WO2021003865A1 - 仿人机器人腰关节和仿人机器人 - Google Patents

仿人机器人腰关节和仿人机器人 Download PDF

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Publication number
WO2021003865A1
WO2021003865A1 PCT/CN2019/110012 CN2019110012W WO2021003865A1 WO 2021003865 A1 WO2021003865 A1 WO 2021003865A1 CN 2019110012 W CN2019110012 W CN 2019110012W WO 2021003865 A1 WO2021003865 A1 WO 2021003865A1
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WIPO (PCT)
Prior art keywords
raceway
substrate
tile structure
tile
humanoid robot
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Application number
PCT/CN2019/110012
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English (en)
French (fr)
Inventor
高峻峣
田定奎
张春雷
黄强
张伟民
陈学超
Original Assignee
北京理工大学
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Application filed by 北京理工大学 filed Critical 北京理工大学
Publication of WO2021003865A1 publication Critical patent/WO2021003865A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

Definitions

  • This application relates to the field of robotics, and in particular to a humanoid robot waist joint and a humanoid robot.
  • Humanoid robots are an advanced stage of robotics development. It reflects the research situation and development level of robot technology in many aspects such as mechanism, kinematics and dynamics. Humanoid robot has the advantages of strong obstacle crossing ability, all-round adjustment of moving direction, strong terrain adaptability, good movement flexibility and high carrying capacity. Therefore, it is the best choice under complex operating environment and has broad application prospects. .
  • the humanoid robot In order to improve the motion stability of the humanoid robot so that it can complete various actions in a coordinated manner like a human, it is necessary to add a waist joint to the humanoid robot.
  • the waist joint must not only enable the humanoid robot to rotate flexibly, but also be able to resist impact when the humanoid robot undergoes a motion collision. Only when these two points are met at the same time can the humanoid motion performance of the humanoid robot be realized.
  • the waist joint of the existing humanoid robot usually adopts a series structure, which has disadvantages such as complex structure and large inertia.
  • the three-degree-of-freedom rotating parallel mechanism can overcome the shortcomings of the series structure.
  • the three-degree-of-freedom rotating parallel mechanism requires high precision in manufacturing and installation, which will cause problems such as high cost and weak impact resistance.
  • This application provides a waist joint of a humanoid robot and a humanoid robot to solve one or more problems existing in the prior art.
  • a waist joint of a humanoid robot which includes:
  • the first tile structure includes a first end and a second end extending along a first arc in a first direction;
  • the second tile structure includes a first end and a second end extending along a second arc in a second direction perpendicular to the first direction, and a third end and a fourth end disposed oppositely; the first The plane where the arc is located is perpendicular to the plane where the second arc is located;
  • the first transition structure includes a first end extending in the first direction, and a second end disposed opposite to the first end;
  • the second transition structure includes a first end extending in the first direction, and a second end disposed opposite to the first end;
  • Both the first substrate and the second substrate extend in the second direction
  • the first end of the first transition structure is in sliding connection with the first end of the first tile structure
  • the first end of the second transition structure is in sliding connection with the second end of the first tile structure
  • a side surface of the first substrate is slidingly connected to the first end of the second tile structure
  • a side surface of the second substrate is connected to the The second end of the second tile structure
  • the second end of the first transition structure is fixed to the third end of the second tile structure Connected, the second end of the second transition structure is fixedly connected to the fourth end of the second tile structure.
  • a humanoid robot which includes: the upper body of the bionic robot, the lower body of the bionic robot, and the waist joint of the humanoid robot described in the above embodiments; the upper body of the bionic robot and the first body A tile structure is connected, and the lower body of the bionic robot is connected with the first substrate and the second substrate.
  • the waist joint of the humanoid robot and the humanoid robot in the embodiments of the present application have a high impact resistance due to the use of a swing tile structure, and the requirements for manufacturing and installation accuracy are not high.
  • FIG. 1 is a schematic top view of the waist joint of a humanoid robot according to an embodiment of the present application
  • Figure 2 is a schematic cross-sectional view taken along line A-A of Figure 1;
  • Figure 3 is a schematic cross-sectional view taken along line B-B in Figure 1;
  • Fig. 4 is a schematic structural diagram of a humanoid robot according to an embodiment of the present application.
  • FIG. 1 is a schematic top view of the waist joint of a humanoid robot according to an embodiment of the present application.
  • Fig. 2 is a schematic cross-sectional view taken along the line A-A of Fig. 1.
  • Fig. 3 is a schematic cross-sectional view taken along line B-B of Fig. 1.
  • FIGS. 1 to 3 show schematic diagrams of various angles of the waist joint of a humanoid robot in a specific embodiment of the present application, and do not limit the specific implementation of the present application.
  • the humanoid robot waist joint may include a first tile structure 1, a second tile structure 7, a first transition structure 9, a second transition structure 11, a first substrate 5, and a Two substrate 6 etc.
  • the components of the waist joint of the humanoid robot of these embodiments will be described in detail below.
  • the first tile structure 1 includes a first end and a second end extending along a first arc in the first direction x, as shown in the upper side and the lower side of the first tile structure 1 in FIG. 1.
  • the first arc can point to a convex curve on a certain side, for example, an elliptical arc, a circular arc, an arc of an exponential curve, etc., then the first tile structure 1 is oriented at least at the first end and the second end. One side is raised.
  • the surface between the first end and the second end of the first tile structure 1 may be convex like the first arc.
  • the first end and the second end of the first tile structure 1 The surfaces between the two ends are convex upwards.
  • the curvature or curvature change of the first arc can be determined according to the amplitude, degree or angle of the humanoid robot's left and right swing or pitch.
  • the second tile structure 7 includes a first end and a second end extending along a second arc in a second direction y perpendicular to the first direction x, and a third end and a fourth end that are oppositely arranged.
  • the first end and the second end of the second tile structure 7 can be the left and right sides of the second tile structure 7 as shown in FIG. 3.
  • the third end and the fourth end of the second tile structure 7 are arranged opposite to each other, which may mean that they are not adjacent two sides.
  • the left and right sides of the second tile structure 7 as shown in FIG. 2 can be along the first direction. x extends.
  • the second arc can point to a convex curve on one side, for example, an elliptical arc, a circular arc, an arc of an exponential curve, etc.
  • the second tile structure 7 is at least on its first arc The part of one end and the second end protrudes to one side.
  • the surface enclosed by the first end, the second end, the third end, and the fourth end of the second tile structure 7 can be convex like the second arc.
  • the second tile The surfaces enclosed by the first end, the second end, the third end and the fourth end of the structure 7 all protrude downward.
  • the curvature or curvature change of the second arc can be determined according to the amplitude, degree, or angle of the humanoid robot's left and right swing or pitch.
  • the plane x-z where the first arc is located and the plane y-z where the second arc is located are perpendicular to each other, thereby facilitating the movement of the first tile structure 1 and the second tile structure 7 in directions with different degrees of freedom.
  • the curvature of the first arc and the curvature of the second arc may be the same or different. Specifically, it may be determined according to whether it is the horizontal swing direction or the pitch direction of the bionic robot, and the center of gravity movement range of the bionic robot.
  • the first transition structure 9 includes a first end extending in the first direction x, and a second end opposite to the first end.
  • the first end of the first transition structure 9 is defined to extend in the first direction x to cooperate with the first end of the first tile structure 1, for example, to extend in a straight direction.
  • the extension direction of the second end of the first transition structure 9 is not limited. For example, it can also extend in the first direction x, and can extend along a straight line or a curve, and can be aligned with the third end of the second tile structure 7. Just cooperate.
  • the first end and the second end of the first transition structure 9 are arranged opposite to each other, which means that the two ends may be two sides that are not adjacent.
  • the first end and the second end of the first transition structure 9 are shown in Figure 2 The upper and lower sides of the transition structure 9.
  • the second transition structure 11 includes a first end extending in the first direction x, and a second end opposite to the first end.
  • the first end of the second transition structure 11 is defined to extend in the first direction x to cooperate with the second end of the first tile structure 1, for example, to extend in a straight direction.
  • the extension direction of the second end of the second transition structure 11 is not limited. For example, it can also extend in the first direction x, it can extend along a straight line or a curve, and can be aligned with the fourth end of the second tile structure 7 Just cooperate.
  • the first end and the second end of the second transition structure 11 are arranged opposite to each other, which means that the two ends may be two sides that are not adjacent to each other.
  • the first end and the second end of the second transition structure 11 are shown in Figure 2 as the second end.
