CN209454891U - A kind of Humanoid Robot Based on Walking device - Google Patents
A kind of Humanoid Robot Based on Walking device Download PDFInfo
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- CN209454891U CN209454891U CN201822083211.2U CN201822083211U CN209454891U CN 209454891 U CN209454891 U CN 209454891U CN 201822083211 U CN201822083211 U CN 201822083211U CN 209454891 U CN209454891 U CN 209454891U
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- ankle
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- hip
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- speed reducer
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Abstract
The utility model proposes a kind of Humanoid Robot Based on Walking devices, belong to robotic technology field, more particularly to a kind of Humanoid Robot Based on Walking device.It is few to solve freedom degree possessed by existing robot joints, anthropomorphic chemical conversion degree is low, the uncoordinated problem of molar behavior.It includes executing agency and driving mechanism, executing agency includes abdomen, hip, thigh, knee-joint mechanism, shank, ankle, foot, ankle-joint mechanism and hip joint mechanism, and driving mechanism includes driving pulley, hollow-cup motor, driven pulley and harmonic speed reducer.It is mainly used for the walking of anthropomorphic robot.
Description
Technical field
The utility model belongs to robotic technology field, more particularly to a kind of Humanoid Robot Based on Walking device.
Background technique
Anthropomorphic robot is one of important and tip research direction in robot field, and research and development represents machine
The highest level that device people learns.Anthropomorphic robot and the maximum difference of other robot are the foot sport mode of its apery, should
Feature is easy to it incorporate in mankind's daily life and working environment, and the mankind is assisted to complete specific task.
So far, freedom degree possessed by the joint of most of anthropomorphic robots is few, and the degree that personalizes is low, in practical work
During work, molar behavior is not enough coordinated.
Utility model content
The utility model in order to solve the problems in the prior art, proposes a kind of Humanoid Robot Based on Walking device.
To achieve the above object, the utility model uses a kind of following technical scheme: Humanoid Robot Based on Walking device, it is wrapped
Include executing agency and driving mechanism, the movement of driving mechanism driving executing agency, the executing agency include abdomen, hip,
Thigh, knee-joint mechanism, shank, ankle, foot, ankle-joint mechanism and hip joint mechanism, the abdomen pass through hip joint mechanism
It is connected with hip, the hip is connected with thigh, and the thigh is connected by knee-joint mechanism with shank, and the shank passes through ankle
Articulation mechanism is connected with ankle, and the ankle is connected with foot, the driving mechanism include driving pulley, hollow-cup motor, from
Movable belt pulley and harmonic speed reducer, the hollow-cup motor and driving pulley are sequentially connected, and the driving pulley and driven pulley are logical
Toothed belt transmission connection is crossed, the driven pulley and harmonic speed reducer are sequentially connected.
Further, the abdomen includes a pair of of abdomen frame, light groups of springs, abdomen limited post, hip joint deflection electricity
Machine and abdomen harmonic speed reducer are connected between the pair of abdomen frame by light groups of springs, and the abdomen frame includes that support is horizontal
Plate and support riser, the support transverse slat are fixedly connected with support riser, and the support transverse slat bottom surface is provided with abdomen limited post,
The support transverse slat is connected with hip joint deflection motor, the wave of the hip joint deflection motor output shaft and abdomen harmonic speed reducer
Generator is sequentially connected by key, and the firm gear of the abdomen harmonic speed reducer is fixedly connected with support transverse slat bottom, the abdomen
The flexbile gear of harmonic speed reducer is fixedly connected with hip.
Further, the hip includes hip frame, buttocks bottom plate and hip limited post, and the hip frame and buttocks bottom plate are solid
Fixed connection, the hip frame apical lateral are equipped with hip limited post.
Further, the hip joint mechanism includes the first cross connecting piece, the first deep groove ball bearing, the second deep-groove ball
Bearing, the first hip joint connecting shaft, the second hip joint connecting shaft, first harmonic decelerator, second harmonic retarder, first pulley
Power train, the second belt wheel transmission system, hip joint pitching motor, hip joint rolling motor, hip joint rolling support base and hip joint
Pitching support base, the hip joint rolling motor are fixedly connected with hip, and the hip joint rolling motor is passed by first pulley
Dynamic system and the wave producer of first harmonic decelerator are sequentially connected, and the hip joint rolling support base is fixedly connected with hip, institute
State first pulley power train and be fixedly connected by hip joint rolling support base with hip, the firm gear of the first harmonic decelerator with
It is fixedly connected on the inside of hip, the flexbile gear of the first harmonic decelerator is connect with the first cross connecting piece facing drive, the hip
Joint pitching motor is sequentially connected by the wave producer of the second belt wheel transmission system and second harmonic retarder, and the hip joint is bowed
Support base to be faced upward to be fixedly connected with thigh, second belt wheel transmission system is fixedly connected by hip joint pitching support base with thigh,
The firm gear of the second harmonic retarder is fixedly connected with thigh, and the flexbile gear of the second harmonic retarder is connect with the first cross
Part transmission connection, first deep groove ball bearing and the second deep groove ball bearing are separately mounted to the first cross connecting piece end axis hole
On, the first hip joint connecting shaft is mounted on the first deep groove ball bearing inner ring, and the second hip joint connecting shaft is mounted on
Two deep groove ball bearing inner rings.
