Crank, transmission structure of biped robot, humanoid robot and robot

Abstract

The utility model relates to the technical field of robots, and discloses a crank, a transmission structure of a biped robot, a humanoid robot and a robot. According to the transmission crank, the mounting groove is formed in the shaft section, the bearing is assembled in the mounting groove through the outer ring, and the end, away from the joint module, of the crank is dynamically supported through the bearing. According to the embodiment, the mounting groove is formed in the shaft section of the crank, so that the bearing can be directly mounted in the mounting groove of the crank shaft section instead of being sleeved outside the shaft section of the supporting piece. The cost of the transmission crank can be reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more particularly to a crank, a transmission structure of a bipedal robot, a humanoid robot, and a robot. Background Art

[0002] In robotics technology, the development of humanoid bipedal robots is a hot topic in the industry. The lower limbs of bipedal robots often have a two-leg structure that imitates human lower limbs, including thighs, calves, and feet. The entire leg structure can usually swing left and right and rotate around the vertical direction. The thighs, calves and feet can all rotate independently. In this way, through the coordinated movement of various parts, the bipedal robot can achieve humanoid walking.

[0003] In the prior art, such as in the utility model patent announcement text CN221188834U, the transmission structure therein mainly includes a support member, a rocker, a crank and a bearing. The crank is installed on the inner ring of the bearing with a shaft section, and a mounting groove is constructed in the support member to accommodate and install the bearing, and the outer ring of the bearing is assembled in the mounting groove. In the existing transmission structure, since the bearing is sleeved outside the shaft section of the support member, and the crank component is generally made of plate material reduction processing, in order to assemble the bearing, it is necessary to increase the thickness of the inner assembly end of the bearing in the direction of the crank thickness. During the processing, it is necessary to replace the plate with a thicker plate for crank processing. At the same time, the amount of material reduction processing will also increase significantly, so the crank structure in the prior art has a high manufacturing cost. Utility Model Content

[0004] The present application provides a crank, a transmission structure of a biped robot, a humanoid robot and a robot, aiming to solve the problem of high cost of existing transmission structures.

[0005] In one embodiment, a crank is provided, comprising an integrally formed flange, a shaft section and a connecting section; the flange is used to connect to the output flange of a joint module; an articulated seat is provided at one end of the connecting section away from the rotating shaft of the flange, and the articulated seat is used to articulate one end of a rocker; the shaft section is constructed with a mounting groove, the mounting groove is located at the end of the shaft section away from the flange, and the mounting groove is used to assemble a bearing.

[0006] In one embodiment, the shaft section and the connecting section have the same size in the direction of the rotation axis of the flange.

[0007] In one embodiment, the shaft section includes a mounting cavity, which passes through the shaft section and the flange. The diameter of the mounting groove is larger than the diameter of the mounting cavity. The flange, the shaft section and the connecting section are configured to have a through cavity.

[0008] In one embodiment, the hinge seat includes a first side plate, a second side plate and a hinge groove therebetween, and the hinge groove is used to accommodate one end of the rocker.

[0009] In one embodiment, a transmission structure of a biped robot is provided, comprising:

[0010] a generally cylindrical support member; and,

[0011] A bearing, wherein the outer ring of the bearing abuts against the mounting groove, and the inner ring of the bearing abuts against one end of the support member.

[0012] In one aspect, the support member includes a shoulder structure facing one end of the crank.

[0013] In one solution, the support member is configured with a through cavity in the height direction.

[0014] In one embodiment, a rocker is further included, wherein the rocker includes a rotating shaft, the rotating axis of the rotating shaft is substantially parallel to the rotating axis of the flange, and the two are spaced apart by a preset distance.

[0015] In one embodiment, the connecting section is fixedly connected to the flange, or the connecting section is fixedly connected to the flange and the extension section. An articulated seat is provided at one end of the connecting section away from the rotating axis of the flange. The articulated seat includes a first side plate, a second side plate and an articulated groove therebetween, and the articulated groove is used to accommodate one end of the rocker arm.

[0016] In one embodiment, the rocker includes a rotating shaft, the rotating axis of the rotating shaft is substantially parallel to the rotating axis of the flange, and the two are separated by a preset distance; the rotating shaft is rotatably arranged at one end of the rocker, and both ends of the rotating shaft are fixed to the first side plate and the second side plate.

[0017] In one embodiment, the rotating shaft includes a first connecting member and a second connecting member, the first side plate and the second side plate are both provided with a third through hole, the first connecting member and the second connecting member are respectively connected after passing through the third through hole, and the first connecting member and the second connecting member are assembled and connected by fasteners.

[0018] In one solution, an anti-rotation snap-in structure is provided between the first connecting member and the second connecting member and the third via hole.

