Shoulder system of humanoid robot

Abstract

The invention discloses a shoulder system of a humanoid robot, which has a quick release design, is very convenient to mount and dismount, realizes modularization, is convenient for subsequent maintenance and replacement, is easy to seal, can realize three-degree-of-freedom movement of front and back swing, abduction and self rotation of shoulders, and enables the shoulders to be smaller in size and lighter in weight. The system comprises a shoulder pitching module, a shoulder rolling module and a shoulder yawing module. The input end and the output end of each module are respectively provided with a spring ejector pin, and rapid installation and disassembly of an electrical appliance interface can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a shoulder system of a humanoid robot. Background Art

[0002] A humanoid robot (English: Android), also known as a bionic man, is a robot designed to mimic human appearance and behavior. It specifically refers to a type with a human-like body. Until recently, the concept of humanoid robots was a science fiction concept, often seen in movies, television, comics, novels, etc. Today, advances in robotics have made it possible to design functional, realistic humanoid robots.

[0003] The shoulder of a humanoid robot is a very critical part of its design. It not only needs to support the robot's upper arm, lower arm and dexterous hand as well as the end load, but also provide enough flexibility to perform various shoulder movements. The shoulder of a humanoid robot usually contains multiple joints, each of which allows the robot arm to rotate. The degrees of freedom of the shoulder determine the range of motion that the robot arm can perform. A typical humanoid robot shoulder has three degrees of freedom, which, if defined from a human perspective, include the forward and backward swing (pitch), abduction (roll), and self-rotation (yaw) of the shoulder. The design of the shoulder needs to provide enough force and torque to support the weight of the arm and hand and perform the required movements. The shoulder structure needs to be stable to ensure that the upper body of the robot remains balanced during movement. The shoulder may be integrated with sensors, such as position sensors and force sensors, to monitor and control movement. The maintenance and durability of the shoulder also need to be considered during the design to ensure that the robot can operate for a long time without frequent maintenance. Safety also needs to be considered during the design to ensure that the robot does not cause harm to people or the environment when performing tasks.

[0004] Although some progress has been made in the shoulder design of humanoid robots, the existing technical solutions still have some shortcomings and challenges:

[0005] 1. The joints do not have a quick-release design, and the structural parts and electronic components are not combined into an independent module, making installation, disassembly and maintenance very troublesome.

[0006] 2. Technical integration issues: Integrating advanced sensors, actuators, and control systems into the shoulder design will increase the volume and weight, making the robot's shoulder proportions uncoordinated and affecting the humanoid robot's full-body motion control effects. Summary of the invention

[0007] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to provide a shoulder system of a humanoid robot, which has a quick-release design, is very convenient to install and disassemble, realizes modularization, is convenient for subsequent maintenance and replacement, is easy to seal, and can realize the shoulder's three degrees of freedom of movement: forward and backward swing, abduction, and self-rotation, making the shoulder smaller in size and lighter in weight, and can realize quick installation and disassembly of electrical interfaces.

[0008] The technical solution of the present invention is: the shoulder system of the humanoid robot comprises: a shoulder pitch module, a shoulder roll module, and a shoulder yaw module;

[0009] The shoulder pitch module comprises: a pitch joint (11), a shoulder joint base (12), a pitch moment sensor (13), and a pitch output spring ejector pin (14); the pitch joint is inserted into the body of the humanoid robot; the inner ring of the shoulder joint base is fixedly connected to the pitch joint via a pitch joint fastening screw (15) and is fixedly connected to the first rectangular connecting plate of the shoulder roll module via a pitch support plate fastening screw (224); the outer ring of the shoulder joint base is fixedly connected to the body of the humanoid robot via a shoulder base fastening screw (17); the pitch joint drives the inner ring of the shoulder joint base and the shoulder roll module to rotate relative to the outer ring of the shoulder joint base; the output end of the pitch joint is the pitch moment sensor, and the middle part of the pitch moment sensor is the male end of the pitch output spring ejector pin; the female end of the pitch output spring ejector pin is integrated on the pitch moment sensor;