Further, the thigh includes thigh side plate, and the shank includes shank side plate and limited block, the shank
It is fixedly connected with limited block.
Further, the knee-joint mechanism includes sleeve, knee joint harmonic speed reducer, third belt wheel transmission system, knee
Joint pitching motor, knee joint connecting shaft, third deep groove ball bearing and knee joint pitching support base, the knee joint pitching motor
Be sequentially connected by the wave producer of third belt wheel transmission system and knee joint harmonic speed reducer, the knee joint pitching support base with
Thigh is fixedly connected, and third belt wheel transmission system is fixed on big leg outer side, the knee joint by knee joint pitching support base
The firm gear of harmonic speed reducer is fixedly connected with femoribus internus, and the flexbile gear and shank of the knee joint harmonic speed reducer are sequentially connected,
The third deep groove ball bearing is mounted in the axis hole of shank, and the knee joint connecting shaft passes through the axis hole of shank and consolidates with thigh
Fixed connection, the sleeve are fixedly connected with medial leg.
Further, the ankle includes ankle frame and ankle side plate, is provided on the ankle frame corresponding with ankle side plate
Groove, the ankle frame is fixedly connected with ankle side plate.
Further, the ankle-joint mechanism includes ankle-joint pitching motor, ankle-joint rolling motor, the second cross company
Fitting, ankle-joint pitching connecting shaft, ankle-joint rolling connecting shaft, the 4th harmonic speed reducer, the 5th harmonic speed reducer, the 4th belt wheel
Power train, the 5th belt wheel transmission system, the 4th deep groove ball bearing, the 5th deep groove ball bearing, ankle-joint pitching support base and ankle-joint
Rolling support base, the ankle-joint pitching motor are driven by the wave producer of the 5th belt wheel transmission system and the 5th harmonic speed reducer
Connection, the ankle-joint pitching support base are fixedly connected with shank, and the 5th belt wheel transmission system is fixedly connected with shank, described
The flexbile gear of 5th harmonic speed reducer is connect with the second cross connecting piece facing drive, and the ankle-joint rolling motor passes through the 4th band
The wave producer for taking turns power train and the 4th harmonic speed reducer is sequentially connected, and the ankle-joint rolling support base and ankle are fixed and connected
It connects, the 4th belt wheel transmission system is fixedly connected with ankle, fixed on the inside of the firm gear and ankle of the 4th harmonic speed reducer to connect
Connect, the flexbile gear of the 4th harmonic speed reducer is connect with the second cross connecting piece facing drive, the 4th deep groove ball bearing and
5th deep groove ball bearing is separately mounted to the second cross connecting piece end axis hole, and the ankle-joint pitching connecting shaft is mounted on the 5th
Deep groove ball bearing inner ring, the ankle-joint rolling connecting shaft are mounted on the 4th deep groove ball bearing inner ring, and the ankle-joint pitching connects
Spindle is fixedly connected with shank, and the ankle-joint rolling connecting shaft is fixedly connected with ankle.
Further, the foot includes sole, toe, connecting pin, rubber cushion assembly and foot support, the foot
Toe is hinged with sole, and the sole welds 4 cylindrical bodies, the rubber cushion assembly and cylindrical body clearance fit, the foot
Portion's bracket has 4 lugs with holes corresponding with cylindrical body, the lug with holes and cylindrical body clearance fit, the foot branch
Frame is vertically moved along cylindrical body, and the foot support is fixedly connected with ankle, and the foot support is fixedly connected with sole.
Compared with prior art, the utility model has the beneficial effects that the utility model is designed by reasonable structure, it is real
Existing hip joint pitching, deflection, rolling movement, knee joint pitching movement, ankle-joint pitching and rolling movement and toe it is passive
Pitching movement amounts to 14 freedom degrees, and the biped walking movement of anthropomorphic robot is completed under the driving of driving mechanism, realizes
Altitude simulation of the robot to mankind's walking process, while ensure that it with multi freedom degree mechanical structure also has knot
Structure is simply easily achieved, moves the advantages that steady.It is few to efficiently solve freedom degree possessed by existing robot joints, intends
People's chemical conversion degree is low, the uncoordinated problem of molar behavior.