[0019] In one embodiment, a humanoid robot is provided, comprising the transmission structure of the bipedal robot as described above.

[0020] In one embodiment, a robot is provided, comprising the transmission structure of the bipedal robot as described above.

[0021] Beneficial effects of this application:

[0022] The transmission crank structure provided in the embodiment of the present application utilizes the mounting grooves provided on the shaft sections of the crank to assemble the crank bearings through the mounting grooves. In this way, the crank need not be provided with axially protruding parts, so that a plate with a smaller thickness can be selected to process the crank, which firstly reduces the material cost of the crank, and on the other hand reduces the amount of subtractive processing work, thereby improving processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 is a schematic diagram of the three-dimensional structure of a thigh assembly of a bipedal robot in one embodiment of the present application;

[0025] Figure 2 is a schematic diagram of the exploded components of the transmission structure of the biped robot in one embodiment of the present application;

[0026] Figure 3 is a front view structural diagram of a transmission structure of a bipedal robot in one embodiment of the present application;

[0027] Figure 4 is along Figure 3 Schematic diagram of the components exploded in the cross-section state from the medium AA perspective;

[0028] Figure 5 is a schematic structural diagram of an assembled state of a crank in an embodiment of the present application;

[0029] Figure 6 It is a schematic diagram of the structure of the various components of the crank in an exploded state in one embodiment of the present application;

[0030] Figure 7 is a schematic diagram of the structure of a robot in one embodiment of the present application;

[0031] Figure 8 It is a schematic diagram of the structure of a humanoid robot in one embodiment of the present application.

[0032] Reference numerals in the figures:

[0033] 1. crank; 11. flange; 12. shaft section; 121. mounting cavity; 1211. mounting groove; 13. connecting section; 131. hinge seat; 1311. first side plate; 1312. second side plate; 1313. hinge groove; 1314. third through hole; 14. first through hole;

[0034] 2. rocker; 21. rotating shaft;

[0035] 3. Joint module; 31. Output flange;

[0036] 4. Support member; 41. Bearing seat; 411. Bearing position; 412. Cavity; 42. First cavity; 43. First fixing hole;

[0037] 5. Bearing; 51. Outer ring; 52. Inner ring.

[0038] B indicates the rotation axis of the flange; C indicates the rotation axis of the rocker hinge shaft. DETAILED DESCRIPTION

[0039] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and Examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0040] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0045] In the present invention, the general concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0046] In the prior art, the structural strength of the thigh is not high.

[0047] Based on this, the present application makes improvements and innovations and proposes the following embodiments.

[0048] In one embodiment, referring to Figures 1 to 3 As shown, a transmission structure of a bipedal robot is provided. The transmission structure of this embodiment is arranged on the thigh structure of the robot and is mainly used to drive the calf to swing back and forth. The transmission structure of this embodiment mainly includes a crank 1, a rocker 2, a joint module 3, a support 4 and a bearing 5.

[0049] In one embodiment, the crank 1 is constructed with a flange 11, a shaft section 12 and a connecting section 13. The shaft section 12 is a hollow shaft-like structure extending from the back of the flange 11 along the direction of the rotating axis of the flange 11. The shaft section 12 is provided with a mounting groove 1211, and a mounting cavity 121 may also be constructed in the shaft section 12, and the end of the mounting cavity 121 away from the flange 11 is the mounting groove 1211. The diameter of the mounting groove 1211 is larger than the diameter of the mounting cavity 121. The crank 1 is one of the core components of the transmission structure and is used to transmit the power of the joint module 3 to the rocker 2. The crank 1 is usually made of high-strength alloy steel or lightweight alloy material in one piece to ensure sufficient strength and lightness. The mounting cavity 121 of the shaft section 12 is used to install the bearing 5, and the design of the mounting groove 1211 facilitates the installation and removal of the bearing 5. The size and shape of the mounting cavity 121 can be selected to adapt to the crank shape to ensure that the bearing 5 can be stably installed and can withstand dynamic loads. The flange 11 of the crank 1 is also provided with a plurality of first through holes 14, the extension direction of the first through holes 14 is parallel to the rotation axis direction of the flange 11, and one or more of the first through holes 14 will penetrate the connecting section 13, so as to fully fasten the flange 11. The flange 11 and the output flange 31 of the joint module 3 can be fixedly connected through a plurality of fasteners passing through the first through holes 14, so as to ensure the stability and reliability of power transmission.

[0050] The crank bearing is assembled by utilizing the mounting groove provided on the crank shaft section. Thus, the crank no longer needs to have axially protruding parts. Therefore, a plate with a smaller thickness can be selected to process the crank, which firstly reduces the crank material cost and, on the other hand, reduces the amount of subtractive processing work, thereby improving processing efficiency.