[0010] The shoulder roll module comprises: a roll joint (21), a pitch support plate (22), a roll moment sensor (23), a roll input spring ejector pin (241), and a roll output spring ejector pin (242); the pitch support plate is composed of a first front circular plate (221), a first rear circular plate (222), and a first rectangular connecting plate (223); the first rectangular connecting plate connects the first front circular plate and the first rear circular plate to form a groove; the roll joint is arranged in the groove and is fixed to the first front circular plate of the pitch support plate by a roll joint fastening screw (25); the input end and the output end of the roll joint are the roll input spring ejector pin and the roll output spring ejector pin, respectively. The roll input spring ejector pin is eccentrically arranged and close to the pitch joint, a pitch output spring ejector pin circuit board (261) is arranged on the first rectangular connecting plate, the pitch output spring ejector pin circuit board presses against the male end of the pitch output spring ejector pin and is connected to the roll input spring ejector pin circuit board (262) at the first rear circular plate through a wiring harness, the output end of the roll joint is a roll moment sensor, and the middle part of the roll moment sensor is the male end of the roll output spring ejector pin, the female end of the roll output spring ejector pin is integrated on the roll moment sensor, and the roll joint drives the roll support plate and the yaw joint to rotate relative to the pitch support plate;

[0011] The shoulder yaw module comprises: a yaw joint (31), a roll support plate (32), a yaw moment sensor (33), a yaw input spring ejector, and a yaw output spring ejector (34); the roll support plate is composed of a second front circular plate (321), a second rear circular plate (322), and a second annular connecting plate (323); the first front circular plate and the second front circular plate are connected and fixed by a roll support plate fastening screw (51); the wiring harness of the roll output spring ejector circuit board (36) is connected to the yaw input spring ejector circuit board (40); the yaw input spring ejector circuit board transmits power and signals to the yaw joint through the yaw input spring ejector; the yaw input spring ejector circuit board is fixed on an ejector circuit board base (41); the yaw joint is sleeved in the second annular connecting plate and rotates relative to the roll support plate; the output end of the yaw joint transmits power and signals through the male end of the yaw output spring ejector.

[0012] The beneficial technical effects of the present invention are as follows:

[0013] 1. The output ends of the three modules all adopt the quick-release electrical interface design, which is very convenient for installation and disassembly, realizing modularization and facilitating subsequent maintenance and replacement.

[0014] 2. The output end of each joint is integrated with a torque sensor, and the power and signal of the previous joint are transmitted to the next joint through a spring pin, making the shoulder smaller and lighter.

[0015] 3. The pitch support plate and the roll support plate adopt an integrated design, which reduces the number of parts, reduces the volume, and reduces the weight. The electrical interface is fixed on the pitch support plate, which reduces the difficulty of installation. The limit buffer block is installed on the roll support plate, which is easy to install and does not occupy too much volume. Moreover, the limit buffer block can use different materials to achieve different effects according to different working conditions and needs. The limit buffer block can effectively prevent the roll support plate from interfering with and damaging the pitch module and the humanoid robot body when rolling.

[0016] 4. All electrical interfaces are connected through spring pins, which are built into each module without external wiring. When each module is impacted, the reliability and safety of the electrical interface can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 1 is a schematic structural diagram of the shoulder system of the humanoid robot according to the present invention observed from one angle.

[0018] Figure 2 1 is a schematic structural diagram of the shoulder system of the humanoid robot according to the present invention observed from another angle.

[0019] Figure 31 is a schematic diagram of the disassembled structure of the shoulder system of the humanoid robot according to the present invention.

[0020] Figure 4 4 is a schematic structural diagram of a shoulder pitch module of a shoulder system of a humanoid robot according to the present invention.

[0021] FIG5 is a schematic diagram of the structure of the shoulder rolling module of the shoulder system of the humanoid robot according to the present invention, wherein Figure 5a This is a three-dimensional picture of the shoulder roll module. Figure 5b This is the front view of the shoulder roll module.

[0022] FIG6 is a schematic diagram of the structure of the shoulder yaw module of the shoulder system of the humanoid robot according to the present invention, wherein Figure 6a This is a stereogram of the shoulder yaw module. Figure 6b This is another front view of the shoulder yaw module. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0024] In order to make the description of the present disclosure more detailed and complete, the following provides an illustrative description of the implementation and specific embodiments of the present invention; however, this is not the only form of implementing or using the specific embodiments of the present invention. The implementation covers the features of multiple specific embodiments and the method steps and sequences used to construct and operate these specific embodiments. However, other specific embodiments can also be used to achieve the same or equivalent functions and step sequences.