Detailed description of the invention
Fig. 1 is a kind of Humanoid Robot Based on Walking apparatus structure schematic diagram described in the utility model
Fig. 2 is harmonic speed reducer structural schematic diagram described in the utility model
Fig. 3 is abdominal structures schematic diagram described in the utility model
Fig. 4 is hip described in the utility model and hip joint mechanism structural representation master map
Fig. 5 is hip described in the utility model and the auxiliary figure of hip joint mechanism structural representation
Fig. 6 is knee-joint mechanism structural schematic diagram described in the utility model
Fig. 7 is that foot described in the utility model and ankle-joint mechanism structure illustrate master map
Fig. 8 is that foot described in the utility model and ankle-joint mechanism structure illustrate auxiliary figure
1- abdomen, 2- hip, 3- thigh, 4- knee-joint mechanism, 5- shank, 6- ankle, 7- foot, 8- ankle-joint mechanism,
9- driving pulley, 10- hollow-cup motor, 11- driven pulley, 12- harmonic speed reducer, 13- hip joint mechanism, 201- firm gear,
202- flexbile gear, 203- wave producer, the light groups of springs of 31-, 32- support horizontal version, 33- abdomen frame, 34- hip joint deflection motor,
35- abdomen limited post, 36- support riser, 37- hip limited post, 38- abdomen harmonic speed reducer, 402- hip frame, 403- hip close
Save rolling support base, the transmission of 404- first pulley, 405- hip joint rolling motor, 406- buttocks bottom plate, 407- hip joint pitching
Motor, the leg 408- side plate, the second belt wheel transmission of 409- system, 410- thigh side plate, 411- hip joint pitching support base, 412-
First cross connecting piece, 51- second harmonic retarder, the second deep groove ball bearing of 52-, the second hip joint of 53- connecting shaft, 54-
One deep groove ball bearing, the first hip joint of 55- connecting shaft, 56- first harmonic decelerator, 601- deep groove ball bearing, 602- sleeve,
603- knee joint connecting shaft, 604- limited block, 605- ankle-joint pitching motor, 606- knee joint harmonic speed reducer, 607- knee close
Save pitching support base, 608- synchronous belt pulley transmission system, 609- knee joint pitching motor, 610- shank side plate, the second cross of 701-
Connector, 702- ankle frame, the 4th belt wheel transmission system of 703-, 704- ankle-joint pitching motor support base, the 4th harmonic reduction of 705-
Device, 706- foot support, 707- rubber cushion assembly, 708- sole, 709- cylindrical body, 710- toe, 711- connecting pin,
712- nut, 713- ankle-joint pitching support base, the 5th belt wheel transmission system of 714-, 715- ankle-joint rolling motor, 81- the 4th are deep
Ditch ball bearing, 82- ankle-joint rolling connecting shaft, 83- ankle side plate, 84- lug, 85- ankle-joint pitching connecting shaft, 86- the 5th
Deep groove ball bearing, the 5th harmonic speed reducer of 87-
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely illustrate.
Illustrate present embodiment referring to Fig. 1-8, a kind of Humanoid Robot Based on Walking device, it includes executing agency and driving machine
Structure, the movement of driving mechanism driving executing agency, the executing agency includes abdomen 1, hip 2, thigh 3, knee-joint mechanism
4, shank 5, ankle 6, foot 7, ankle-joint mechanism 8 and hip joint mechanism 13, the abdomen 1 pass through hip joint mechanism 13 and hip
2 are connected, and the hip 2 is connected with thigh 3, and the thigh 3 is connected by knee-joint mechanism 4 with shank 5, and the shank 5 passes through
Ankle-joint mechanism 8 is connected with ankle 6, and the ankle 6 is connected with foot 7, and the driving mechanism includes driving pulley 9, drag cup
Motor 10, driven pulley 11 and harmonic speed reducer 12, the hollow-cup motor 10 are sequentially connected with driving pulley 9, the active
Belt wheel 9 is connect with driven pulley 11 by toothed belt transmission, and the driven pulley 11 is sequentially connected with harmonic speed reducer 12.
The utility model drives robot lower limb to carry out yaw motion, realizes leg flexion and extension, reality by driving mechanism
Take down the exhibits movement, the kneebend for completing certain limit, foot of existing leg completes pitching movement and inside and outside flip-flop movement by a small margin
And the toe of bending by a small margin of toe moves.