[0051] In this embodiment, the shaft section 12 and the connecting section 13 have the same size in the direction of the rotation axis of the flange 11, that is, the shaft section 12 and the connecting section 13 have the same thickness, and the side of the crank 1 away from the flange 11 is a plane, and the mounting groove 1211 is formed by being recessed inward from this plane. The depth of the mounting groove 1211 is selected to be equal to or greater than the thickness of the bearing, so that the mounting groove can be assembled with the bearing therein.

[0052] In one embodiment, the first end 22 of the rocker 2 is hinged to the connecting section 13. The second end 23 of the rocker 2 can pass through the support 4 and be hinged to the lower leg driven end. The rocker 2 is used to convert the movement of the crank 1 into linear motion or swinging motion. The rocker 2 is also made of high-strength materials to ensure its stability and reliability when subjected to dynamic loads. The hinge structure between the rocker 2 and the crank 1 is connected by high-strength fasteners to ensure the reliability and stability of the connection. The design of the rocker 2 enables power to be efficiently transmitted from the crank 1 to the legs of the robot, thereby improving the robot's motion performance.

[0053] In one embodiment, the joint module 3 is used to drive the crank 1 to rotate, and is the power source of the transmission structure. The outer shell of the joint module 3 can be assembled and fixed with the support member 4 by fasteners, and the joint module 3 mainly includes an output flange 31, and the output flange 31 is fixedly connected to the flange 11, and the output flange 31 is coaxial with the rotation axis of the shaft section 12. The joint module 3 can use a motor as a power source, and a suitable type is selected according to the specific application scenario. The output flange 31 is fixedly connected to the flange 11 of the crank 1 by fasteners to ensure the stability and reliability of power transmission. The joint module 3 can efficiently transmit power to the crank 1 to ensure the motion performance of the robot.

[0054] The embodiment of the present application can use the crank shaft section to set up a mounting cavity for mounting the outer ring of the bearing, and the bearing is assembled and connected with the corresponding support member shaft seat by the inner ring, and the bearing is dynamically supported at the end of the crank away from the joint module. Without affecting the dynamic support, a bearing with a smaller appearance and weight can be selected in the mounting cavity. Compared with the prior art that sets a mounting groove on the support member, this embodiment sets a mounting cavity on the crank shaft section, so that the bearing can be directly installed in the mounting cavity of the crank shaft section, rather than being sleeved on the outside of the support member shaft section. The bearing is assembled and connected with the shaft seat on the support member by the inner ring, rather than the traditional installation method of the outer ring, which can make the bearing smaller in size and lighter in weight.

[0055] In one embodiment, a plurality of first fixing holes 43 may be provided on the outer wall end face of the upper connecting end of the support member 4, and the first fixing holes 43 may be used in conjunction with fasteners to relatively fix the support member 4 and the joint module 3. The support member 4 of this embodiment may specifically be a thigh structural member, and the inner side of the upper connecting end of the support member 4 limits a first cavity 42, and the first cavity 42 may be used for the installation and rotation of the crank 1, and the support member 4 is also provided with a bearing seat 41 in the middle of the inner side of the first cavity 42. The support member 4 is usually made of high-strength material to ensure sufficient strength and stability. The bearing seat 41 is constructed on the inner side of the support member 4 facing the joint module 3, and is roughly cylindrical. The bearing seat 41 includes a bearing position 411, which is a shoulder structure constructed on one end of the bearing seat 41 facing the crank 1. The shoulder structure is used to be assembled in the inner ring 52 of the bearing 5. The shoulder structure can also be used to form a supporting convex ring between the root of the bearing seat 41 of the support member 4 and the bearing 4, thereby avoiding friction between the bearing 5 and the root of the bearing seat 41. The size and shape of the bearing seat 411 are precisely designed to ensure that the bearing 5 can be stably installed and can withstand dynamic loads. A through cavity 412 is provided in the bearing seat 41, and the installation cavity 121 passes through the flange 11 and the shaft section 12, and the installation cavity 121 is aligned and connected with the cavity 412. This design not only reduces the weight of the support 4, but also facilitates wiring or installation of sensor components.

[0056] In one embodiment, referring to Figures 4 to 6 As shown, the installation cavity 121 further includes an installation groove 1211, which is arranged at one end of the installation cavity 121 away from the flange 11, and the bearing 5 is embedded in the installation groove 1211 through the outer ring 51. The design of the installation groove 1211 ensures the stable installation of the bearing 5, while reducing the axial movement of the bearing 5 on the outer ring 51, thereby improving the stability and reliability of the transmission structure.

