Connection structure and robot for output end servo of humanoid leg joint and skeleton

Abstract

The present invention discloses a connection structure for a humanoid leg joint output end servo and a skeleton and a robot. The connection structure for a humanoid leg joint output end servo and a skeleton according to the present invention is characterized by comprising: a skeleton shell, an insert and a humanoid leg joint output end servo; wherein the insert is embedded in the skeleton shell; the outer contour of the insert is integrated with the skeleton shell, and the inner contour of the insert is matched with the output shaft of the humanoid leg joint output end servo.

Description

Technical Field

[0001] The present invention relates to the field of robot design, and in particular to a connection structure between a servo at an output end of a humanoid leg joint and a skeleton, and a robot comprising the connection structure. Background Art

[0002] For robot design, in the leg joints, the robot generally adopts a sheet metal plus a steering disc structure. This sheet metal plus steering disc structure is a very common connection structure for the output end servo and the skeleton of the humanoid leg joint.

[0003] However, the processing accuracy, strength and rigidity of the sheet metal structure itself cannot be guaranteed, and the steering wheel locking screws will increase the assembly gap.

[0004] Therefore, technicians in this field are committed to developing a more compact and reliable connection structure between the servo at the output end of the humanoid leg joint and the skeleton. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a more compact and reliable connection structure between the servo at the output end of the humanoid leg joint and the skeleton, and a robot including the connection structure.

[0006] To achieve the above-mentioned purpose, the present invention provides a connection structure between a servo at the output end of a humanoid leg joint and a skeleton, comprising: a skeleton shell, an insert and a servo at the output end of a humanoid leg joint; wherein the insert is embedded in the skeleton shell; the outer contour of the insert is integrated with the skeleton shell, and the inner contour of the insert cooperates with the output shaft of the servo at the output end of the humanoid leg joint.

[0007] Preferably, the inner contour of the insert is meshed and assembled with the output shaft of the servo at the output end of the humanoid leg joint.

[0008] Preferably, the outer contour of the insert is integrated with the front section of the skeleton shell.

[0009] Preferably, a U-shaped opening is arranged on the skeleton shell for fixing with a screw column of a servo housing at the output end of the humanoid leg joint.

[0010] Preferably, the outer contour of the insert is in the shape of a gear.

[0011] Preferably, the inner contour of the insert is hexagonal.

[0012] Preferably, the insert is embedded in the skeleton shell in a manner of being placed in a mold and directly injection-molded in an injection molding process.

[0013] Preferably, the connection structure between the servo at the output end of the humanoid leg joint and the skeleton comprises a plurality of inserts embedded in the skeleton shell.

[0014] To achieve the above-mentioned purpose, the present invention also provides a robot comprising the connection structure between the servo at the output end of the humanoid leg joint and the skeleton.

[0015] In the present invention, the leg steering gear structure is combined with the robot frame, wherein the frame is integrated with the steering gear front shell, the steering plate structure is no longer used, and the output end adopts an insert to achieve a tight and reliable combination of the frame and the steering gear front shell, eliminating the assembly gap. The present invention also further adds a U-shaped opening to provide a fixing position for the shell, further improving the stability and reliability of the connection.

[0016] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] A more complete understanding of the present invention and its attendant advantages and features will be more readily appreciated by reference to the following detailed description taken in conjunction with the accompanying drawings, in which:

[0018] Figure 1 It is a partial structural schematic diagram of a connection structure between a servo at an output end of a humanoid leg joint and a skeleton according to a preferred embodiment of the present invention.

[0019] Figure 2 It is a schematic cross-sectional view of a partial structure of a connection structure between a servo at an output end of a humanoid leg joint and a skeleton according to a preferred embodiment of the present invention.

[0020] Figure 3 It is a side view structural schematic diagram of an insert used in a connection structure between a servo at an output end of a humanoid leg joint and a skeleton according to a preferred embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of the planar structure of an insert used in a connection structure between a servo at an output end of a humanoid leg joint and a skeleton according to a preferred embodiment of the present invention.

[0022] It should be noted that the drawings are used to illustrate the present invention, rather than to limit the present invention. Note that the drawings showing the structures may not be drawn to scale. In addition, in the drawings, the same or similar elements are marked with the same or similar reference numerals. DETAILED DESCRIPTION

[0023] Figure 1 It is a partial structural schematic diagram of a connection structure between a servo at an output end of a humanoid leg joint and a skeleton according to a preferred embodiment of the present invention. Figure 2 It is a schematic cross-sectional view of a part of the structure of the connection structure between the servo at the output end of the humanoid leg joint and the skeleton along line XX according to a preferred embodiment of the present invention.