  • Both the first substrate 5 and the second substrate 6 extend in the second direction y.
  • the first substrate 5 and the second substrate 6 extend a certain length in the second direction y and have a certain width.
  • the first substrate 5 and the second substrate 6 may extend along the second arc in the second direction y; or, although they do not extend along the second arc, they extend in the second direction y.
  • After the length, at least a part of the first substrate 5 and the second substrate 6 may form the shape of the above-mentioned second arc.
  • both the first substrate 5 and the second substrate 6 extend in a straight line in the second direction y, and It has a sufficiently large width to enable the above-mentioned second arc shape to be drawn on the first substrate 5 or the second substrate 6.
  • first end of the first transition structure 9 is in sliding connection with the first end of the first tile structure 1, and the first end of the second transition structure 11 is connected to the second end of the first tile structure 1.
  • the ends are slidingly connected to limit the first tile structure 1 to swing along the first arc.
  • the sliding connection of the two can mean that the two are connected together and can move relative to each other.
  • the sliding can be realized by the cooperation of the track and the sliding member, and the first transition structure 9 and the second transition structure 11 can be clamped. Set on both sides of the first tile structure 1 to realize the connection or limit function.
  • a side surface of the first substrate 5 is slidably connected to the first end of the second tile structure 7, and a side surface of the second substrate 6 is slidably connected to the second end of the second tile structure 7 to define The second tile structure 7 swings along the second arc.
  • One side surface of the first substrate 5 may be one of the side surfaces or one of the end surfaces, and one side surface of the second substrate 6 may be one of the side surfaces or one of the end surfaces.
  • the first substrate 5 A side surface of the first substrate 5 may be the right side
  • a side surface of the second substrate 6 may be the left side of the second substrate 6.
  • the first substrate 5 or the second substrate 6 When slidingly connected with the second tile structure 7, the first substrate 5 or the second substrate 6 adopts different parts, and the specific sliding connection method used may be different, for example, the side of the first substrate 5
  • the side surface of the second base plate 6 is clamped on both sides of the second tile structure 7 through a rail and a sliding member, so that it can simultaneously play a role of relative movement and limited connection.
  • the first substrate 5 and the second substrate 6 may be directly or indirectly connected to other parts of the humanoid robot, for example, the upper body of the humanoid robot or the lower body of the humanoid robot.
  • the second end of the first transition structure 9 is fixedly connected to the third end of the second tile structure 7, and the second end of the second transition structure 11 is fixed to the fourth end of the second tile structure 11 connection.
  • the fixed connection can be made by integral molding or bolt connection. Through the fixed connection, the swing range of the first tile structure 1 can be better limited, thereby connecting the upper body of the humanoid robot and the lower body of the humanoid robot, and improving the impact resistance of the waist joint of the humanoid robot.
  • the first transition structure and the second transition structure are respectively slidably connected to both ends of the first tile structure, so that the first tile structure can be moved along the first tile structure.
  • the second tile structure can swing along the second arc, and because the plane where the first arc is and the second arc
  • the planes on which the lines are located are perpendicular to each other, so the waist joint of the embodiment of the present application can make the bionic robot swing and pitch left and right.
  • the waist joint of the embodiment of the present application adopts a structure such as a tile structure and a base plate, it does not require high precision in manufacturing and installation, and has strong impact resistance.
  • the waist joint of the humanoid robot in the above embodiment mainly discloses the core concept of realizing the waist joint in a simple way to imitate the movement of the human body to achieve swing and pitch.
  • the specific connection method can be determined according to the concrete Circumstances to determine.
  • the first tile structure 1 in the waist joint of a humanoid robot can be used to connect the upper body of the humanoid robot, and the first substrate 5 and the second substrate 6 can be used to connect the lower body of the humanoid robot.
  • the upper body is convex, and the second arc line may be convex toward the lower body of the humanoid robot. In this way, the humanoid robot can have strong impact resistance.
  • a waist base 8 may be provided in the waist joint of a humanoid robot, the first base plate 5 and the second base plate 6 are fixed to the waist base 8, and the waist The base 8 is used to connect the lower body of the humanoid robot, so that the fixing can be firmer and the installation is easier.
  • the first tile structure 1 in the waist joint of the humanoid robot can be used to connect the lower body of the humanoid robot, and the first substrate 5 and the second substrate 6 can be used to connect the upper body of the humanoid robot.
  • the lower body of the humanoid robot is convex, and the second arc can be convex toward the upper body of the humanoid robot, that is, the connection mode is upside down. Under the condition of appropriately designing the connection mode and size of each component, it can be similar The impact resistance strength.
  • biomimetic robot waist joint of each of the above embodiments in specific implementation, it can be implemented in a variety of different ways, for example, a sliding connection between different components can be implemented in multiple ways.
  • a sliding connection between different components can be implemented in multiple ways.
  • the side edge of the first end of the first transition structure 9 may be slidingly connected to the end surface of the first end of the first tile structure 1, which may be the The side edge of the first end of the second transition structure 11 is slidingly connected to the end surface of the second end of the first tile structure 1.
  • the side edge of the first end of the first transition structure 9 and the side edge of the first end of the second transition structure 11 may both be inner side edges; or, the first transition structure The side edge of the first end of 9 and the side edge of the first end of the second transition structure 11 may be both outer side edges.
  • the end surface of the end and the end surface of the second end of the second tile structure 7 can be correspondingly end surfaces facing inward, for example, the two end surfaces are facing inward through U-shaped bending.
  • the side edge of the first end of the first transition structure 9 may be the upper edge of the right side of the first transition structure 9 shown in FIG. 2, and the side of the first end of the second transition structure 11
  • the edge may be the upper edge of the left side of the second transition structure 11 shown in FIG. 2
  • the end surface of the first end and the end surface of the second end of the first tile structure 1 may be the end surfaces of the first tile structure 1 shown in FIG.
  • the end face at the left end and the end face at the right end (the normal direction is in the second direction y). In this way, it is easy to fix the first transition structure 9 and the second transition structure 11 in a simple manner, and limit the position of the first tile structure 1.
  • a side surface of the first substrate 5 may be slidingly connected to the end surface of the first end of the second tile structure 7, and it may be a side surface of the second substrate 6 and the second tile.
  • the end surface of the second end of the structure 7 is slidingly connected.
  • one side surface of the first substrate 5 may be the right side of the first substrate 5 shown in FIG. 3
  • one side surface of the second substrate 6 may be the left side of the second substrate 6 shown in FIG. In this way, it is easy to fix the first substrate 5 and the second substrate 6 in a simple manner, and limit the second tile structure 7.
  • the end surface of the first end of the first transition structure 9 may be slidingly connected to the side edge of the first end of the first tile structure 1, and it may be the end surface of the second transition structure 11.
  • the end surface of the first end is slidingly connected to the side edge of the second end of the first tile structure 1.
  • the first tile structure 1 can be fixed by an appropriate structure;
  • One end surface of the base plate 5 is slidably connected to the side edge of the first end of the second tile structure 7, which may be an end surface of the second base plate 6 and the side edge of the second end of the second tile structure 7 Sliding connection, in this case, an appropriate structure can be used to fix the second tile structure 7.
  • the waist joint of the humanoid robot of the above embodiments may further include at least one first rolling member 101 and at least one second rolling member 102; refer to FIG. 3, the humanoid robot in the above embodiments
  • the robot waist joint may further include at least one third rolling element 41 and at least one fourth rolling element 42.
  • the side edge of the first end of the first transition structure 9 contains at least one raceway, and it may be that the end surface of the first end of the first tile structure 1 contains at least one raceway, for example ,
  • the raceway of the first transition structure 9 and the raceway of the first tile structure 1 may be along a direction perpendicular to the paper surface shown in FIG. 2, that is, the first direction x.
  • the side edge of the first end of the second transition structure 11 contains at least one raceway, and it may be that the end surface of the second end of the second tile structure 7 contains at least one raceway.
  • the first rolling element 101 and the corresponding raceway cooperate with each other.
  • the first rolling element 101 can be inserted into the raceway on the side edge of the first end of the first transition structure 9 and the first shoe Between the raceways of the end surface of the first end of the structure 1.
  • the second rolling element 102 and the corresponding raceway cooperate with each other.
  • the second rolling element 102 can be inserted into the raceway on the side edge of the first end of the second transition structure 11 and the first shoe. Between the raceways of the end surface of the second end of the structure 1.