Abdomen 1 described in the utility model includes a pair of of abdomen frame 33, light groups of springs 31, abdomen limited post 35, hip joint
Deflection motor 34 and abdomen harmonic speed reducer 38 are connected between the pair of abdomen frame 33 by light groups of springs 31, the abdomen
Frame 33 includes support transverse slat 32 and support riser 36, and the support transverse slat 32 is fixedly connected with support riser 36, the support
32 bottom surface of transverse slat is provided with abdomen limited post 35, and the support transverse slat 32 is connected with hip joint deflection motor 34, the hip joint
The wave producer of 34 output shaft of deflection motor and abdomen harmonic speed reducer 38 is sequentially connected by key, the abdomen harmonic speed reducer
38 firm gear is fixedly connected with support 32 bottom of transverse slat, and the flexbile gear of the abdomen harmonic speed reducer 38 is fixedly connected with hip 2, abdomen
Portion's limited post 35 and hip limited post 37 cooperate, and for limiting hip joint deflection angle, prevent the interference of joint motions, abdomen frame
It is connected between frame 33 by light groups of springs 31, prevents integrated 1 structure of abdomen from bending and stretching and taking down the exhibits to hip joint the limitation of movement, benefit
The deflection of robot lower limb is driven with the rotation of hip 2.
Hip 2 described in the utility model includes hip frame 402, buttocks bottom plate 406 and hip limited post 37, the hip frame 402
It is fixedly connected with buttocks bottom plate 406,402 apical lateral of hip frame is equipped with hip limited post 37, for limiting hip joint pitching
Angle, prevents the interference of joint motions, and 402 bottom end of hip frame is equipped with 405 mounting hole of hip joint rolling motor.
Hip joint mechanism 13 described in the utility model includes the first cross connecting piece 412, the first deep groove ball bearing 54, second
Deep groove ball bearing 52, the first hip joint connecting shaft 55, the second hip joint connecting shaft 53, first harmonic decelerator 56, second harmonic
Retarder 51, first pulley power train 404, the second belt wheel transmission system 409, hip joint pitching motor 407, hip joint rolling motor
405, hip joint rolling support base 403 and hip joint pitching support base 411, the hip joint rolling motor 405 and hip 2 are solid
Fixed connection, the hip joint rolling motor 405 pass through the wave producer of first pulley power train 404 and first harmonic decelerator 56
Transmission connection, the hip joint rolling support base 403 are fixedly connected with hip 2, and the first pulley power train 404 is closed by hip
Section rolling support base 403 is fixedly connected with hip 2, fixed on the inside of the firm gear and hip 2 of the first harmonic decelerator 56 to connect
It connects, the flexbile gear of the first harmonic decelerator 56 is connect with 412 facing drive of the first cross connecting piece, the hip joint pitching electricity
Machine 407 is sequentially connected by the second belt wheel transmission system 409 and the wave producer of second harmonic retarder 51, the hip joint pitching
Support base 411 is fixedly connected with thigh 3, and second belt wheel transmission system 409 passes through hip joint pitching support base 411 and thigh 3
It is fixedly connected, the firm gear of the second harmonic retarder 51 is fixedly connected with thigh 3, the flexbile gear of the second harmonic retarder 51
It is sequentially connected with the first cross connecting piece 412, first deep groove ball bearing 54 and the second deep groove ball bearing 52 are separately mounted to
On first cross connecting piece, 412 end axis hole, the first hip joint connecting shaft 55 is mounted on 54 inner ring of the first deep groove ball bearing,
The second hip joint connecting shaft 53 is mounted on 52 inner ring of the second deep groove ball bearing, and the hip joint rolling support base 403 utilizes
Bolt is fixedly connected with hip frame 402, and the first pulley power train 404 utilizes hip joint rolling support base 403 and the hip frame
402 are fixedly connected, and the firm gear of the first harmonic decelerator 56 is bolted on 402 inside of hip frame, and the hip joint is bowed
It faces upward support base 411 and is fixedly connected using bolt with thigh side plate 410, second belt wheel transmission system 409 utilizes hip joint pitching
Support base 411 is fixed on 410 outside of thigh side plate, and the firm gear of the second harmonic retarder 51 is bolted on thigh side
410 inside of plate, the cross connecting piece 412 can be rotated around hip joint connecting shaft, and the hip joint connecting shaft plays support
Effect.
Thigh 3 described in the utility model includes thigh side plate, and the shank 5 includes shank side plate and limited block 604, described
Shank 5 is fixedly connected with limited block 604, and the thigh side plate is equipped with hip joint pitching motor 407, knee joint pitching motor 609
With 605 mounting hole of ankle-joint pitching motor, the thigh side plate 410 plays a protective role to hollow-cup motor 10, described
The angle of limited block 604 and the cooperation limitation knee joint pitching of thigh side plate 410, simulates the limited spy of human knee joint's flexion and extension
Point, leg side plate 408 are fixedly connected by welding.
