with respect to its substrate area for moving platform, because the bottom of silent flatform needs to install motor mount
216, it is necessary to which it leaves larger area.
Preferably, can embodiment as one kind；The motor mount 216 is detachably connected with the silent flatform 215.
The hip motor 214 is detachably connected on the motor mount 216.
It should be noted that above-mentioned motor mount 216 preferably uses detachable connection with silent flatform 215, so
It is easy to implement detachable maintaining to motor mount 216；Hip motor 214 is detachably connected on motor mount 216 simultaneously
On, so it is easy to, according to different use occasions, change the motor form of hip motor 214, or drive hip
Dynamic motor 214 carries out detachable maintaining.
Preferably, can embodiment as one kind；The first connecting rod 212, the second connecting rod 213 are specially aluminium alloy
Structural member or stainless steel structure part.
It should be noted that above-mentioned first connecting rod 212, second connecting rod 213 simultaneously, it selects said structure material, and it is protected
Structural compactness is held, while the above-mentioned material rigidity of structure is high, large carrying capacity；And above-mentioned first connecting rod 212, second connecting rod
213 weight are also lighter, it may not be necessary to which hip motor 214 carries excessive driving load.
Preferably, can embodiment as one kind；The hip motor 214 is specially servomotor.
It should be noted that above-mentioned hip motor 214 can select the motor using multiple structural forms, for example, it is general
Three-way motor, servomotor and stepper motor；But in the technical scheme of the present embodiment, hip motor 214 preferably makes
Use servomotor.
It should be noted that stepper motor is the opened loop control member step that electric impulse signal is changed into angular displacement or displacement of the lines
Stepper motor part.In the case of non-overload, the rotating speed of motor, the position stopped being solely dependent upon frequency and the pulse of pulse signal
Number, without being influenceed by load change, when step actuator receives a pulse signal, it is with regard to Driving Stepping Motor by setting
Direction rotate a fixed angle, be referred to as " step angle ", its rotation is run step by step with fixed angle.Can
To control angular displacement by controlling pulse number, so as to reach the purpose being accurately positioned；Simultaneously can be by controlling pulse
Frequency carrys out the speed and acceleration of controlled motor rotation, so as to reach the purpose of speed governing.
In addition, the selection of servomotor also especially suitable hip motor；Because servomotor cost is low, structure letter
Single, detent torque is big, speed-regulating range width, controls easy, it is necessary to safeguard, but safeguards inconvenient (changing carbon brush), produces electromagnetic interference,
Environment is required.Therefore it can be used for the general industry to cost sensitivity and civilian occasion.
Correspondingly, referring to Fig. 2, Fig. 3 and Fig. 4, the utility model additionally provides a kind of robot, including Liang Zu robots
Hip joint drive mechanism 200, in addition to trunk mechanism 100 and two groups of leg sole running gears 300；Wherein, two groups of machines
The top of people's hip joint drive mechanism 200 is respectively separated the bottom for being connected to trunk mechanism 100；Every group of robot hip joint is driven
Leg sole running gear 300 described in corresponding one group of the connection in the bottom of motivation structure 200.Therefore, as shown in figure 4, there is two groups of machines
The comprehensive function of device people's hip joint drive mechanism 200 its can more preferably simulate the action of human hip.
It should be noted that above-mentioned robot hip joint drive mechanism selection has used configuration of parallel robot, it has
The technical advantage of following aspect：(1) it is higher without accumulated error, precision；(2) drive device can be placed on fixed platform or approach and be fixed
The position of platform, such motion parts are in light weight, and speed is high, and dynamic response is good；(3) compact-sized, rigidity is high, bearing capacity
Greatly；(4) full symmetric parallel institution has preferable isotropism；(5) working space is smaller；It is in parallel according to these features
Robot need not be widely applied in the field of very big working space needing high rigidity, high accuracy or big load.
The robot hip joint drive mechanism that the utility model embodiment provides has the technical advantage of following aspect：
First, the robot hip joint drive mechanism that the utility model embodiment provides, it is mainly by moving platform, three groups of connecting rods
Drive component, silent flatform；Three big structure parts are formed, and its every group of connecting rod drive component includes first connecting rod, second connecting rod, hip again
The structures such as portion's motor；The specific apparatus structure of robot hip joint drive mechanism each of which that the utility model embodiment provides
All there is special structure design, and connect, be laid out etc. all to have between concrete structure device and cleverly designing；Therefore, this reality
With new embodiment provide robot hip joint drive mechanism, its design is more reasonable, and system architecture is more novel, function more
Add kind.
2nd, the robot hip joint drive mechanism that the utility model embodiment provides, it passes through three groups of connecting rod drive components
Corresponding technical movements are realized, free angle turns to adaptation action in three dimensions so as to realize, it simulates human hip
Effect it is very true.