  • one side of the first substrate 5 includes at least one raceway
  • the end surface of the first end of the second tile structure 7 contains at least one raceway, for example, the first substrate 5
  • the raceway on the side (right side) and the raceway on the end surface of the first end of the second shoe structure 7 may be along a direction perpendicular to the paper surface shown in FIG. 3, that is, the first direction y.
  • one side surface of the second substrate 6 includes at least one raceway
  • the end surface of the second end of the second tile structure 7 includes at least one raceway, for example, the side surface (left side) of the second substrate 6
  • the raceway and the raceway on the end surface of the second end of the second tile structure 7 may be along a direction perpendicular to the paper surface shown in FIG. 3, that is, the first direction y.
  • the third rolling element 41 cooperates with the corresponding raceway.
  • the third rolling element 41 is embedded in the raceway on one side of the first base plate 5 and the first end of the second shoe structure 7 Between the raceways on the end face.
  • the fourth rolling element 42 cooperates with the corresponding raceway.
  • the fourth rolling element 42 is inserted into the raceway on one side of the second base plate 6 and the end surface of the second end of the second shoe structure 7 Between the raceways.
  • the number of raceways of each component can be set as required, for example, It is one, two, three, etc.
  • the number of components where the raceways of the rolling elements are simultaneously embedded can be the same.
  • the number of raceways of the first transition structure 9 can be the same as the number of raceways on the end surface of the first end of the first tile structure 1.
  • the number of raceways of the transition structure 11 can be consistent with the number of raceways on the end surface of the second end of the first tile structure 1, and the number of raceways on the first base plate 5 can be the same as the number of raceways on the first end of the second tile structure 7.
  • the number of raceways is the same, and the number of raceways of the second base plate 6 can be the same as the number of raceways on the end surface of the second end of the second tile structure 7.
  • At least one of the first rolling element 101, the second rolling element 102, the third rolling element 41, and the fourth rolling element 42 may be a ball.
  • the raceway of the side edge of the first end of the first transition structure 9, the raceway of the end surface of the first end of the first tile structure 1, and the side of the first end of the second transition structure 11 The raceway on the edge, the raceway on the end surface of the second end of the first tile structure 1, the raceway on one side of the first base plate 5, the raceway on the end surface of the first end of the second tile structure 7
  • At least one of the raceway on one side of the second base plate 5 and the raceway on the end surface of the second end of the second shoe structure 7 is a grooved raceway.
  • the rolling element corresponding to the position corresponds to the raceway.
  • the slot size of the grooved raceway can be determined according to the size of the ball.
  • the number of balls can be matched with the corresponding raceway.
  • the raceway embedded on the side edge of the first end of the first transition structure 9 and the end surface of the first end of the first shoe structure 1 The number of balls (first rolling element 101) between the raceways can be based on the length of the raceways of the first end of the first transition structure 9 and the first end of the first shoe structure 1. The length of the raceway of the end face is determined.
  • the number of balls (second rolling element 102) inserted between the raceway on the side edge of the first end of the second transition structure 11 and the raceway on the end surface of the second end of the first shoe structure 1 It can be determined according to the length of the raceway of the side edge of the first end of the second transition structure 11 and the length of the raceway of the end surface of the second end of the first tile structure 1.
  • the number of balls (third rolling element 41) inserted between the raceway on one side of the first base plate 5 and the raceway on the end surface of the first end of the second shoe structure 7 can be determined according to the first The length of the raceway on one side of the base plate 5 and the length of the raceway on the first end of the second tile structure 7 are determined.
  • the number of balls (fourth rolling element 42) embedded between the raceway on one side of the second base plate 6 and the raceway on the end surface of the second end of the second shoe structure 7 can be determined according to the second The length of the raceway on one side of the base plate 6 and the length of the raceway on the end surface of the second end of the second tile structure 7 are determined.
  • the number of embedded balls in each raceway can be determined according to the standard that the length of the ball arrangement and the length of the raceway are in a certain ratio. The ratio can be one to two, one to one, etc., specifically, the balls can be filled up. Inset raceway.
  • the buckling of balls and groove-shaped raceways is used to realize the sliding connection between the components, which can make the manufacture simple and easy to install, and the simple structure can make the waist joint have strong impact resistance.
  • each component including the first transition structure 9, the second transition structure 11, the first tile structure 1, the first substrate 5, the second substrate 6, and the second tile structure 7) may be guide rails.
  • Each rolling element including the first rolling element 101, the second rolling element 102, the third rolling element 41, and the fourth rolling element 42) may have a wheel-shaped structure.
  • the first transition structure 9 and the second transition structure 11 can play a role of transition connection, and can connect components that swing in different degrees of freedom. If the first end of the first transition structure 9 and the first end of the second transition structure 11 are used to confine the first tile structure 1, it is necessary to fix the two transition structures in some way. In some embodiments, the first end of the first transition structure 9 and the first end of the second transition structure 11 may be fixedly connected by a support member.
  • the waist joint may also include at least one first support 2 which can connect the first end of the first transition structure 9 and the first end of the second transition structure 11.
  • the number of the first support 2 may be one or more, for example, two.
  • the first support 2 can be rod-shaped, elongated, or the like.
  • the first support 2 may be detachably connected to the first end of the first transition structure 9 and the first end of the second transition structure 11.
  • the first support 2 may be connected to the first end of the first transition structure 9 and the first end of the second transition structure 11 by screws or bolts.
  • the first end of the first transition structure 9 and the second end The first end of the transition structure 11 may be provided with corresponding screw holes, threads and the like.
  • the first support 2 can be snap-connected to the first end of the first transition structure 9 and the first end of the second transition structure 11.
  • the detachable connection mode can facilitate the installation of the first tile structure 1 and the like, thereby facilitating the installation of the waist joint of the humanoid robot.
  • the first support member 2 may be fixedly connected to the first end of the first transition structure 9 and the first end of the second transition structure 11. At this time, it can be installed along the swing direction of the first tile structure 1. Or disassemble the first tile structure.
  • the first substrate 5 and the second substrate 6 can directly or indirectly connect to some other part (the lower body or the upper body) of the humanoid robot.
  • the first substrate 5 and the second substrate 6 can be fixed in an appropriate manner.
  • the waist joint of the humanoid robot of the foregoing embodiments may further include at least one second support 3, and the second support 3 may connect the first substrate 5 and the second substrate 6.
  • the number of the second support 3 may be one or more, for example, two.
  • the second support 3 may be rod-shaped, elongated, or the like.
  • the second support 3 may be detachably connected to the first substrate 5 and the second substrate 6.
  • the second support 3 may connect the first substrate 5 and the second substrate 6 by screws or bolts.
  • the first substrate 5 and the second substrate 6 may be provided with corresponding screw holes, threads, and the like.
  • the second support 3 may connect the first substrate 5 and the second substrate 6 in a snap-fit manner.
  • the detachable connection mode can facilitate the installation of the second tile structure 7 and the like, thereby facilitating the installation of the waist joint of the humanoid robot.
  • the second support 3 may be fixedly connected to the first substrate 5 and the second substrate 6.
  • the waist joint of a humanoid robot of some specific embodiments may include a first tile structure 1 (waist swing skateboard), a first support 2 (support rod 1), and a second support rod 3 (support Rod 2), first rolling element 41 (ball 1), second rolling element 42 (ball 1), first base plate 5 (waist pitch left base plate), second base plate 6 (waist pitch right base plate), second tile structure 7 (waist pitching skateboard), waist base 8, first transition structure 9 (base plate after waist swing), third rolling element 101 (ball two), fourth rolling element 102 (ball two), second transition structure 11
  • Two raceways can be designed on the front and rear sides of the first tile structure 1, and the first tile structure 1 can be used for fixed connection with the upper body of the humanoid robot.
  • the first tile structure 1 can be used as a waist swing skateboard.
  • the waist swinging skateboard and the upper body of the humanoid robot can be fixedly connected as a whole, so that the rigidity and stability of the upper body of the humanoid robot can be improved.
  • the first support 2 can be one on the left and one on the left, and can be installed and fixed to the first transition structure 9 and the second transition structure 11 by screws.
  • the first support 2 may be a support rod. Through the connection of the support, it helps to improve the rigidity of the whole waist swinging substrate, and can reduce the shaking of the upper body during the movement of the robot.
  • the second support rods 3 may be one at the front and the rear, and are fixed to the first substrate 5 and the second substrate 6 by screws.
  • the second support rod 3 may be a support rod. Through the connection of the support rod, it is helpful to improve the overall rigidity of the waist and pitch base plate, and reduce the shaking of the upper body during exercise;
  • the first rolling element 41 and the second rolling element 42 are respectively arranged on the left and right sides of the second tile structure 7, and there may be two rows each.