Knee-joint mechanism 4 described in the utility model includes sleeve 602, knee joint harmonic speed reducer 606, third belt wheel transmission
It is 608, knee joint pitching motor 609, knee joint connecting shaft 603, third deep groove ball bearing 601 and knee joint pitching support base
607, the wave producer that the knee joint pitching motor 609 passes through third belt wheel transmission system 608 and knee joint harmonic speed reducer 606
Transmission connection, the knee joint pitching support base 607 are fixedly connected with thigh 3, and third belt wheel transmission system 608 passes through knee
Joint pitching support base 607 is fixed on 3 outside of thigh, fixes on the inside of the firm gear and thigh 3 of the knee joint harmonic speed reducer 606
Connection, the flexbile gear and shank 5 of the knee joint harmonic speed reducer 606 are sequentially connected, and the third deep groove ball bearing 601 is mounted on
In the axis hole of shank 5, the knee joint connecting shaft 603 passes through the axis hole of shank 5 and is fixedly connected with thigh 3, the sleeve
602 be fixedly connected on the inside of shank 5, the knee joint pitching support base 607 is fixedly connected by bolt with thigh side plate 410,
Third belt wheel transmission system 608 is fixed on 410 outside of thigh side plate using knee joint pitching support base 607, and the third is humorous
It is fixedly connected on the inside of the firm gear of wave retarder 606 and thigh side plate 410, the flexbile gear and shank side plate of the harmonic speed reducer 606
610 transmission connections, the third deep groove ball bearing 601 are mounted in the axis hole of shank side plate 610, the knee joint connecting shaft
603 axis holes for passing through shank side plate 610 are fixedly connected using bolt with thigh side plate 410, the thigh side plate 410 and small
Leg side plate 610 can be rotated around knee joint connecting shaft 603, and the sleeve 602 plays a protective role to knee joint connecting shaft 603.
Ankle 6 described in the utility model includes ankle frame 702 and ankle side plate 83, is provided on the ankle frame 702 and ankle
The corresponding groove of side plate 83, the ankle frame 702 are fixedly connected with ankle side plate 83, and the ankle frame 6 is equipped with ankle-joint rolling motor
715 mounting holes, 702 bottom center of ankle frame are equipped with tapped through hole.
Ankle-joint mechanism 8 described in the utility model includes ankle-joint pitching motor 605, ankle-joint rolling motor 715, second
Cross connecting piece 701, ankle-joint pitching connecting shaft 85, ankle-joint rolling connecting shaft 82, the 4th harmonic speed reducer the 705, the 5th are humorous
Wave retarder 87, the 4th belt wheel transmission system 703, the 5th belt wheel transmission system 714, the 4th deep groove ball bearing 81, the 5th deep-groove ball axis
86, ankle-joint pitching support base 713 and ankle-joint rolling support base 704 are held, the ankle-joint pitching motor 605 passes through the 5th
The wave producer of belt wheel transmission system 714 and the 5th harmonic speed reducer 87 transmission connection, the ankle-joint pitching support base 713 with it is small
Leg 5 is fixedly connected, and the 5th belt wheel transmission system 714 is fixedly connected with shank 5, the flexbile gear of the 5th harmonic speed reducer 87 with
The connection of second cross connecting piece, 701 facing drive, the ankle-joint rolling motor 715 pass through the 4th belt wheel transmission system 703 and the
The wave producer of four harmonic speed reducers 705 is sequentially connected, and the ankle-joint rolling support base 704 is fixedly connected with ankle 6, described
4th belt wheel transmission system 703 is fixedly connected with ankle 6, fixed on the inside of the firm gear and ankle 6 of the 4th harmonic speed reducer 705 to connect
It connects, the flexbile gear of the 4th harmonic speed reducer 705 is connect with 701 facing drive of the second cross connecting piece, the 4th deep-groove ball
Bearing 81 and the 5th deep groove ball bearing 86 are separately mounted to 701 end axis hole of the second cross connecting piece, and the ankle-joint pitching connects
Spindle 85 is mounted on 86 inner ring of the 5th deep groove ball bearing, and the ankle-joint rolling connecting shaft 82 is mounted on the 4th deep groove ball bearing 81
Inner ring, the ankle-joint pitching connecting shaft 85 are fixedly connected with shank 5, and the ankle-joint rolling connecting shaft 82 and ankle 6 are fixed
Connection, the ankle-joint pitching support base 713 is fixedly connected by bolt with shank side plate 610, so that the 5th belt wheel transmission system
714 are fixedly connected with shank side plate 610, and the firm gear of the 5th harmonic speed reducer 87 is bolted on shank side plate 610
Inside, the ankle-joint rolling support base 704 are fixedly connected by bolt with ankle frame 702 so that the 4th belt wheel transmission system 703 and
Ankle frame 702 is fixedly connected, and the firm gear of the 4th harmonic speed reducer 705 is bolted on 702 inside of ankle frame, and the ankle closes
Section rolling connecting shaft 82 is fixedly connected with ankle frame 702 using bolt.