[0025] like Figure 1 - As shown in FIG6 , the shoulder system of the humanoid robot includes: a shoulder pitch module, a shoulder roll module, and a shoulder yaw module;

[0026] The shoulder pitch module includes: a pitch joint 11, a shoulder joint base 12, a pitch moment sensor 13, and a pitch output spring ejector 14. The pitch joint is inserted into the body of the humanoid robot. The inner ring of the shoulder joint base is fixedly connected to the pitch joint through a pitch joint fastening screw 15 and is fixedly connected to the first rectangular connecting plate of the shoulder roll module through a pitch support plate fastening screw 224. The outer ring of the shoulder joint base is fixedly connected to the body of the humanoid robot through a shoulder base fastening screw 17. The pitch joint drives the inner ring of the shoulder joint base and the shoulder roll module to rotate relative to the outer ring of the shoulder joint base. The output end of the pitch joint is the pitch moment sensor, and the middle part of the pitch moment sensor is the male end of the pitch output spring ejector. The female end of the pitch output spring ejector is integrated on the pitch moment sensor.

[0027] The shoulder roll module includes: a roll joint 21, a pitch support plate 22, a roll torque sensor 23, a roll input spring ejector 241, and a roll output spring ejector 242. The pitch support plate is composed of a first front circular plate 221, a first rear circular plate 222, and a first rectangular connecting plate 223. The first rectangular connecting plate connects the first front circular plate and the first rear circular plate to form a groove. The roll joint is arranged in the groove and is fixed to the first front circular plate of the pitch support plate by a roll joint fastening screw 25. The input end and the output end of the roll joint are respectively a roll input spring ejector and a roll output spring ejector. The roll input spring ejector pin is eccentrically arranged and close to the pitch joint, a pitch output spring ejector pin circuit board 261 is arranged on the first rectangular connecting plate, the pitch output spring ejector pin circuit board presses against the male end of the pitch output spring ejector pin and is connected to the roll input spring ejector pin circuit board 262 at the first rear circular plate through a wiring harness, the output end of the roll joint is a roll moment sensor, and the middle part of the roll moment sensor is the male end of the roll output spring ejector pin, the female end of the roll output spring ejector pin is integrated on the roll moment sensor, and the roll joint drives the roll support plate and the yaw joint to rotate relative to the pitch support plate;

[0028] The shoulder yaw module includes: a yaw joint 31, a roll support plate 32, a yaw torque sensor 33, a yaw input spring ejector, and a yaw output spring ejector 34. The roll support plate is composed of a second front circular plate 321, a second rear circular plate 322, and a second annular connecting plate 323. The first front circular plate and the second front circular plate are connected and fixed by the roll support plate fastening screws 51. The wiring harness of the roll output spring ejector circuit board 36 is connected to the yaw input spring ejector circuit board 40. The yaw input spring ejector circuit board transmits power and signals to the yaw joint through the yaw input spring ejector. The yaw input spring ejector circuit board is fixed on the ejector circuit board base 41. The yaw joint is sleeved in the second annular connecting plate and rotates relative to the roll support plate. The output end of the yaw joint transmits power and signals through the male end of the yaw output spring ejector.

[0029] The beneficial technical effects of the present invention are as follows:

[0030] 1. The output ends of the three modules all adopt the quick-release electrical interface design, which is very convenient for installation and disassembly, realizing modularization and facilitating subsequent maintenance and replacement.

[0031] 2. The output end of each joint is integrated with a torque sensor, and the power and signal of the previous joint are transmitted to the next joint through a spring pin, making the shoulder smaller and lighter.

[0032] Preferably, each of the pitch output spring ejector, roll input spring ejector, roll output spring ejector, yaw input spring ejector, and yaw output spring ejector comprises a male end and a female end, a protrusion is provided on the inner periphery of the female end, and a recess is provided on the outer periphery of the male end accordingly. This can prevent radial movement of the male end and the female end, and is convenient for assembly and disassembly, and has a simple structure.