  • the left and right sides of the second tile structure 7 can each be designed with two raceways.
  • the first rolling element 41 and the second rolling element 42 can be balls, and the balls are along the second tile structure 7 and the first base plate 5 and the second
  • the matching races of the base plate 6 are evenly distributed and arranged, and the number of balls in each row can be based on the length of the race.
  • the upper body of the humanoid robot can be supported by the coordinated installation of balls and raceways. Two rows of raceways and balls can be arranged on the left and right sides, which helps to improve the impact resistance of the humanoid robot. Rolling balls in the raceway can realize simulation. The pitching motion of the upper body of the human robot.
  • the first base plate 5 and the second base plate 6 can be installed and fixed on the left and right sides of the waist base 8 respectively, and the waist base 8 can be used for fixed connection with the lower body of the humanoid robot.
  • the first substrate 5 and the second substrate 6 can be used as a waist pitch substrate.
  • the waist pitch base plate is connected and fixed by the support rod to form a closed, and the waist base and the lower body of the humanoid robot are fixedly connected as a whole, which can improve the rigidity and stability of the waist joint of the humanoid robot.
  • the first transition structure 9 and the second transition structure 11 can be installed and fixed on the front and rear sides of the second tile structure 7 respectively.
  • the first transition structure 9 and the second transition structure 11 can be used as waist swing substrates.
  • the waist swing base plate is connected and fixed by the support rod to form a closed structure, forming a transition structure between waist pitch and waist swing, and can improve the rigidity and stability of the waist joint of the robot.
  • the third rolling element 101 and the fourth rolling element 102 can be respectively arranged on the front and rear sides of the first shoe structure 1, and can be distributed in two rows.
  • the third rolling element 101 and the fourth rolling element 102 can be balls, and the balls can be respectively along the
  • the raceways matching the first tile structure 1 with the first transition structure 9 and the second transition structure 11 are evenly distributed and arranged, and the number of balls in each row can be based on the length of the raceway.
  • the upper body of the humanoid robot can be supported by the coordinated installation of balls and raceways. Two rows of raceways and balls can be arranged on the front and rear sides to help improve the impact resistance of the humanoid robot. The balls roll in the raceways to realize the robot The swinging movement of the upper body.
  • the waist joint of the humanoid robot can be used as the rotation position of the waist joint of the humanoid robot.
  • the waist swing skateboard is connected and fixed to the upper body, and the raceways on the front and back sides of the waist swing skateboard are connected to each other through balls
  • the raceway of the waist swing base plate is installed in coordination, and the upper body is swung from side to side through the rolling of the ball;
  • the waist tilt slide plate is fixed to the waist swing base plate, and the raceways on the left and right sides of the waist tilt slide plate are installed in coordination with the raceway of the waist tilt base plate through the ball
  • the rolling of the balls realizes the front and back pitching of the upper body, thereby enabling various actions of the robot.
  • the waist joint of the humanoid robot in the embodiment of the present application can realize the pitching and swinging actions of the humanoid robot in a limited space, and can cooperate with the waist spin of the humanoid robot body, which is During the movement of the robot, the three-degree-of-freedom rotation of the waist of the robot can be realized, and the structure of the tile buckle (swing tile structure) has high impact resistance, and can still work normally under the impact of the humanoid robot jumping and walking. Moreover, the manufacturing and installation accuracy requirements are not high, and the weight of the entire joint can be greatly reduced by optimizing the structural space of the waist joint, thereby improving the motion performance and environmental adaptability of the humanoid robot.
