CN-119682878-B - Frame construction of humanoid robot

CN119682878BCN 119682878 BCN119682878 BCN 119682878BCN-119682878-B

Abstract

The invention discloses a frame structure of a humanoid robot, which comprises a hip assembly, a thigh assembly and a shank assembly, wherein the hip assembly comprises a hip joint Pitch assembly, a hip joint Roll assembly, a hip joint Yaw assembly, a trunk support frame and a U-shaped support, the hip joint Pitch assembly is connected with the U-shaped support after inclining a Pitch motor by 20 degrees through the trunk support frame, the U-shaped support is rigidly and fixedly connected with the hip joint Yaw assembly through the hip joint Roll assembly, the thigh assembly is connected with the shank assembly, a cross roller bearing double-sided fixing structure is arranged at the connecting part of the hip joint Roll assembly and the hip joint Pitch assembly, the hip joint Pitch motor and the hip joint Roll motor are in coupling design, and the cross roller bearing is additionally arranged through an output shaft of the hip joint motor, meanwhile, the hip joint Pitch motor has the advantages of easy installation and stable reliability due to the shock resistance and overturning moment resistance in a four-side fixing structure mode.

Inventors

ZHU LIJUN
YANG QINGKAI
DING HAN

Assignees

华中科技大学

Dates

Publication Date: 20260512
Application Date: 20250102

Claims (4)

1. The human-shaped robot framework structure with high energy density is characterized by comprising a hip assembly, a thigh assembly (4) and a shank assembly (5), wherein the hip assembly comprises a hip joint Pitch assembly (1), a hip joint Roll assembly (2), a hip joint Yaw assembly (3), a trunk support frame (6) and a U-shaped bracket (7), the hip joint Pitch assembly (1) is connected with the U-shaped bracket (7) after tilting a Pitch motor by 20 degrees through the trunk support frame (6), the U-shaped bracket (7) is rigidly connected with the hip joint Yaw assembly (3) through the hip joint Roll assembly (2), and the thigh assembly (4) is connected with the shank assembly (5), and a crossed roller bearing double-sided fixing structure is arranged at the joint part of the hip joint Roll assembly (2) and the hip joint Pitch assembly (1) and is used for transferring overturning moment and impact force which are upwards transmitted in the leg motion process to a rigid sheath of the hip joint Pitch motor assembly (1) and a fixed sheath of the hip joint Pitch motor assembly (1); The thigh subassembly (4) is through U-shaped support (7) constitutes knee joint Pitch rotation axis, U-shaped support (7) with hip joint Yaw subassembly (3) motor output shaft rigidity links firmly, and through embedded in the cross roller bearing of hip joint Yaw motor fixing base (8), will shank extend the ascending impact force of pole and shank outward swing produced toppling moment transfer to on the motor stator end and the motor fixing base of hip joint Yaw subassembly (3), in order to guarantee thigh subassembly (4) furthest's extension the life of hip joint Yaw subassembly (3).
2. The frame structure of the humanoid robot with high energy density according to claim 1, wherein the connection mode of the oil-containing copper bush (9) is adopted at the rotation axis where the thigh component (4) and the calf component (5) are connected, the traditional bearing scheme is replaced by the connection mode of the oil-containing copper bush (9) matched with the plane needle bearing, the shock resistance of the connection structure is effectively improved, the reliability of the connection structure is prolonged, and meanwhile, the abrasion condition of the copper bush in the friction damping and rotation process can be reduced by the oil-containing copper bush (9).
3. The high-energy-density humanoid robot frame structure according to claim 1, wherein the thigh assembly (4) comprises a knee joint rotating shaft (10) and a knee joint bearing steel sleeve (11), the knee joint rotating shaft (10) is fixedly connected with the knee joint bearing steel sleeve (11) in a penetrating manner and penetrates through an oil-containing copper sleeve (9) to form a supporting structure, and a plane needle bearing is arranged between the knee joint rotating shaft (10) and the oil-containing copper sleeve (9) to form a tight connection structure, so that the problem of copper sleeve abrasion caused in the rotating motion process of a shaft end face relative to the copper sleeve is avoided.
4. The high energy density humanoid robot frame structure of claim 1, wherein the motors of the hip Pitch assembly (1), the hip Roll assembly (2) and the hip Yaw assembly (3) all employ 135mm diameter wound-wire-module motors with peak torque exceeding 500N m.