Foot 7 described in the utility model includes sole 708, toe 710, connecting pin 711, rubber cushion assembly 707 and foot
Portion's bracket 706, the toe 710 and sole 708 are hinged, and the sole 708 welds 4 cylindrical bodies 709, the rubber resistance
Buddhist nun's device 707 and 709 clearance fit of cylindrical body, the foot support 706 have 4 lugs with holes corresponding with cylindrical body 709
84, the lug with holes 84 and 709 clearance fit of cylindrical body, the foot support 706 is vertically moved along cylindrical body 709, described
Foot support 706 is fixedly connected with ankle 6, and the foot support 706 is fixedly connected with sole 708, the toe 710 with
Sole 708 is connected by connecting pin 711, the toe 710 can the passive pitching in certain space, to cope with complicated ground
Shape after 706 stress of foot support, can vertically move down, compressing rubber damper 707 along cylindrical body 709, play damping work
With, the threaded post on 706 top of foot support is fixedly connected with the threaded hole of 702 bottom of ankle frame, and the 4 of the sole 708
A 709 top of cylindrical body has external screw thread, and the nut 712 is tightened in 709 top of cylindrical body, prevents foot support 706 de-
From.
When the utility model is used, the hip joint deflection motor 34 of the abdomen 1 through abdomen harmonic speed reducer 38 deceleration after,
It drives hip 2 to rotate, by the connection of hip 2 and thigh 3, drives robot lower limb deflection；The pitching motor of the hip joint
407 after belt wheel transmission system 409 and harmonic speed reducer 51 slow down, and driving robot realizes leg flexion and extension；Utilize the hip
After the combined retarder of rolling motor 405 of articulation mechanism 13 slows down, driving robot realizes that leg is taken down the exhibits movement；By described
After the combined retarder of pitching motor 609 of knee-joint mechanism 4 slows down, the robot is driven to complete the bending knee fortune of certain limit
It is dynamic；Using the pitching motor 605 and rolling motor 715 of ankle-joint mechanism 8 after a series of deceleration of retarders, robot foot is driven
Complete pitching movement and inside and outside overturning by a small margin in portion；The design of the foot toe 710, completes robot passively
Toe in the wrong movement by a small margin.
Above to a kind of Humanoid Robot Based on Walking device provided by the utility model, it is described in detail, herein
Specific case is applied to be expounded the principles of the present invention and embodiment, the explanation of above example is only intended to
Help understands the method and its core concept of the utility model；At the same time, for those skilled in the art, it is practical according to this
Novel thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered
It is construed as a limitation of the present invention.
Claims (9)
1. a kind of Humanoid Robot Based on Walking device, it is characterised in that: it includes executing agency and driving mechanism, the driving mechanism
Executing agency's movement is driven, the executing agency includes abdomen (1), hip (2), thigh (3), knee-joint mechanism (4), shank
(5), ankle (6), foot (7), ankle-joint mechanism (8) and hip joint mechanism (13), the abdomen (1) pass through hip joint mechanism
(13) it is connected with hip (2), the hip (2) is connected with thigh (3), and the thigh (3) passes through knee-joint mechanism (4) and shank
(5) it is connected, the shank (5) is connected by ankle-joint mechanism (8) with ankle (6), and the ankle (6) is connected with foot (7), institute
Stating driving mechanism includes driving pulley (9), hollow-cup motor (10), driven pulley (11) and harmonic speed reducer (12), the sky
Heart cup motor (10) and driving pulley (9) are sequentially connected, and the driving pulley (9) and driven pulley (11) pass through toothed belt transmission
Connection, the driven pulley (11) and harmonic speed reducer (12) are sequentially connected.
2. a kind of Humanoid Robot Based on Walking device according to claim 1, it is characterised in that: the abdomen (1) includes one
To abdomen frame (33), light groups of springs (31), abdomen limited post (35), hip joint deflection motor (34) and abdomen harmonic speed reducer
(38), it is connected between the pair of abdomen frame (33) by light groups of springs (31), the abdomen frame (33) includes support transverse slat
(32) it is fixedly connected with support riser (36), the support transverse slat (32) with support riser (36), support transverse slat (32) bottom
Face is provided with abdomen limited post (35), and the support transverse slat (32) is connected with hip joint deflection motor (34), and the hip joint is inclined
Rotating motor (34) output shaft and the wave producer of abdomen harmonic speed reducer (38) are sequentially connected by key, the abdomen harmonic reduction
The firm gear of device (38) is fixedly connected with support transverse slat (32) bottom, the flexbile gear of the abdomen harmonic speed reducer (38) and hip (2)
It is fixedly connected.
