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CN-121990076-A - Variable-rigidity gear box for biped driving of humanoid robot

CN121990076ACN 121990076 ACN121990076 ACN 121990076ACN-121990076-A

Abstract

The invention relates to the field of robot driving systems, in particular to a variable stiffness gear box for biped driving of a humanoid robot, which aims at the problems in the prior art and provides a variable stiffness gear box for biped driving of the humanoid robot, and the variable stiffness gear box comprises a gear box, wherein the lower end of the gear box is fixedly connected with a mounting plate, two sides of the mounting plate are respectively provided with a travelling mechanism, the upper side of the gear box is connected with a connecting plate for mounting the robot, and the travelling mechanism provides power through the gear box to drive the robot to walk; the transition part between the gear box and the connecting plate can precisely and actively counteract the up-and-down offset vibration of the running mechanism through the circumferential movement and the up-and-down offset effect of the Lerlow triangle block in the transition part during rotation, and the double damping effect of the elastic supporting part and the buffer part is matched, so that the influence of vibration on the robot main body is greatly reduced, the damage of a precise element due to vibration is avoided, and the running stability and the service life of the robot are remarkably improved.

Inventors

  • XU XIAOLONG

Assignees

  • 广东银磁科学技术有限公司
  • 东莞银驱动力有限公司

Dates

Publication Date
20260508
Application Date
20260227

Claims (10)

  1. 1. The variable stiffness gear box for the biped driving of the humanoid robot comprises a gear box (1) and is characterized in that the lower end of the gear box (1) is fixedly connected with a mounting plate (2), walking components are respectively mounted on two sides of the mounting plate (2), a connecting plate (4) for mounting the robot is connected to the upper side of the gear box (1), the walking components provide power for driving the robot to walk through the gear box (1), a transition component is arranged between the gear box (1) and the connecting plate (4), and the connection stiffness between the gear box (1) and the connecting plate (4) is adjusted through the transition component so as to offset vibration generated in the walking process of the walking components.
  2. 2. The bipedal drive variable stiffness gearbox for a humanoid robot of claim 1, wherein a power transmission assembly is arranged in the gearbox (1), the power transmission assembly comprises a driving piece and a transmission mechanism, and a power output end of the driving piece is connected with a power input end of a walking assembly through the transmission mechanism so as to transmit power of the driving piece to the walking assembly; The transition assembly comprises a transition plate (3) connected between the gear box (1) and the connecting plate (4), two sides of the lower end of the transition plate (3) are fixedly connected with mounting frames (18) respectively, non-circular eccentric rotating parts are mounted on the inner sides of the mounting frames (18), synchronous transmission assemblies are connected between the middle parts of the non-circular eccentric rotating parts and the power input ends of the traveling assemblies, the non-circular eccentric rotating parts are driven to synchronously rotate when the traveling assemblies travel, and vibration generated by the traveling assemblies is compensated through the movement of the axle center of the non-circular eccentric rotating parts during rotation.
  3. 3. The bipedal-driven variable stiffness gearbox for a humanoid robot of claim 2 wherein the walking assembly comprises a pedal (5) and a multi-link hinge mechanism, the multi-link hinge mechanism comprises a side plate (51) connected with the pedal (5), a plurality of rollers (25) are hinged on the side plate (51), the rollers (25) are hinged with each other and are rotatably connected with a supporting structure at the side part of the mounting plate (2), one roller (25) is fixedly connected with the output end of the power transmission assembly, and the multi-link hinge mechanism is driven to move through the power transmission assembly to realize the walking action of the pedal (5).
  4. 4. The bipedal drive variable stiffness gearbox of claim 2 wherein the synchronous drive assembly includes a first drive member coaxially rotatable with an output of the power drive assembly and a second drive member fixedly coupled to the non-circular eccentric rotating member, the first drive member and the second drive member coupled to each other via a drive medium to effect synchronous drive of the power drive assembly and the non-circular eccentric rotating member.
  5. 5. The bipedal driving variable stiffness gearbox for a humanoid robot as set forth in claim 1, wherein a rectangular groove (20) is formed in the inner side of the mounting frame (18), the non-circular eccentric rotating member is arranged in the rectangular groove (20), and a limit guide structure matched with the non-circular eccentric rotating member is arranged on the inner wall of the rectangular groove (20) and is in sliding fit with the non-circular eccentric rotating member.
  6. 6. The bipedal-driven variable-stiffness gearbox for the humanoid robot of claim 4, wherein mounting cylinders (26) are respectively arranged on two corresponding sides of the upper end of the gearbox (1), mounting rods (27) are connected to the mounting cylinders (26) in an axial sliding manner, and the upper ends of the mounting rods (27) are fixedly connected with the transition plate (3).
  7. 7. The bipedal-driven variable-stiffness gearbox for the humanoid robot of claim 6, wherein pressing plates (33) are respectively arranged on two sides corresponding to the lower end of the transition plate (3), the pressing plates (33) are in sliding fit with the mounting rods (27), the two ends of the pressing plates (33) are provided with the matched pin shafts (36), the surface of the transition plate (3) is provided with the mounting grooves (47), the mounting grooves (47) are internally provided with bent rods (34), the middle parts of the bent rods (34) are rotationally connected with the mounting grooves (47), the upper ends of the bent rods (34) are hinged with the connecting plates (4), the lower ends of the bent rods (34) are in sliding fit with the matched pin shafts (36), and the surface of the mounting rods (27) is provided with elastic supporting components for supporting the pressing plates (33).
  8. 8. The bipedal drive variable stiffness gearbox for a humanoid robot as set forth in claim 7, wherein a fitting groove (35) adapted to the fitting pin (36) is provided at a lower side of the bent rod (34), and a stopper is provided at an end of the fitting pin (36) to prevent the detachment from the fitting groove (35).
  9. 9. The bipedal-driven variable-stiffness gearbox for a humanoid robot as set forth in claim 7, wherein the elastic support assembly comprises a control knob (30) in threaded connection with the mounting rod (27), an annular plate (39) is arranged at the upper end of the control knob (30), a mounting spring (29) is arranged between the annular plate (39) and the pressing plate (33), the oppositely arranged control knobs (30) are connected through a synchronous transmission structure to realize synchronous adjustment, and an anti-rotation limiting structure is arranged between the mounting cylinder (26) and the mounting rod (27) to limit rotation of the mounting rod (27).
  10. 10. The bipedal drive variable stiffness gearbox for a humanoid robot of claim 9 wherein a damping buffer assembly is connected between the lower end of the bent rod (34) and the inner wall of the mounting groove (47).