[0033] Preferably, the first rear circular plate has a hole corresponding to the circuit board of the roll input spring ejector pin, the circuit board pressure cover seat 27 is placed in the hole and connected to the circuit board pressure cover 271 through the pressure cover seat screw 28, and the circuit board pressure cover is pressed against the circuit board of the roll input spring ejector pin. This can play an auxiliary supporting role for the first rear circular plate, enhance the structural strength, and prevent the roll input spring ejector pin from moving in series.

[0034] Preferably, a deep groove ball bearing 224 is provided in the middle of the first rear circular plate, the end face of the outer ring of the deep groove ball bearing close to the roll joint is limited by the pitch support plate, and the outer side of the inner ring of the deep groove ball bearing is limited by the stepped shaft end face of the roll joint shaft 29. One end face of the pitch support plate is fixed to the roll joint, and a deep groove ball bearing is provided in the middle of the other end face, the end face of the outer ring of the deep groove ball bearing close to the roll joint is limited by the pitch support plate, and the outer side of the inner ring of the deep groove ball bearing is limited by the stepped shaft end face of the roll joint shaft. Since each joint output end is integrated with a cross needle roller bearing, one end of the pitch support plate can bear radial and axial forces at the same time, and the other end can use a low-cost deep groove ball bearing to assist in bearing radial forces, which can not only improve the shoulder's force bearing capacity and impact resistance, but also reduce costs, weight and volume.

[0035] Preferably, the wire harness of the roll output spring ejector circuit board 36 is buried in the wiring groove 38 on the second front circular plate, and is connected to the yaw input spring ejector circuit board 40 through the wiring hole 39, and the yaw input spring ejector circuit board is fixed on the ejector circuit board base 41. Such a structure prevents the wire harness from contacting the roll joint.

[0036] Preferably, a limit buffer block 37 is provided on the outer extension of the second annular connecting plate. When the shoulder roll joint rotates toward the body of the humanoid robot, the limit buffer block can well unload the impact force, and the force direction is close to the direction of the yaw joint axis, and will not cause impact damage to the yaw joint shell inside the roll support plate. This structural design allows the limit buffer block to withstand much greater forces in the up-down direction than in the left-right direction. In actual applications, the limit buffer block needs to withstand the force of the pitch support plate in the up-down direction, but does not have much force in the left-right direction.

[0037] Furthermore, the limit buffer block is a polyurethane limit block. The mechanical limit is achieved by using a limit block with slow rebound performance such as polyurethane, and the external force can also be dispersed by polyurethane.

[0038] Preferably, a limit buffer ring is wrapped on the shoulder joint base. The limit buffer block installed on the rolling support plate is replaced with a fully wrapped limit buffer ring installed on the shoulder joint base. This is also effective, but when subjected to impact force, the local stress will be very large, causing the buffer ring to be easily fatigued and damaged, and it will also increase the outer diameter of the shoulder joint base, resulting in an increase in volume and affecting the size of the working space.

[0039] Preferably, a positioning pin 16 is provided on the end surface of the pitch moment sensor, and a positioning pin 16 is provided on the end surface of the roll moment sensor, so as to transmit the output torque and prevent relative stringing in the circumferential direction.

[0040] Preferably, the pitch support plate and the roll support plate are integrally formed. When the motion operation is satisfied, the connecting plates between the rotating joints of the shoulder are designed in an integrated manner, which reduces the number of parts and fasteners, greatly reduces the overall weight of the shoulder, and reduces the pressure on the lower body of the humanoid robot.