Description

Frame construction of humanoid robot Technical Field The invention belongs to the technical field of robots, and particularly relates to a frame structure of a humanoid robot. Background The humanoid robot is a bionic robot, can simulate the actions of human beings, and has good application prospect. The existing humanoid robot is complex in structure, meanwhile, the rotating energy density of a proper size is low, the high-difficulty motion of the humanoid robot is difficult to support, meanwhile, the joint is decoupled, but the joint output torque is relatively limited, the cantilever structure design of the motor is too large in load on the motor output shaft, the rotating motor is easy to damage, and the overall service life of the humanoid robot is greatly reduced. Disclosure of Invention The invention provides a frame structure of a humanoid robot, which can solve the problems that the full-size humanoid robot in the existing electric driving scheme has insufficient capacity density or the motor size and the quality are overlarge, and the structural design and the whole machine quality are influenced. In order to solve the problems, the technical scheme provided by the invention is as follows: The embodiment of the invention provides a frame structure of a humanoid robot, which comprises a hip assembly, a thigh assembly (4) and a shank assembly (5), wherein the hip assembly comprises a hip joint Pitch assembly (1), a hip joint Roll assembly (2), a hip joint Yaw assembly (3), a trunk support frame (6) and a U-shaped support (7), the hip joint Pitch assembly (1) is connected with the U-shaped support (7) after tilting a Pitch motor by 20 degrees through the trunk support frame (6), the U-shaped support (7) is rigidly connected with the hip joint Yaw assembly (3) through the hip joint Roll assembly (2), the thigh assembly (4) is connected with the shank assembly (5), and a crossed roller bearing double-sided fixing structure is arranged at the connecting part of the hip joint Roll assembly (2) and the hip joint Pitch assembly (1) and is used for transferring upward tilting moment and impact force transmitted in the leg motion process to a rigid fixing sleeve of the hip joint Pitch motor assembly (1) and a stator sleeve of the hip joint Pitch motor assembly. According to an alternative embodiment of the invention, the thigh component (4) forms a knee joint Pitch rotation shaft through the U-shaped support (7), the U-shaped support (7) is rigidly and fixedly connected with a motor output shaft of the hip joint Yaw component (3), and the upward impact force of the leg extension rod and the overturning moment generated by the leg outward swing are transferred to the motor stator end and the motor fixing seat of the hip joint Yaw component (3) through the crossed roller bearing embedded in the hip joint Yaw motor fixing seat (8) at the connection part, so that the service life of the hip joint Yaw component (3) is prolonged to the maximum extent by the thigh component (4). According to the invention, in an alternative embodiment, the connection mode of the oil-containing copper sleeve (9) is adopted at the rotation axis where the thigh component (4) and the calf component (5) are connected, and the traditional bearing scheme is replaced by the connection mode of the oil-containing copper sleeve (9) matched with the plane needle bearing, so that the shock resistance of the connection structure is effectively improved, the reliability of the connection structure is prolonged, and the abrasion condition of the copper sleeve in the friction damping and rotation process can be reduced by the oil-containing copper sleeve (9). According to an alternative embodiment of the invention, the thigh component (4) comprises a knee joint rotating shaft (10) and a knee joint bearing steel sleeve (11), the knee joint rotating shaft (10) is fixedly connected with the knee joint bearing steel sleeve (11) in a penetrating manner and penetrates through the oil-containing copper sleeve (9) to form a supporting structure, a plane needle bearing is arranged between the knee joint rotating shaft (10) and the oil-containing copper sleeve (9) to form a tight connection structure, and meanwhile, the problem of copper sleeve abrasion caused in the rotating movement process of the shaft end face relative to the copper sleeve is avoided. In an alternative embodiment of the invention, the motors of the hip joint Pitch assembly (1), the hip joint Roll assembly (2) and the hip joint Yaw assembly (3) all adopt 135mm diameter winding module motors with peak torque exceeding 500 N.m. The frame structure of the humanoid robot has the beneficial effects that the frame structure comprises a hip assembly, a thigh assembly and a shank assembly, wherein the hip assembly comprises a hip joint Pitch assembly, a hip joint Roll assembly, a hip joint Yaw assembly, a trunk support frame and a U-shaped support, the hip joint Pitch assembly is connected with t