  • the waist joint of the humanoid robot of this embodiment can overcome the existing three-degree-of-freedom rotating parallel mechanism.
  • the spherical mechanism requires that each axis of rotation intersect at a point in space, which poses higher requirements for manufacturing and installation accuracy.
  • Overcome the problems of 3-RUU, argos and other mechanisms such as relatively complex structure, high manufacturing cost, heavy weight, and weak impact resistance.
  • Fig. 4 is a schematic structural diagram of a humanoid robot according to an embodiment of the present application.
  • the humanoid robot of some embodiments may include: a bionic robot upper body 100, a bionic robot lower body 200, and a humanoid robot waist joint 300.
  • the specific implementation of the waist joint 300 of the humanoid robot can be known according to the description of the foregoing embodiment, so the repetition is not repeated here.
  • the specific structures of the upper body 100 of the bionic robot and the lower body 200 of the bionic robot are not limited, as long as they can be connected to the waist joint 300 of the humanoid robot.
  • the first tile structure 1, the first substrate 5, the second substrate 6 and other components are provided, wherein the upper body 100 of the bionic robot It can be connected to the first tile structure 1, and the lower body 200 of the bionic robot can be connected to the first substrate 5 and the second substrate 6.
  • the lower body 200 of the bionic robot and the first substrate 5 and the second substrate 6 may be directly connected or indirectly connected.
  • a waist base 8 is also provided in the waist joint of a humanoid robot
  • the bionic robot The lower body 200 can be connected to the first substrate 5 and the second substrate 6 via the waist base 8.
  • the first substrate 5 and the second substrate 6 may be fixed to the waist base 8, and the waist base 8 is used to connect the lower body 200 of the humanoid robot.
  • the stability and impact resistance of the humanoid robot can be improved.
  • the waist joint of the humanoid robot and the humanoid robot in the embodiments of the present application have high impact resistance due to the swing tile structure, and do not require high manufacturing and installation accuracy.

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Abstract

一种仿人机器人腰关节（300）和仿人机器人，该腰关节包括：第一瓦结构（1）、第二瓦结构（7）、第一过渡结构（9）、第二过渡结构（11）、第一基板（5）和第二基板（6）。第一过渡结构的第一端与第一瓦结构的第一端滑动连接，第二过渡结构的第一端与第一瓦结构的第二端滑动连接，以限定第一瓦结构沿第一弧线摆动；第一基板的一侧面与第二瓦结构的第一端滑动连接，第二基板的一侧面与第二瓦结构的第二端滑动连接，以限定第二瓦结构沿第二弧线摆动；第一过渡结构的第二端与第二瓦结构的第三端固定连接，第二过渡结构的第二端与第二瓦结构的第四端固定连接。该机器人具有较高的抗冲击能力，且使其对制造和安装精度要求都不高。

Description

仿人机器人腰关节和仿人机器人 技术领域
本申请涉及机器人技术领域，尤其涉及一种仿人机器人腰关节和仿人机器人。
背景技术
仿人机器人是机器人技术的先进发展阶段。它体现了机器人技术在机构学、运动学和动力学等诸多方面的研究情况和发展水平。仿人机器人具有越障能力强、移动方向可全方位调整、地形适应能力强、运动灵活性好及承载能力高的优点，所以，它是复杂作业环境下的最佳选择，具有广阔的应用前景。
为了提高仿人机器人的运动稳定性，让其可以像人类一样能够协调地完成各种不同动作，需要在仿人机器人中加入腰关节。腰关节既要使得仿人机器人能够灵活旋转，又要在仿人机器人发生运动碰撞时能够抗冲击，只有同时满足这两点，才能实现仿人机器人的仿人运动性能。
现有的仿人机器人腰关节通常是采用串联结构，该串联结构存在结构复杂、惯性大等不足。采用三自由度转动并联机构可以克服该串联结构的不足。但是，该三自由度转动并联机构对制造和安装的精度要求很高，会造成成本高、抗冲击性不强等问题。
发明内容
本申请提供了一种仿人机器人腰关节和仿人机器人，以解决现有技术存在的一个或多个问题。
为了达到上述目的，本申请采用以下方案实现：
根据本申请实施例的一个方面，提供了一种仿人机器人腰关节，其包括：
第一瓦结构，包括在第一方向上沿第一弧线延伸的第一端和第二端；
第二瓦结构，包括在垂直于所述第一方向的第二方向上沿第二弧线延伸的第一端和第二端，以及相对设置的第三端和第四端；所述第一弧线所在平面与所述第二弧线所在平面相互垂直；
第一过渡结构，包括在所述第一方向上延伸的第一端，以及与该第一端相对设置的第二端；
第二过渡结构，包括在所述第一方向上延伸的第一端，以及与该第一端相对设置的第二端；
第一基板和第二基板，均在所述第二方向上延伸；
其中，所述第一过渡结构的第一端与所述第一瓦结构的第一端滑动连接，所述第二过渡结构的第一端与所述第一瓦结构的第二端滑动连接，以限定所述第一瓦结构沿所述第一弧线摆动；所述第一基板的一侧面与所述第二瓦结构的第一端滑动连接，所述第二基板的一侧面与所述第二瓦结构的第二端滑动连接，以限定所述第二瓦结构沿所述第二弧线摆动；所述第一过渡结构的第二端与所述第二瓦结构的第三端固定连接，所述第二过渡结构的第二端与所述第二瓦结构的第四端固定连接。
根据本申请实施例的另一个方面，提供了一种仿人机器人，其包括：仿生机器人上半身、仿生机器人下半身及上述实施例所述的仿人机器人腰关节；所述仿生机器人上半身与所述第一瓦结构连接，所述仿生机器人下半身与所述第一基板和所述第二基板连接。