[0041] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A shoulder system for a humanoid robot, Features: It includes: Shoulder pitch module, shoulder roll module, shoulder yaw module; The shoulder pitch module comprises: a pitch joint (11), a shoulder joint base (12), a pitch moment sensor (13), and a pitch output spring ejector pin (14); the pitch joint is inserted into the body of the humanoid robot; the inner ring of the shoulder joint base is fixedly connected to the pitch joint via a pitch joint fastening screw (15) and is fixedly connected to the first rectangular connecting plate of the shoulder roll module via a pitch support plate fastening screw (224); the outer ring of the shoulder joint base is fixedly connected to the body of the humanoid robot via a shoulder base fastening screw (17); the pitch joint drives the inner ring of the shoulder joint base and the shoulder roll module to rotate relative to the outer ring of the shoulder joint base; the output end of the pitch joint is the pitch moment sensor, and the middle part of the pitch moment sensor is the male end of the pitch output spring ejector pin; the female end of the pitch output spring ejector pin is integrated on the pitch moment sensor; The shoulder roll module comprises: a roll joint (21), a pitch support plate (22), a roll moment sensor (23), a roll input spring ejector pin (241), and a roll output spring ejector pin (242); the pitch support plate is composed of a first front circular plate (221), a first rear circular plate (222), and a first rectangular connecting plate (223); the first rectangular connecting plate connects the first front circular plate and the first rear circular plate to form a groove; the roll joint is arranged in the groove and is fixed to the first front circular plate of the pitch support plate by a roll joint fastening screw (25); the input end and the output end of the roll joint are the roll input spring ejector pin and the roll output spring ejector pin, respectively. The roll input spring ejector pin is eccentrically arranged and close to the pitch joint, a pitch output spring ejector pin circuit board (261) is arranged on the first rectangular connecting plate, the pitch output spring ejector pin circuit board presses against the male end of the pitch output spring ejector pin and is connected to the roll input spring ejector pin circuit board (262) at the first rear circular plate through a wiring harness, the output end of the roll joint is a roll moment sensor, and the middle part of the roll moment sensor is the male end of the roll output spring ejector pin, the female end of the roll output spring ejector pin is integrated on the roll moment sensor, and the roll joint drives the roll support plate and the yaw joint to rotate relative to the pitch support plate; The shoulder yaw module comprises: a yaw joint (31), a roll support plate (32), a yaw moment sensor (33), a yaw input spring ejector, and a yaw output spring ejector (34); the roll support plate is composed of a second front circular plate (321), a second rear circular plate (322), and a second annular connecting plate (323); the first front circular plate and the second front circular plate are connected and fixed by a roll support plate fastening screw (51); the wiring harness of the roll output spring ejector circuit board (36) is connected to the yaw input spring ejector circuit board (40); the yaw input spring ejector circuit board transmits power and signals to the yaw joint through the yaw input spring ejector; the yaw input spring ejector circuit board is fixed on the ejector circuit board base (41); the yaw joint is sleeved on the second rear circular plate (321); the second rear circular plate (322) and the ... The annular connecting plate rotates relative to the rolling support plate, and the output end of the yaw joint transmits power and signals through the male end of the yaw output spring ejector pin.

2. The humanoid robot shoulder system according to claim 1, Features: Each of the pitch output spring ejector, roll input spring ejector, roll output spring ejector, yaw input spring ejector and yaw output spring ejector comprises a male end and a female end, a protrusion is arranged on the inner periphery of the female end, and a recess is arranged on the outer periphery of the male end accordingly.

3. The humanoid robot shoulder system according to claim 1, Features: The first rear circular plate has a hole corresponding to the roll input spring ejector pin circuit board, a circuit board pressure cover seat (27) is placed in the hole and connected to the circuit board pressure cover (271) via pressure cover seat screws (28), and the circuit board pressure cover is pressed against the roll input spring ejector pin circuit board.

4. The humanoid robot shoulder system according to claim 1, Features: A deep groove ball bearing (224) is provided in the middle of the first rear circular plate, the end face of the outer ring of the deep groove ball bearing close to the roll joint is limited by the pitch support plate, and the outer side of the inner ring of the deep groove ball bearing is limited by the stepped shaft end face of the roll joint shaft (29).

5. The humanoid robot shoulder system according to claim 1, Features: The wiring harness of the roll output spring ejector circuit board (36) is buried in the wiring groove (38) on the second front circular plate and is connected to the yaw input spring ejector circuit board (40) through the wiring hole (39). The yaw input spring ejector circuit board is fixed on the ejector circuit board base (41).

6. The humanoid robot shoulder system according to claim 1, Features: A limiting buffer block (37) is arranged on the outer extension edge of the second annular connecting plate.

7. The humanoid robot shoulder system according to claim 6, Features: The limiting buffer block is a polyurethane limiting block.

8. The humanoid robot shoulder system according to claim 1, Features: Wrap the limit stop ring around the shoulder joint base.

9. The humanoid robot shoulder system according to claim 1, Features: A positioning pin (16) is arranged on the end surface of the pitch moment sensor, and a positioning pin (16) is arranged on the end surface of the roll moment sensor.

10. The humanoid robot shoulder system according to claim 1, Features: The pitch support plate and the roll support plate are integrally formed.

Images