3. a kind of Humanoid Robot Based on Walking device according to claim 1, it is characterised in that: the hip (2) includes hip
Frame (402), buttocks bottom plate (406) and hip limited post (37), the hip frame (402) are fixedly connected with buttocks bottom plate (406), institute
Hip frame (402) apical lateral is stated equipped with hip limited post (37).
4. a kind of Humanoid Robot Based on Walking device according to claim 1, it is characterised in that: the hip joint mechanism (13)
Including the first cross connecting piece (412), the first deep groove ball bearing (54), the second deep groove ball bearing (52), the connection of the first hip joint
Axis (55), the second hip joint connecting shaft (53), first harmonic decelerator (56), second harmonic retarder (51), first pulley pass
Dynamic system (404), the second belt wheel transmission system (409), hip joint pitching motor (407), hip joint rolling motor (405), hip joint
Rolling support base (403) and hip joint pitching support base (411), the hip joint rolling motor (405) and hip (2) fixed company
It connects, the hip joint rolling motor (405) is occurred by the wave of first pulley power train (404) and first harmonic decelerator (56)
Device transmission connection, the hip joint rolling support base (403) are fixedly connected with hip (2), the first pulley power train (404)
It is fixedly connected by hip joint rolling support base (403) with hip (2), the firm gear and hip of the first harmonic decelerator (56)
(2) inside is fixedly connected, and the flexbile gear and the first cross connecting piece (412) facing drive of the first harmonic decelerator (56) connect
It connects, the hip joint pitching motor (407) is occurred by the wave of the second belt wheel transmission system (409) and second harmonic retarder (51)
Device transmission connection, the hip joint pitching support base (411) are fixedly connected with thigh (3), second belt wheel transmission system (409)
It is fixedly connected by hip joint pitching support base (411) with thigh (3), the firm gear and thigh of the second harmonic retarder (51)
(3) it is fixedly connected, the transmission connection of the flexbile gear and the first cross connecting piece (412) of the second harmonic retarder (51), described the
One deep groove ball bearing (54) and the second deep groove ball bearing (52) are separately mounted on the axis hole of the first cross connecting piece (412) end,
The first hip joint connecting shaft (55) is mounted on the first deep groove ball bearing (54) inner ring, the second hip joint connecting shaft (53)
It is mounted on the second deep groove ball bearing (52) inner ring.
5. a kind of Humanoid Robot Based on Walking device according to claim 1, it is characterised in that: the thigh (3) includes big
Leg side plate, the shank (5) include shank side plate and limited block (604), and the shank (5) is fixedly connected with limited block (604).
6. a kind of Humanoid Robot Based on Walking device according to claim 1, it is characterised in that: the knee-joint mechanism (4)
Including sleeve (602), knee joint harmonic speed reducer (606), third belt wheel transmission system (608), knee joint pitching motor (609),
Knee joint connecting shaft (603), third deep groove ball bearing (601) and knee joint pitching support base (607), the knee joint pitching electricity
Machine (609) is sequentially connected by the wave producer of third belt wheel transmission system (608) and knee joint harmonic speed reducer (606), described
Knee joint pitching support base (607) is fixedly connected with thigh (3), and third belt wheel transmission system (608) passes through knee joint pitching
Support base (607) is fixed on the outside of thigh (3), fixed on the inside of the firm gear of the knee joint harmonic speed reducer (606) and thigh (3)
Connection, the flexbile gear of the knee joint harmonic speed reducer (606) and shank (5) are sequentially connected, the third deep groove ball bearing (601)
It is mounted in the axis hole of shank (5), the knee joint connecting shaft (603), which passes through the axis hole of shank (5) and fixes with thigh (3), to be connected
It connects, is fixedly connected on the inside of the sleeve (602) and shank (5).
7. a kind of Humanoid Robot Based on Walking device according to claim 1, it is characterised in that: the ankle (6) includes ankle
Frame (702) and ankle side plate (83) are provided with groove corresponding with ankle side plate (83), the ankle frame on the ankle frame (702)
(702) it is fixedly connected with ankle side plate (83).