[0057] In one embodiment, please refer to Figure 4 and Figure 6 As shown, the connecting section 13 is fixedly connected to the flange 11, or the connecting section 13 is fixedly connected to the flange 11 and the shaft section 12. An articulated seat 131 is provided at one end of the connecting section 13 away from the rotating shaft of the flange 11. The articulated seat 131 mainly includes a first side plate 1311, a second side plate 1312 and an articulated groove 1313 located therebetween. The articulated groove 1313 is used to accommodate the first end 22 of the rocker 2. A third through hole 1314 is provided on each of the first side plate 1311 and the second side plate 1312. The two third through holes 1314 are coaxially arranged for mounting the rocker. The design of the articulated seat 131 ensures a reliable connection between the rocker 2 and the crank 1, while allowing the rocker 2 to perform necessary swinging motion. The first side plate 1311 and the second side plate 1312 are made of high-strength materials to ensure the stability and reliability of the articulated seat 131.

[0058] In one embodiment, the rocker 2 includes a rotating shaft 21, the rotating axis C of the rotating shaft 21 is substantially parallel to the rotating axis B of the flange 11, and the two are separated by a preset distance, which can be considered as the eccentric distance of the crank 1; the rotating shaft 21 is rotatably disposed at one end of the rocker 2, and the two ends of the rotating shaft 21 are fixed to the first side plate 1311 and the second side plate 1312. The design of the rotating shaft 21 ensures that the rocker 2 can perform a stable rotation movement, thereby improving the motion performance of the robot.

[0059] In one embodiment, see Figure 8 , providing a humanoid robot, including the transmission structure or thigh assembly structure of the biped robot in any of the above embodiments. This design not only reduces the weight of the transmission structure, but also improves the load capacity and motion performance of the robot, while ensuring the stability and reliability of the system.

[0060] In one embodiment, see Figure 7 , providing a robot, including the transmission structure or thigh assembly structure of the biped robot in any of the above embodiments. This design is also applicable to other types of robots, which can not only improve the performance of the robot, but also adapt to different application scenarios.

[0061] The transmission structure of the bipedal robot provided in the embodiment of the present application provides a mounting cavity 121 on the shaft section 12 of the crank 1, so that the bearing 5 can be directly installed in the mounting cavity 121. This design makes the bearing 5 smaller in size and lighter in weight, which helps to reduce the overall weight of the transmission structure and improve the load capacity and motion performance of the robot. At the same time, by optimizing the installation method of the bearing 5, it is ensured that the production cost is reduced, and the outer ring of the bearing can be pre-set in the crank, and then assembled on the support member so that the inner ring of the bearing abuts against it, reducing the difficulty of assembly.

[0062] In summary, the transmission structure of the bipedal robot provided in the embodiment of the present application not only reduces the weight of the transmission structure, improves the load capacity and motion performance of the robot, but also ensures the stability and reliability of the system. It is suitable for various types of robots and has broad application prospects.

[0063] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A crank, characterized in that include The flange, shaft section and connecting section are made of one piece; The flange is used to connect the output flange of the joint module; An articulated seat is provided at one end of the connecting section away from the rotating shaft of the flange, and the articulated seat is used to articulate one end of the rocker; The shaft section is configured with a mounting groove, the mounting groove is located at an end of the shaft section away from the flange, and the mounting groove is used for assembling a bearing.

2. The crank according to claim 1, characterized in that The shaft section and the connecting section have the same size in the direction of the rotation axis of the flange.

3. The crank according to claim 1, characterized in that: The shaft section comprises a mounting cavity, and the mounting cavity passes through the shaft section and the flange. The diameter of the mounting groove is larger than the diameter of the mounting cavity. The flange, the shaft section and the connecting section are constructed with a through cavity.

4. The crank according to any one of claims 1 to 3, characterized in that: The hinge seat comprises a first side plate, a second side plate and a hinge groove therebetween, and the hinge groove is used to accommodate one end of the rocker.

5. The transmission structure of the bipedal robot is characterized in that: include: A crank as claimed in any one of claims 1 to 4; a generally cylindrical support member; and, A bearing, wherein the outer ring of the bearing abuts against the mounting groove, and the inner ring of the bearing abuts against one end of the support member.

6. The transmission structure of the biped robot according to claim 5, characterized in that: The support member includes a shoulder structure facing one end of the crank.

7. The transmission structure of the biped robot according to claim 5, characterized in that: The support member is configured with a through cavity in the height direction.

8. The transmission structure of the biped robot according to any one of claims 5 to 7, characterized in that: Also includes: The rocker comprises a rotating shaft, the rotating axis of the rotating shaft is substantially parallel to the rotating axis of the flange, and the two are spaced apart by a preset distance.

9. A humanoid robot, characterized in that A transmission structure comprising a biped robot as described in any one of claims 5 to 8.

10. A robot, characterized in that A transmission structure comprising a biped robot as described in any one of claims 5 to 8.

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