本申请实施例的仿人机器人腰关节和仿人机器人，由于采用摆动瓦结构，所以具有较高的抗冲击能力，且对制造和安装精度要求都不高。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1是本申请一实施例的仿人机器人腰关节的俯视结构示意图；
图2是图1沿A-A线的剖面示意图；
图3是图1沿B-B线的剖面示意图；
图4是本申请一实施例的仿人机器人的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚明白，下面结合附图对本申请实施例做进一步详细说明。在此，本申请的示意性实施例及其说明用于解释本申请，但并不作为对本申请的限定。
图1是本申请一实施例的仿人机器人腰关节的俯视结构示意图。图2是图1沿A-A线的剖面示意图。图3是图1沿B-B线的剖面示意图。为说明之便，图1至图3示出了本申请一具体实施例的仿人机器人腰关节的各角度的示意图，并不限定本申请的具体实施方式。
参见图1至图3，在一些实施例中，仿人机器人腰关节可包括第一瓦结构1、第二瓦结构7、第一过渡结构9、第二过渡结构11、第一基板5、第二基板6等。下面将对该些实施例的仿人机器人腰关节的各组成部分进行具体说明。
第一瓦结构1包括在第一方向x上沿第一弧线延伸的第一端和第二端，如图1中第一瓦结构1的上侧和下侧。该第一弧线可指向某一侧凸起的曲线，例如，椭圆弧线、圆弧线、指数曲线的弧线等，则第一瓦结构1至少在其第一端和第二端的部分向一侧凸起。在一些情况下，第一瓦结构1的第一端和第二端之间的面可向该第一弧线一样凸起，如图3所示，第一瓦结构1的第一端和第二端之间的面均向上凸起。该第一弧线的曲率或曲率变化情况可根据仿人机器人的左右摆动或俯仰的幅度、程度或角度确定。
第二瓦结构7包括在垂直于所述第一方向x的第二方向y上沿第二弧线延伸的第一端和第二端，以及相对设置的第三端和第四端。其中，该第二瓦结构7的第一端和第二端可如图3中第二瓦结构7的左侧和右侧。该第二瓦结构7的第三端和第四端相对设置可指其二者不是相邻的两侧，可如图2中第二瓦结构7的左侧和右侧，可沿第一方向x延伸。类似于上述第一弧线，该第二弧线可指向某一侧凸起的曲线，例如，椭圆弧线、圆弧线、指数曲线的弧线等，则第二瓦结构7至少在其第一端和第二端的部分向一侧凸起。在一些情况下，第二瓦结构7的第一端、第二端、第三端及第四端围成的面可向该第二弧线一样凸起，如图2所示，第二瓦结构7的第一端、第二端、第三端及第四端围成的面均向下凸起。该第二弧线的曲率或曲率变化情况可根据仿人机器人的左右摆动或俯仰的幅度、程度或角度确定。
上述第一弧线所在平面x-z与上述第二弧线所在平面y-z相互垂直，以此，可便于第一瓦结构1和第二瓦结构7在不同自由度方向上运动。此外，上述第一弧线的曲率与上述第二弧线的曲率可以相同或不同，具体可以根据其是仿生机器人的左右摆动方向还是俯仰方向，以及仿生机器人的重心移动范围等来确定。
第一过渡结构9包括在所述第一方向x上延伸的第一端，以及与该第一端相对设置的第二端。第一过渡结构9的第一端限定在所述第一方向x上延伸，以与第一瓦结构1的第一端相配合，例如是沿直线方向延伸。第一过渡结构9的第二端的延伸方向不做限 定，例如，可以同样是在所述第一方向x上延伸，可以是沿直线或曲线延伸，能与第二瓦结构7的第三端相配合即可。第一过渡结构9的第一端与第二端相对设置可指该两端可以是不相邻的两侧，例如，第一过渡结构9的第一端和第二端如图2中第一过渡结构9的上侧和下侧。
第二过渡结构11包括在所述第一方向x上延伸的第一端，以及与该第一端相对设置的第二端。第二过渡结构11的第一端限定在所述第一方向x上延伸，以与第一瓦结构1的第二端相配合，例如是沿直线方向延伸。第二过渡结构11的第二端的延伸方向不做限定，例如，可以同样是在所述第一方向x上延伸，可以是沿直线或曲线延伸，能与第二瓦结构7的第四端相配合即可。第二过渡结构11的第一端与第二端相对设置可指该两端可以是不相邻的两侧，例如，第二过渡结构11的第一端和第二端如图2中第二过渡结构11的上侧和下侧。
第一基板5和第二基板6均在所述第二方向y上延伸。第一基板5和第二基板6在所述第二方向y上延伸一定长度，且具有一定宽度。第一基板5和第二基板6可以是在所述第二方向y上沿上述第二弧线延伸；或者，虽然没有沿上述第二弧线延伸，但在所述第二方向y上延伸一定长度之后，第一基板5和第二基板6的至少一部分可以形成上述第二弧线的形状，例如，第一基板5和第二基板6均在所述第二方向y上沿直线延伸，且具有足够大的宽度，能够使得在第一基板5或第二基板6上画出上述第二弧线的形状。
其中，所述第一过渡结构9的第一端与所述第一瓦结构1的第一端滑动连接，所述第二过渡结构11的第一端与所述第一瓦结构1的第二端滑动连接，以限定所述第一瓦结构1沿所述第一弧线摆动。两者滑动连接可指该两者连接在一起，且可以相对运动，例如，可以通过轨道和滑动件相配合来实现滑动，可以通过所述第一过渡结构9和所述第二过渡结构11夹设在第一瓦结构1两侧，来实现连接或限位的作用。
所述第一基板5的一侧面与所述第二瓦结构7的第一端滑动连接，所述第二基板6的一侧面与所述第二瓦结构7的第二端滑动连接，以限定所述第二瓦结构7沿所述第二弧线摆动。所述第一基板5的一侧面可以是其中一个侧面或其中一个端面，所述第二基板6的一侧面可以是其中一个侧面或其中一个端面，如图3所示，所述第一基板5的一侧面可以是第一基板5的右侧，所述第二基板6的一侧面可以是第二基板6的左侧。与第二瓦结构7滑动连接时，第一基板5或第二基板6所采用的部位不同，则所采用的具体的滑动连接的方式可有所不同，例如，所述第一基板5的侧面和所述第二基板6的侧 面通过轨道与滑动件相配合的方式夹设在第二瓦结构7的两侧，从而可以同时起到可相对运动和限定性连接的作用。另外，第一基板5和第二基板6可以直接或间接地连接至仿人机器人的其他部分，例如，仿人机器人上半身或仿人机器人下半身。
所述第一过渡结构9的第二端与所述第二瓦结构7的第三端固定连接，所述第二过渡结构11的第二端与所述第二瓦结构11的第四端固定连接。具体地可以通过一体成型或螺栓连接的方式进行固定连接。通过固定连接可以将第一瓦结构1的摆动范围更好地限定起来，从而将仿人机器人上半身和仿人机器人下半身连接起来，提高仿人机器人腰关节的抗冲击能力。
本些实施例中，由于采用了第一瓦结构和第二瓦结构，通过第一过渡结构和第二过渡结构分别与第一瓦结构的两端滑动连接，可使第一瓦结构沿第一弧线摆动，通过第一基板和第二基板分别与第二瓦结构的两端滑动连接，可使第二瓦结构沿第二弧线摆动，而且，由于第一弧线所在平面与第二弧线所在平面相互垂直，所以本申请实施例的腰关节能够使仿生机器人做出左右摆动和俯仰的动作。此外，由于本申请实施例的腰关节采用的瓦结构、基板等组成结构，所以对制造和安装的精度要求不高，且具有较强的抗冲击性。
上述实施例的仿人机器人腰关节主要是揭示了通过简单的方式实现腰关节仿照人体动作实现摆动和俯仰的核心构思，在将腰关节应用于仿人机器人时，具体地的连接方式可以视具体情况来确定。例如，仿人机器人腰关节中的第一瓦结构1可用于连接仿人机器人上半身，第一基板5和第二基板6可用于连接仿人机器人下半身，上述第一弧线可以向该仿人机器人上半身凸起，上述第二弧线可以向所述仿人机器人下半身凸起。如此一来，仿人机器人可以具有较强的抗冲击性。
更具体实施例中，参见图2和图3，可以在仿人机器人腰关节中设置腰部底座8，所述第一基板5和所述第二基板6固定于所述腰部底座8，所述腰部底座8用于连接所述仿人机器人下半身，以此可使固定更牢固，安装更简便。
在其他实施例中，仿人机器人腰关节中的第一瓦结构1可用于连接仿人机器人下半身，第一基板5和第二基板6可用于连接仿人机器人上半身，上述第一弧线可以向该仿人机器人下半身凸起，上述第二弧线可以向所述仿人机器人上半身凸起，即，连接方式上下颠倒过来，在适当设计各部件的连接方式、尺寸等的情况下，可以达到类似的抗冲击性强度。
上述各实施例的仿生机器人腰关节中，在具体实施时，可以采用多种不同方式实现，例如，可以采用多种方式实现不同部件之间的滑动连接。下面将以举例的方式说明本申请的具体实施例。
首先，对滑动连接的连接位置进行举例说明。
在一些实施例中，再参见图2，可以是所述第一过渡结构9的第一端的侧部边缘与所述第一瓦结构1的第一端的端面滑动连接，可以是所述第二过渡结构11的第一端的侧部边缘与所述第一瓦结构1的第二端的端面滑动连接。其中，所述第一过渡结构9的第一端的侧部边缘和所述第二过渡结构11的第一端的侧部边缘可以均为内侧的侧部边缘；或者，所述第一过渡结构9的第一端的侧部边缘和所述第二过渡结构11的第一端的侧部边缘可以是均为外侧的侧部边缘，在此情况下，所述第一瓦结构1的第一端的端面和所述第二瓦结构7的第二端的端面可以相应地为朝向内侧的端面，例如，通过U型弯曲使该两端面朝向内侧。
例如，所述第一过渡结构9的第一端的侧部边缘可以是图2中所示第一过渡结构9的右侧的上部边缘，所述第二过渡结构11的第一端的侧部边缘可以是图2中所示第二过渡结构11的左侧的上部边缘，第一瓦结构1的第一端的端面和第二端的端面可以分别是图2中所示第一瓦结构1的左端的端面和右端的端面(法线方向在第二方向y上)。如此一来，可以便于采用简单的方式对第一过渡结构9和第二过渡结构11进行固定，对第一瓦结构1进行限位。
再参见图3，可以是所述第一基板5的一侧面与所述第二瓦结构7的第一端的端面滑动连接，可以是所述第二基板6的一侧面与所述第二瓦结构7的第二端的端面滑动连接。例如，第一基板5的一侧面可以是图3中所示第一基板5的右侧，第二基板6的一侧面可以是图3中所示第二基板6的左侧。如此一来，可以便于采用简单的方式对第一基板5和第二基板6进行固定，对第二瓦结构7进行限位。