8. a kind of Humanoid Robot Based on Walking device according to claim 1, it is characterised in that: the ankle-joint mechanism (8)
Connect including ankle-joint pitching motor (605), ankle-joint rolling motor (715), the second cross connecting piece (701), ankle-joint pitching
Spindle (85), ankle-joint rolling connecting shaft (82), the 4th harmonic speed reducer (705), the 5th harmonic speed reducer (87), the 4th belt wheel
Power train (703), the 5th belt wheel transmission system (714), the 4th deep groove ball bearing (81), the 5th deep groove ball bearing (86), ankle-joint
Pitching support base (713) and ankle-joint rolling support base (704), the ankle-joint pitching motor (605) are passed by the 5th belt wheel
The wave producer of dynamic system (714) and the 5th harmonic speed reducer (87) is sequentially connected, the ankle-joint pitching support base (713) with it is small
Leg (5) is fixedly connected, and the 5th belt wheel transmission system (714) is fixedly connected with shank (5), the 5th harmonic speed reducer (87)
Flexbile gear connect with the second cross connecting piece (701) facing drive, the ankle-joint rolling motor (715) pass through the 4th belt wheel pass
The wave producer of dynamic system (703) and the 4th harmonic speed reducer (705) is sequentially connected, the ankle-joint rolling support base (704) with
Ankle (6) is fixedly connected, and the 4th belt wheel transmission system (703) is fixedly connected with ankle (6), the 4th harmonic speed reducer
(705) it is fixedly connected on the inside of firm gear and ankle (6), the flexbile gear of the 4th harmonic speed reducer (705) is connect with the second cross
The connection of part (701) facing drive, the 4th deep groove ball bearing (81) and the 5th deep groove ball bearing (86) are separately mounted to second
Cross connecting piece (701) end axis hole, the ankle-joint pitching connecting shaft (85) are mounted on the 5th deep groove ball bearing (86) inner ring,
The ankle-joint rolling connecting shaft (82) is mounted on the 4th deep groove ball bearing (81) inner ring, the ankle-joint pitching connecting shaft (85)
It is fixedly connected with shank (5), the ankle-joint rolling connecting shaft (82) is fixedly connected with ankle (6).
9. a kind of Humanoid Robot Based on Walking device according to claim 1, it is characterised in that: the foot (7) includes foot
Bottom plate (708), toe (710), connecting pin (711), rubber cushion assembly (707) and foot support (706), the toe (710)
Hingedly with sole (708), the sole (708) welds 4 cylindrical bodies (709), the rubber cushion assembly (707) and cylinder
Body (709) clearance fit, the foot support (706) have 4 lugs (84) with holes corresponding with cylindrical body (709), institute
Lug with holes (84) and cylindrical body (709) clearance fit are stated, the foot support (706) vertically moves along cylindrical body (709), institute
It states foot support (706) to be fixedly connected with ankle (6), the foot support (706) is fixedly connected with sole (708).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822083211.2U CN209454891U (en) | 2018-12-12 | 2018-12-12 | A kind of Humanoid Robot Based on Walking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822083211.2U CN209454891U (en) | 2018-12-12 | 2018-12-12 | A kind of Humanoid Robot Based on Walking device |
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| CN209454891U true CN209454891U (en) | 2019-10-01 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455246A (en) * | 2018-12-12 | 2019-03-12 | 常州机电职业技术学院 | A kind of Humanoid Robot Based on Walking device |
| CN111038614A (en) * | 2019-12-30 | 2020-04-21 | 深圳市优必选科技股份有限公司 | Robot and leg structure thereof |
| CN111497965A (en) * | 2020-04-24 | 2020-08-07 | 暗物智能科技(广州)有限公司 | Wheel-foot switching robot system and control method thereof |
| CN112046637A (en) * | 2020-08-25 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Leg mechanism and humanoid robot |
| CN114044066A (en) * | 2021-11-22 | 2022-02-15 | 长春工业大学 | Humanoid foot type mechanism and device based on octahedral mast type tensioning integral structure |
-
2018
- 2018-12-12 CN CN201822083211.2U patent/CN209454891U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109455246A (en) * | 2018-12-12 | 2019-03-12 | 常州机电职业技术学院 | A kind of Humanoid Robot Based on Walking device |
| CN111038614A (en) * | 2019-12-30 | 2020-04-21 | 深圳市优必选科技股份有限公司 | Robot and leg structure thereof |
| CN111038614B (en) * | 2019-12-30 | 2021-09-17 | 深圳市优必选科技股份有限公司 | Robot and leg structure thereof |
| CN111497965A (en) * | 2020-04-24 | 2020-08-07 | 暗物智能科技(广州)有限公司 | Wheel-foot switching robot system and control method thereof |
| CN111497965B (en) * | 2020-04-24 | 2022-01-18 | 暗物智能科技(广州)有限公司 | Wheel-foot switching robot system and control method thereof |
| CN112046637A (en) * | 2020-08-25 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Leg mechanism and humanoid robot |
| CN112046637B (en) * | 2020-08-25 | 2023-12-01 | 深圳市优必选科技股份有限公司 | Leg mechanism and humanoid robot |
| CN114044066A (en) * | 2021-11-22 | 2022-02-15 | 长春工业大学 | Humanoid foot type mechanism and device based on octahedral mast type tensioning integral structure |
| CN114044066B (en) * | 2021-11-22 | 2023-09-01 | 长春工业大学 | Humanoid foot type mechanism and device based on octahedral mast type stretching integral structure |
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