Description

Variable-rigidity gear box for biped driving of humanoid robot Technical Field The invention relates to the field of robot driving systems, in particular to a variable-rigidity gear box for bipedal driving of a humanoid robot. Background In the field of humanoid robots, the stability and vibration isolation performance of a biped driving system directly influence the operation precision, service life and operation safety of the robot. In the prior art, the bipedal driving of the humanoid robot mostly adopts a rigidly connected gear box structure, and the bipedal driving mechanism has the core effects of realizing power transmission and rotation speed adjustment so as to drive a travelling mechanism to complete gait motion. However, the running gear generates impact shock when the pedal contacts the ground during running, and the shock is directly transmitted to the robot body through the gear box. The internal transmission structure of the gear box can generate vibration noise due to tooth surface friction, assembly errors and the like when in operation, and the vibration can be transmitted to the main body of the robot through rigid connection, so that the influence of the vibration on the robot is further aggravated; The patent application with the application number of CN201811628362.X discloses a gear box C-shaped bracket with variable supporting rubber rigidity, which realizes the adjustment of the supporting rigidity by changing the precompression amount of the supporting rubber through a certain structure, but the passive damping mode has a narrower damping frequency range, can not realize effective buffering aiming at vibration with different frequencies, is easy to generate elastic fatigue after long-term use, has obvious damping performance attenuation and is difficult to meet the requirement of long-term stable operation of a humanoid robot. Disclosure of Invention Aiming at the defects of the prior art, the invention provides the variable stiffness gear box which is driven by double feet and faces to the humanoid robot, and the problems in the background art are effectively solved. The technical scheme adopted by the invention for solving the problems is as follows: A variable stiffness gear box for biped driving of a humanoid robot comprises a gear box, wherein the lower end of the gear box is fixedly connected with a mounting plate, walking components are respectively mounted on two sides of the mounting plate, a connecting plate for mounting the robot is connected to the upper side of the gear box, the walking components provide power to drive the robot to walk through the gear box, a transition component is arranged between the gear box and the connecting plate, and the connection stiffness between the gear box and the connecting plate is adjusted through the transition component so as to offset vibration generated in the walking process of the walking components. Further, a power transmission assembly is arranged in the gear box, the power transmission assembly comprises a driving piece and a transmission mechanism, and a power output end of the driving piece is connected with a power input end of the walking assembly through the transmission mechanism so as to transmit power of the driving piece to the walking assembly; the transition assembly comprises a transition plate connected between the gear box and the connecting plate, two sides of the lower end of the transition plate are respectively and fixedly connected with a mounting frame, a non-circular eccentric rotating part is mounted on the inner side of the mounting frame, a synchronous transmission assembly is connected between the middle part of the non-circular eccentric rotating part and the power input end of the traveling assembly, the non-circular eccentric rotating part is driven to synchronously rotate when the traveling assembly travels, and vibration generated by the traveling assembly is compensated through the movement of the axle center of the non-circular eccentric rotating part during rotation. Further, the walking assembly comprises a pedal and a multi-link hinging mechanism, the multi-link hinging mechanism comprises a side plate connected with the pedal, a plurality of rollers are hinged to the side plate, the rollers are hinged to each other and are rotationally connected with a supporting structure on the side part of the mounting plate, one roller is fixedly connected with the output end of the power transmission assembly, and the multi-link hinging mechanism is driven to move through the power transmission assembly so as to realize the walking action of the pedal. Further, the synchronous transmission assembly comprises a first transmission part coaxially rotating with the output end of the power transmission assembly and a second transmission part fixedly connected with the noncircular eccentric rotating part, and the first transmission part is connected with the second transmission part through a transmission