在其他实施例中，可以是所述第一过渡结构9的第一端的端面与所述第一瓦结构1的第一端的侧部边缘滑动连接，可以是所述第二过渡结构11的第一端的端面与所述第一瓦结构1的第二端的侧部边缘滑动连接，在此情况下，可以采用适当的结构对所述第一瓦结构1进行固定；可以是所述第一基板5的一端面与所述第二瓦结构7的第一端的侧部边缘滑动连接，可以是所述第二基板6的一端面与所述第二瓦结构7的第二端的侧部边缘滑动连接，在此情况下，可以采用适当的结构对所述第二瓦结构7进行固定。
接下来，对滑动连接的连接方式进行举例说明。
在一些实施例中，参见图2，上述各实施例的仿人机器人腰关节还可包括至少一个第一滚动件101和至少一个第二滚动件102；参见图3，上述各实施例的仿人机器人腰关节还可包括至少一个第三滚动件41和至少一个第四滚动件42。
再参见图2，可以是所述第一过渡结构9的第一端的侧部边缘包含至少一个滚道，可以是所述第一瓦结构1的第一端的端面包含至少一个滚道，例如，第一过渡结构9的滚道和第一瓦结构1的滚道可沿垂直图2所示纸面的方向，即，第一方向x。可以是所述第二过渡结构11的第一端的侧部边缘包含至少一个滚道，可以是所述第二瓦结构7的第二端的端面包含至少一个滚道。
第一滚动件101和相应的滚道相互配合，例如，所述第一滚动件101可以嵌扣于所述第一过渡结构9的第一端的侧部边缘的滚道和所述第一瓦结构1的第一端的端面的滚道之间。第二滚动件102和相应的滚道相互配合，例如，所述第二滚动件102可以嵌扣于所述第二过渡结构11的第一端的侧部边缘的滚道和所述第一瓦结构1的第二端的端面的滚道之间。
再参见图3，可以是所述第一基板5的一侧面包含至少一个滚道，可以是所述第二瓦结构7的第一端的端面包含至少一个滚道，例如，第一基板5的侧面(右侧面)的滚道和第二瓦结构7的第一端的端面的滚道可沿垂直图3所示纸面的方向，即，第一方向y。可以是所述第二基板6的一侧面包含至少一个滚道，可以是所述第二瓦结构7的第二端的端面包含至少一个滚道，例如，第二基板6的侧面(左侧面)的滚道和第二瓦结构7的第二端的端面的滚道可沿垂直图3所示纸面的方向，即，第一方向y。
第三滚动件41和相应的滚道相互配合，例如，所述第三滚动件41嵌扣于所述第一基板5的一侧面的滚道和所述第二瓦结构7的第一端的端面的滚道之间。第四滚动件42和相应的滚道相互配合，例如，所述第四滚动件42嵌扣于所述第二基板6的一侧面的滚道和所述第二瓦结构7的第二端的端面的滚道之间。
各部件(包括第一过渡结构9、第二过渡结构11、第一瓦结构1、第一基板5、第二基板6、第二瓦结构7)的滚道数量可以根据需要设置，例如，可以是一条、两条、三条等。滚动件同时嵌扣的滚道所在部件的数量可以一致，例如，第一过渡结构9的滚道的数量可以与第一瓦结构1的第一端的端面的滚道的数量相一致，第二过渡结构11的滚道的数量可以与第一瓦结构1的第二端的端面的滚道的数量相一致，第一基板5的滚道的数量可以与第二瓦结构7的第一端的端面的滚道的数量相一致，第二基板6的滚道的数量可以与第二瓦结构7的第二端的端面的滚道的数量相一致。
在一些实施例中，所述第一滚动件101、所述第二滚动件102、所述第三滚动件41及所述第四滚动件42中的至少一个可以为滚珠。所述第一过渡结构9的第一端的侧部边缘的滚道、所述第一瓦结构1的第一端的端面的滚道、所述第二过渡结构11的第一端的侧部边缘的滚道、所述第一瓦结构1的第二端的端面的滚道、所述第一基板5的一侧面的滚道、所述第二瓦结构7的第一端的端面的滚道、所述第二基板5的一侧面的滚道、及所述第二瓦结构7的第二端的端面的滚道中的至少一个为槽型滚道。位置对应的滚动件和滚道相对应。槽型滚道的槽口尺寸可以根据滚珠的尺寸来确定。
滚珠的数量与相应滚道可以相配合，举例来说，嵌扣于所述第一过渡结构9的第一端的侧部边缘的滚道和所述第一瓦结构1的第一端的端面的滚道之间的滚珠(第一滚动件101)的数量可根据所述第一过渡结构9的第一端的侧部边缘的滚道的长度和所述第一瓦结构1的第一端的端面的滚道的长度确定。嵌扣于所述第二过渡结构11的第一端的侧部边缘的滚道和所述第一瓦结构1的第二端的端面的滚道之间的滚珠(第二滚动件102)的数量可根据所述第二过渡结构11的第一端的侧部边缘的滚道的长度和所述第一瓦结构1的第二端的端面的滚道的长度确定。嵌扣于所述第一基板5的一侧面的滚道和所述第二瓦结构7的第一端的端面的滚道之间的滚珠(第三滚动件41)的数量可根据所述第一基板5的一侧面的滚道的长度和所述第二瓦结构7的第一端的端面的滚道的长度确定。嵌扣于所述第二基板6的一侧面的滚道和所述第二瓦结构7的第二端的端面的滚道之间的滚珠(第四滚动件42)的数量可根据所述第二基板6的一侧面的滚道的长度和所述第二瓦结构7的第二端的端面的滚道的长度确定。例如，可以按滚珠排列的长度与滚道的长度呈一定比例的标准确定每个滚道中嵌扣滚珠的数量，比例可以为一比二、一比一等，具体地，可以使滚珠占满其嵌扣的滚道。
本些实施例中，采用滚珠和槽型滚道相扣合来实现部件之间的滑动连接，能够使得制造简单，易于安装，而且简单的构造可以使得腰关节具有较强的抗冲击性。
在其他实施例中，各部件(包括第一过渡结构9、第二过渡结构11、第一瓦结构1、第一基板5、第二基板6、第二瓦结构7)的滚道可以是导轨，各滚动件(包括第一滚动件101、第二滚动件102、第三滚动件41、第四滚动件42)可以是轮型的结构。
进一步地，对部件中的固定连接关系进行举例说明。
在仿人机器人腰关节中，第一过渡结构9和第二过渡结构11可以起到过渡连接的作用，可以连接在不同自由度上摆动的部件。若要利用第一过渡结构9的第一端和第二过渡结构11的第一端将第一瓦结构1限定起来，需要采用一些方式将两个过渡结构固定起 来。在一些实施例中，可以利用支撑件将第一过渡结构9的第一端和第二过渡结构11的第一端固定连接起来，具体而言，参见图1，上述各实施例的仿人机器人腰关节还可包括至少一个第一支撑件2，所述第一支撑件2可连接所述第一过渡结构9的第一端和所述第二过渡结构11的第一端。该第一支撑件2的数量可以是一个或多个，例如，为两个。该第一支撑件2可以为杆型、长条形等。
在一些实施例中，所述第一支撑件2可以是可拆卸地连接所述第一过渡结构9的第一端和所述第二过渡结构11的第一端。例如，该第一支撑件2可以通过螺钉或螺栓连接于第一过渡结构9的第一端和第二过渡结构11的第一端，此时，第一过渡结构9的第一端和第二过渡结构11的第一端可以设置有相应的螺孔、螺纹等。或者，该第一支撑件2可以卡扣连接于第一过渡结构9的第一端和第二过渡结构11的第一端。本实施例中，可拆卸的连接方式能够便于第一瓦结构1等安装，从而便于仿人机器人腰关节安装。在其他实施例中，该第一支撑件2可以固定连接于第一过渡结构9的第一端和第二过渡结构11的第一端，此时，可以沿第一瓦结构1摆动的方向安装或拆卸第一瓦结构。
在仿人机器人腰关节中，第一基板5和第二基板6可以起到直接或间接连接仿人机器人其他某一部分(下半身或上半身)的作用。可以采用适当的方式对第一基板5和第二基板6进行固定。例如，参见图1，上述各实施例的仿人机器人腰关节还可包括至少一个第二支撑件3，所述第二支撑件3可连接所述第一基板5和所述第二基板6。该第二支撑件3的数量可以是一个或多个，例如，为两个。该第二支撑件3可以为杆型、长条形等。
在一些实施例中，所述第二支撑件3可以是可拆卸地连接所述第一基板5和所述第二基板6。例如，第二支撑件3可以通过螺钉或螺栓连接第一基板5和第二基板6，此时，第一基板5和第二基板6可以设置有相应的螺孔、螺纹等。或者，第二支撑件3可以通过卡扣的方式连接第一基板5和第二基板6。本实施例中，可拆卸的连接方式能够便于第二瓦结构7等安装，从而便于仿人机器人腰关节安装。在其他实施例中，第二支撑件3可以固定地与接第一基板5和第二基板6连接。
为使本领域技术人员更好地了解本申请，下面将以具体实施例说明本申请的实施方式。
如图1至图3所示，一些具体实施例的仿人机器人腰关节可包括第一瓦结构1(腰摆动滑板)、第一支撑件2(支撑杆一)、第二支撑杆3(支撑杆二)、第一滚动件41(滚珠一)、第二滚动件42(滚珠一)、第一基板5(腰俯仰左基板)、第二基板6(腰 俯仰右基板)、第二瓦结构7(腰俯仰滑板)、腰部底座8，第一过渡结构9(腰摆动后基板)，第三滚动件101(滚珠二)、第四滚动件102(滚珠二)、第二过渡结构11
(腰摆动前基板)等。
第一瓦结构1前后两侧可各设计有两条滚道，第一瓦结构1可用于与仿人机器人上半身固定连接。第一瓦结构1可以作为腰摆动滑板。腰摆动滑板与仿人机器人上半身可固定连接为一体，以此，能够提高仿人机器人上半身的刚性和稳定性。
第一支撑件2可以是左右各一个，可通过螺钉与第一过渡结构9和第二过渡结构11安装固定。第一支撑件2可以为支撑杆。通过支撑件的连接，有助于提升腰摆动基板整体的刚性，在机器人运动过程中能够降低上半身的晃动。
第二支撑杆3可以是前后各一个，通过螺钉与第一基板5和第二基板6安装固定。第二支撑杆3可以为支撑杆。通过支撑杆的连接，有助于提升腰俯仰基板整体的刚性，在运动过程中降低上身的晃动；
第一滚动件41和第二滚动件42分别设置在第二瓦结构7的左右两侧，可各有两排。第二瓦结构7的左右两侧可各设计有两条滚道，第一滚动件41和第二滚动件42可以为滚珠，滚珠分别沿着第二瓦结构7与第一基板5、第二基板6相配合的滚道均匀分布排列，每排滚珠的数量可以以滚道长度为准。仿人机器人上半身可以通过滚珠与滚道的配合安装来进行支撑，左右两侧可各布置两排滚道和滚珠，有助于提升仿人机器人的抗冲击能力，滚珠在滚道内滚动可实现仿人机器人上半身的俯仰动作。
第一基板5、第二基板6可分别在腰部底座8左右两侧安装固定，腰部底座8可用于与仿人机器人下半身固定连接。第一基板5、第二基板6可以作为腰俯仰基板。腰俯仰基板通过支撑杆的连接固定形成闭合，腰部底座与仿人机器人下半身固定连接为一体，能够提高仿人机器人腰关节的刚性和稳定性。