[0024] like Figure 1 and Figure 2 As shown, the connection structure between the humanoid leg joint output end servo and the skeleton according to a preferred embodiment of the present invention includes: a skeleton shell 10, an insert 20 and a humanoid leg joint output end servo (not shown); wherein the insert 20 is embedded in the skeleton shell 10.

[0025] Figure 3 It is a side view structural schematic diagram of an insert used in a connection structure between a servo at an output end of a humanoid leg joint and a skeleton according to a preferred embodiment of the present invention. Figure 4 It is a schematic diagram of the planar structure of an insert used in a connection structure between a servo at an output end of a humanoid leg joint and a skeleton according to a preferred embodiment of the present invention.

[0026] like Figure 3 and Figure 4 As shown, the outer contour 21 of the insert 20 is integrated with the skeleton shell 10 (for example, specifically the front section of the skeleton shell), and the inner contour 22 of the insert 20 cooperates with the output shaft (not shown) of the servo at the output end of the humanoid leg joint; for example, the inner contour 22 of the insert 20 is meshed and assembled with the output shaft of the servo at the output end of the humanoid leg joint.

[0027] Figure 4 The outer profile 21 of the insert 20 is shown to be in the shape of a gear, but the outer profile 21 of the insert 20 may also be in any other suitable form.

[0028] Figure 4 The inner profile 22 of the insert 20 is shown as being in the form of a hexagon, but the inner profile 22 of the insert 20 may be in any other suitable form, such as a splined form.

[0029] Moreover, in a preferred example, a U-shaped opening 30 is configured on the skeleton shell 10. For example, the U-shaped opening 30 can be used to fix with a screw column of a servo housing at the output end of the humanoid leg joint.

[0030] Furthermore, in a preferred example, the insert 20 is embedded in the skeleton shell 10 in a manner of being placed in a mold for direct injection molding during an injection molding process.

[0031] In addition, in a preferred example, the connection structure between the output end servo of the humanoid leg joint and the skeleton according to the preferred embodiment of the present invention includes a plurality of inserts 20 embedded in the skeleton shell 10. Here, the structure of the plurality of inserts 20 can further improve stability.

[0032] According to the present invention, a robot comprising the connection structure between the servo at the output end of the humanoid leg joint and the skeleton is also provided.

[0033] In the present invention, the leg steering gear structure is combined with the robot frame, wherein the frame is integrated with the steering gear front shell, and the steering plate structure is no longer used. The output end adopts an insert to achieve a tight and reliable combination of the frame and the steering gear front shell, eliminating the assembly gap. At the same time, a U-shaped opening is further added to provide a fixing position for the shell, further improving the stability and reliability of the connection.

[0034] Those skilled in the art should understand that the servo at the output end of the humanoid leg joint of the present invention may adopt any appropriate structure.

[0035] The above description shows and describes the preferred embodiments of the present invention. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A connection structure between a servo at the output end of a humanoid leg joint and a skeleton, characterized in that include: A skeleton shell, an insert, and a servo at the output end of a humanoid leg joint; wherein the insert is embedded in the skeleton shell; The outer contour of the insert is integrated with the skeleton shell, and the inner contour of the insert matches the output shaft of the servo at the output end of the humanoid leg joint. The insert is embedded in the skeleton shell by being placed in a mold and directly injected in the injection molding process.

2. The connection structure between the output end servo of the humanoid leg joint and the skeleton as claimed in claim 1, characterized in that: The inner contour of the insert is meshed and assembled with the output shaft of the servo at the output end of the humanoid leg joint.

3. The connection structure between the servo at the output end of the humanoid leg joint and the skeleton as claimed in claim 1 or 2, characterized in that: The outer contour of the insert is integrated with the front section of the frame shell.

4. The connection structure between the servo at the output end of the humanoid leg joint and the skeleton as claimed in claim 1 or 2, characterized in that: The skeleton shell is provided with a U-shaped opening for fixing with the screw column of the servo housing at the output end of the humanoid leg joint.

5. The connection structure between the servo at the output end of the humanoid leg joint and the skeleton as claimed in claim 1 or 2, characterized in that: The outer contour of the insert is in the shape of a gear.

6. The connection structure between the servo at the output end of the humanoid leg joint and the skeleton as claimed in claim 1 or 2, characterized in that: The inner contour of the insert is hexagonal.

7. The connection structure between the servo at the output end of the humanoid leg joint and the skeleton as claimed in claim 1 or 2, characterized in that: The connection structure between the servo at the output end of the humanoid leg joint and the skeleton includes a plurality of inserts embedded in the skeleton shell.

8. A robot comprising the connection structure between the servo at the output end of the humanoid leg joint and the skeleton as claimed in any one of claims 1 to 7.

Images