3rd, the robot hip joint drive mechanism that the utility model embodiment provides, its safety of structure is strong, reliability
Height, structure function are more perfect.
Many significant technical advantages based on more than, robot hip joint drive mechanism provided by the utility model will band
Come good market prospects and economic benefit.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
- A kind of 1. robot hip joint drive mechanism, it is characterised in thatThe robot hip joint drive mechanism includes moving platform, three groups of connecting rod drive components, silent flatforms；The silent flatform is fixed It is connected to the bottom of trunk mechanism；Connecting rod drive component described in every group includes first connecting rod, second connecting rod, hip motor；Hip driving electricity described in three groups Interval is fixedly connected on the bottom of the silent flatform in circumferential direction of the machine along the silent flatform；Hip driving electricity described in every group The output shaft of machine is connected to one end of the corresponding second connecting rod, the other end of the second connecting rod and corresponding described first One end of connecting rod is hinged, and the other end of the first connecting rod is hinged with the moving platform；And first connecting rod described in three groups is along institute State and distribution is spaced in the circumferential direction at the top of moving platform.
- 2. robot hip joint drive mechanism as claimed in claim 1, it is characterised in thatThe first connecting rod is circular arc connecting rod, and the second connecting rod is circular arc connecting rod；And the top edge of the moving platform And be respectively provided with three the first mounting grooves on the outside of the moving platform circumferencial direction, and be provided with first mounting groove Connecting shaft；The second mounting groove is provided with the second connecting rod, and connecting shaft is provided with second mounting groove；The head end of the first connecting rod in connecting rod drive component structure described in every group is corresponding to be rotatably assorted in the described first peace In connecting shaft in tankage；The tail end of the first connecting rod in connecting rod drive component structure described in every group is corresponding to be rotatably assorted In connecting shaft in second mounting groove.
- 3. robot hip joint drive mechanism as claimed in claim 1, it is characterised in thatThe robot hip joint drive mechanism also includes motor mount；Week of the motor mount along the silent flatform Uniform intervals distribution is set on to direction.
- 4. robot hip joint drive mechanism as claimed in claim 1, it is characterised in thatThe moving platform is specially round-shaped substrate.
- 5. robot hip joint drive mechanism as claimed in claim 4, it is characterised in thatThe silent flatform is specially triangular shaped substrate.
- 6. robot hip joint drive mechanism as claimed in claim 3, it is characterised in thatThe motor mount is detachably connected with the silent flatform.
- 7. robot hip joint drive mechanism as claimed in claim 6, it is characterised in thatThe hip motor is detachably connected on the motor mount.
- 8. robot hip joint drive mechanism as claimed in claim 1, it is characterised in thatThe first connecting rod, the second connecting rod are specially aluminum alloy junction component or stainless steel structure part.
- 9. robot hip joint drive mechanism as claimed in claim 1, it is characterised in thatThe hip motor is specially servomotor.
- 10. a kind of robot, it is characterised in that driven including two groups of robot hip joints as described in claim any one of 1-9 Mechanism, in addition to trunk mechanism and two groups of leg sole running gears；Wherein, the top of two groups of robot hip joint drive mechanisms is respectively separated the bottom for being connected to trunk mechanism；Every group of machine Leg sole running gear described in corresponding one group of the connection in the bottom of people's hip joint drive mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720622895.1U CN207155831U (en) | 2017-05-31 | 2017-05-31 | Robot hip joint drive mechanism and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720622895.1U CN207155831U (en) | 2017-05-31 | 2017-05-31 | Robot hip joint drive mechanism and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110454656A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Frame-type dual mechanisms and its application method |
| CN111702788A (en) * | 2020-06-18 | 2020-09-25 | 敬科(深圳)机器人科技有限公司 | Parallel rocker mechanism, using method and robot applying rocker mechanism |
-
2017
- 2017-05-31 CN CN201720622895.1U patent/CN207155831U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110454656A (en) * | 2019-08-14 | 2019-11-15 | 上海卫星工程研究所 | Frame-type dual mechanisms and its application method |
| CN110454656B (en) * | 2019-08-14 | 2021-09-14 | 上海卫星工程研究所 | Frame type dual mechanism and using method thereof |
| CN111702788A (en) * | 2020-06-18 | 2020-09-25 | 敬科(深圳)机器人科技有限公司 | Parallel rocker mechanism, using method and robot applying rocker mechanism |
| CN111702788B (en) * | 2020-06-18 | 2021-03-19 | 敬科(深圳)机器人科技有限公司 | Parallel rocker mechanism, using method and robot applying rocker mechanism |
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