第一过渡结构9、第二过渡结构11可分别在第二瓦结构7前后两侧安装固定。第一过渡结构9、第二过渡结构11可以作为腰摆动基板。腰摆动基板通过支撑杆的连接固定形成闭合，组成了腰俯仰和腰摆动的过渡结构，能够提高机器人腰关节的刚性和稳定性。
第三滚动件101和第四滚动件102可分别设置在第一瓦结构1的前后两侧，可各分布两排，第三滚动件101和第四滚动件102可以为滚珠，滚珠可分别沿着第一瓦结构1与第一过渡结构9、第二过渡结构11相配合的滚道均匀分布排列，每排滚珠的数量可以以滚道长度为准。仿人机器人上半身可通过滚珠与滚道的配合安装来进行支撑，前后两 侧可各布置两排滚道和滚珠，有助于提升仿人机器人的抗冲击能力，滚珠在滚道内滚动实现了机器人上身的摆动动作。
本实施例中，仿人机器人腰关节能够作为仿人机器人腰关节的旋转位置，当仿人机器人在运动过程中，腰摆动滑板与上半身连接固定，腰摆动滑板前后两侧的滚道通过滚珠与腰摆动基板的滚道配合安装，通过滚珠的滚动实现上半身的左右摆动；腰俯仰滑板与腰摆动基板固定，腰俯仰滑板左右两侧的滚道通过滚珠与腰俯仰基板的滚道配合安装，通过滚珠的滚动实现上半身的前后俯仰，从而能够实现机器人的各种动作。由于巧妙地采用了瓦扣合的结构，本申请实施例的仿人机器人腰关节能够在有限的空间内实现仿人机器人的俯仰和摆动动作，能够配合仿人机器人本体腰自旋，在仿人机器人运动过程中能够实现机器人腰部三自由度的旋转动作，并且该瓦扣合(摆动瓦结构)的结构具有较高的抗冲击能力，在仿人机器人跳跃和行走的冲击下仍能正常工作，且其制造和安装精度要求都不高，还能通过优化腰关节的结构空间大大减小整个关节的重量，从而提高仿人机器人的运动性能和环境适应能力。本实施例的仿人机器人腰关节能够克服现有的三自由度转动并联机构，如球面机构要求每个转动轴线均汇交于空间一点，对制造和安装精度提出更高要求的问题，还能克服3-RUU、argos等机构结构相对复杂、制造成本较高、重量大、抗冲击性不强的问题。
此外，本申请实施例还提供一种仿人机器人。图4是本申请一实施例的仿人机器人的结构示意图。参见图4，一些实施例的仿人机器人可包括：仿生机器人上半身100、仿生机器人下半身200及仿人机器人腰关节300。其中，仿人机器人腰关节300的具体实施方式可以根据上述实施例的描述得知，故重复之处不再赘述。其中的仿生机器人上半身100和仿生机器人下半身200的具体结构不做限定，只要能与仿人机器人腰关节300连接即可。
在本申请各实施例的仿人机器人腰关节中，参见图1至图3，设置有上述第一瓦结构1、第一基板5、第二基板6等部件，其中，所述仿生机器人上半身100可与所述第一瓦结构1连接，所述仿生机器人下半身200可与所述第一基板5和所述第二基板6连接。具体而言，所述仿生机器人下半身200与所述第一基板5和所述第二基板6可以是直接连接或间接连接，例如，仿人机器人腰关节中还设置有腰部底座8，则仿生机器人下半身200可经由腰部底座8与所述第一基板5和所述第二基板6连接。具体而言，可以是所述第一基板5和所述第二基板6固定于所述腰部底座8，所述腰部底座8用于连接所述仿人机器人下半身200。
本实施例中，通过仿生机器人上半身100与第一瓦结构1连接，第一基板5和第二基板6与仿生机器人下半身200，能够提高仿人机器人的稳定性和抗冲击性。
综上所述，本申请实施例的仿人机器人腰关节和仿人机器人，由于采用摆动瓦结构，所以具有较高的抗冲击能力，且对制造和安装精度要求都不高。
在本说明书的描述中，参考术语“一个实施例”、“一个具体实施例”、“一些实施例”、“例如”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。各实施例中涉及的步骤顺序用于示意性说明本申请的实施，其中的步骤顺序不作限定，可根据需要作适当调整。
以上所述的具体实施例，对本申请的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本申请的具体实施例而已，并不用于限定本申请的保护范围，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种仿人机器人腰关节，其特征在于，包括：
    第一瓦结构，包括在第一方向上沿第一弧线延伸的第一端和第二端；
    第二瓦结构，包括在垂直于所述第一方向的第二方向上沿第二弧线延伸的第一端和第二端，以及相对设置的第三端和第四端；所述第一弧线所在平面与所述第二弧线所在平面相互垂直；
    第一过渡结构，包括在所述第一方向上延伸的第一端，以及与该第一端相对设置的第二端；
    第二过渡结构，包括在所述第一方向上延伸的第一端，以及与该第一端相对设置的第二端；
    第一基板和第二基板，均在所述第二方向上延伸；
    其中，所述第一过渡结构的第一端与所述第一瓦结构的第一端滑动连接，所述第二过渡结构的第一端与所述第一瓦结构的第二端滑动连接，以限定所述第一瓦结构沿所述第一弧线摆动；所述第一基板的一侧面与所述第二瓦结构的第一端滑动连接，所述第二基板的一侧面与所述第二瓦结构的第二端滑动连接，以限定所述第二瓦结构沿所述第二弧线摆动；所述第一过渡结构的第二端与所述第二瓦结构的第三端固定连接，所述第二过渡结构的第二端与所述第二瓦结构的第四端固定连接。
  2. 如权利要求1所述的仿人机器人腰关节，其特征在于，所述第一过渡结构的第一端的侧部边缘与所述第一瓦结构的第一端的端面滑动连接，所述第二过渡结构的第一端的侧部边缘与所述第一瓦结构的第二端的端面滑动连接；所述第一基板的一侧面与所述第二瓦结构的第一端的端面滑动连接，所述第二基板的一侧面与所述第二瓦结构的第二端的端面滑动连接。
  3. 如权利要求2所述的仿人机器人腰关节，其特征在于，还包括：至少一个第一滚动件、至少一个第二滚动件、至少一个第三滚动件及至少一个第四滚动件；
    所述第一过渡结构的第一端的侧部边缘包含至少一个滚道；所述第一瓦结构的第一端的端面包含至少一个滚道；所述第二过渡结构的第一端的侧部边缘包含至少一个滚道；所述第二瓦结构的第二端的端面包含至少一个滚道；
    所述第一滚动件嵌扣于所述第一过渡结构的第一端的侧部边缘的滚道和所述第一瓦结构的第一端的端面的滚道之间；所述第二滚动件嵌扣于所述第二过渡结构的第一端的侧部边缘的滚道和所述第一瓦结构的第二端的端面的滚道之间；
    所述第一基板的一侧面包含至少一个滚道；所述第二瓦结构的第一端的端面包含至少一个滚道；所述第二基板的一侧面包含至少一个滚道；所述第二瓦结构的第二端的端面包含至少一个滚道；
    所述第三滚动件嵌扣于所述第一基板的一侧面的滚道和所述第二瓦结构的第一端的端面的滚道之间；所述第四滚动件嵌扣于所述第二基板的一侧面的滚道和所述第二瓦结构的第二端的端面的滚道之间。
  4. 如权利要求3所述的仿人机器人腰关节，其特征在于，所述第一滚动件、所述第二滚动件、所述第三滚动件及所述第四滚动件为滚珠；
    所述第一过渡结构的第一端的侧部边缘的滚道、所述第一瓦结构的第一端的端面的滚道、所述第二过渡结构的第一端的侧部边缘的滚道、所述第一瓦结构的第二端的端面的滚道、所述第一基板的一侧面的滚道、所述第二瓦结构的第一端的端面的滚道、所述第二基板的一侧面的滚道、及所述第二瓦结构的第二端的端面的滚道均为槽型滚道。
  5. 如权利要求4所述的仿人机器人腰关节，其特征在于，
    嵌扣于所述第一过渡结构的第一端的侧部边缘的滚道和所述第一瓦结构的第一端的端面的滚道之间的滚珠的数量根据所述第一过渡结构的第一端的侧部边缘的滚道的长度和所述第一瓦结构的第一端的端面的滚道的长度确定；
    嵌扣于所述第二过渡结构的第一端的侧部边缘的滚道和所述第一瓦结构的第二端的端面的滚道之间的滚珠的数量根据所述第二过渡结构的第一端的侧部边缘的滚道的长度和所述第一瓦结构的第二端的端面的滚道的长度确定；
    嵌扣于所述第一基板的一侧面的滚道和所述第二瓦结构的第一端的端面的滚道之间的滚珠的数量根据所述第一基板的一侧面的滚道的长度和所述第二瓦结构的第一端的端面的滚道的长度确定；
    嵌扣于所述第二基板的一侧面的滚道和所述第二瓦结构的第二端的端面的滚道之间的滚珠的数量根据所述第二基板的一侧面的滚道的长度和所述第二瓦结构的第二端的端面的滚道的长度确定。
  6. 如权利要求1所述的仿人机器人腰关节，其特征在于，还包括：至少一个第一支撑件和至少一个第二支撑件；
    所述第一支撑件连接所述第一过渡结构的第一端和所述第二过渡结构的第一端；所述第二支撑件连接所述第一基板和所述第二基板。
  7. 如权利要求6所述的仿人机器人腰关节，其特征在于，所述第一支撑件可拆卸地连接所述第一过渡结构的第一端和所述第二过渡结构的第一端；所述第二支撑件可拆卸地连接所述第一基板和所述第二基板。
  8. 如权利要求1所述的仿人机器人腰关节，其特征在于，所述第一瓦结构用于连接仿人机器人上半身；所述第一基板和所述第二基板用于连接仿人机器人下半身；所述第一弧线向所述仿人机器人上半身凸起；所述第二弧线向所述仿人机器人下半身凸起。
  9. 如权利要求8所述的仿人机器人腰关节，其特征在于，还包括：腰部底座；
    所述第一基板和所述第二基板固定于所述腰部底座，所述腰部底座用于连接所述仿人机器人下半身。
  10. 一种仿人机器人，其特征在于，包括：仿生机器人上半身、仿生机器人下半身及如权利要求1至9任一项所述的仿人机器人腰关节；
    所述仿生机器人上半身与所述第一瓦结构连接，所述仿生机器人下半身与所述第一基板和所述第二基板连接。
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