Actuator driving assembly and humanoid robot

Abstract

A drive assembly of an actuator and a humanoid robot; the drive assembly comprises an actuator base, an inner shaft, a fixing sleeve, a cam, a driving planetary gear, a driven planetary gear, a side shaft, a connecting seat and a connecting rod; the actuator base is provided with a rotating seat; the inner shaft is rotatably connected to the rotating seat around the Y axis; the fixing sleeve is rotatably installed on the inner shaft; the driving planetary gear and the cam are fixed and rotatably installed on the inner shaft, and the driving planetary gears are respectively located on the left and right positions of the fixing sleeve; the cam is used for driving the driving planetary gears to rotate around the Y axis; the driven planetary gear is connected with the connecting seat, and the driven planetary gear is engaged with the driving planetary gears on both sides; one end of the side shaft is limited to the fixing sleeve, and the driven planetary gear is rotatably sleeved on the side shaft; one end of the connecting rod is rotatably connected to the connecting seat; the other end of the connecting rod is an output end of the actuator; the scheme solves the problems of complex space structure and decreased activity flexibility of the humanoid robot in the actuator.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more particularly to a drive component for an actuator and a humanoid robot. Background Technology

[0002] The actuator is the core component for a robot to achieve motion and manipulation. The flexibility of the actuator's movement is crucial for the robot's multi-angle motion. However, existing robots have complex actuator structures, mainly using two motors at different heights to control motion in two different directions, i.e., a dual-axis superimposed structure. This structure has significant structural defects in robots. The core problem stems from the mechanical layout of the two axes being stacked: the X-axis and Y-axis require independent motors, guide rails, and transmission components, resulting in increased vertical redundancy. Furthermore, the superposition of two sets of guiding mechanisms creates system rigidity redundancy, generating additional inertial loads. This design not only occupies a large amount of axial space but also limits the development of lightweight robots. Utility Model Content

[0003] The purpose of this invention is to provide a drive assembly for an actuator, which drives the active planetary gear to rotate in the same direction or in opposite directions via a cam. This allows the output end of the actuator to move at different angles in different steering states. Furthermore, based on the cooperation of the active planetary gear, the driven planetary gear, the connecting seat, and the connecting rod, the active planetary gear can adjust the rotation angle of the output end of the actuator, enabling the actuator to bear a greater load.

[0004] This utility model also proposes a humanoid robot that uses the aforementioned lower leg structure of a humanoid robot.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A drive assembly for an actuator includes: an actuator base, an inner shaft, a fixed sleeve, a cam, a driving planetary gear, a driven planetary gear, a side shaft, a connecting seat, and a connecting rod;

[0007] The actuator base is provided with a rotating seat; the inner shaft is rotatably connected to the rotating seat around the Y-axis; the fixed sleeve is rotatably mounted on the inner shaft; the driving planetary gear is fixed to the cam, and both are rotatably mounted on the inner shaft, with the driving planetary gear located at the left and right positions of the fixed sleeve respectively; the cam is used to drive the driving planetary gear to rotate around the Y-axis;

[0008] The driven planetary gear is connected to the connecting seat, and the driven planetary gear meshes with the driving planetary gears on both sides; one end of the side shaft is limited to the fixed sleeve, and the driven planetary gear is rotatably sleeved on the side shaft; one end of the connecting rod is rotatably connected to the connecting seat; the other end of the connecting rod is the output end of the actuator;

[0009] When the cams in the left and right positions rotate in the same direction, the connecting seat and the connecting rod rotate around the Y-axis;

[0010] When the cams in the left and right positions rotate in opposite directions, the connecting seat and the connecting rod rotate about the side axis.

[0011] Optimally, the turntable includes: a base plate and an end cap;

[0012] The end caps are detachably mounted on the left and right sides of the substrate; the two ends of the inner shaft are rotatably connected to the end caps.

[0013] Alternatively, the rotary table may further include: fixing screws;

[0014] The substrate has L-shaped grooves on both sides, and the inner wall of the L-shaped grooves has groove fixing holes; the end cap has a cover fixing hole; the fixing screw passes through the cover fixing hole and is threaded into the groove fixing hole, so that the end cap is limited to the L-shaped groove.

[0015] Alternatively, one end of the side shaft extends into the fixed sleeve, and the side shaft fixes the driven planetary gear and the connecting seat together.

[0016] The fixed sleeve is provided with an adjustment port, which protrudes from the side shaft; the adjustment port is used to adjust the movement of the side shaft to adjust the tightness of the connection between the driven planetary gear and the connecting seat.

[0017] Alternatively, the inner shaft may have a shaft hole, one end of which protrudes from the side shaft, and the adjustment port protrudes from the other end of the shaft hole.

[0018] Alternatively, the side shaft may have a screw head at one end within the fixed sleeve, the connecting seat may have an internal thread structure at the other end of the side shaft, the side shaft may have an external thread structure, and the side shaft may be threaded into the internal thread structure.

[0019] Alternatively, the connecting seat may be provided with a fixing nut; the fixing nut may be provided with the internal thread structure.

[0020] The side shaft passes through the driven planetary gear and the connecting seat, and one end of the side shaft is threaded into the fixing nut, so that the fixing sleeve, the driven planetary gear and the connecting seat are connected.

[0021] Optimally, the rotary drive includes: a drive motor and a differential;

[0022] The drive motor has an output terminal connected to the input terminal of the differential, and the output terminal of the differential is connected to one end of the motor drive rod, which is used to drive one end of the motor drive rod to rotate.

[0023] Optimally, it may also include: a fixing mechanism, a rotary actuator, and a motor drive rod;

[0024] The fixing mechanism is rotatably mounted on the inner shaft; the rotation driver is mounted on the fixing mechanism, and one end of the motor drive rod is connected to the cam; the output end of the rotation driver is connected to the other end of the motor drive rod, for driving the cam to rotate around the inner shaft via the motor drive rod.

[0025] Optimally, the rotary drive includes: a drive motor and a differential;

[0026] The drive motor has an output terminal connected to the input terminal of the differential, and the output terminal of the differential is connected to one end of the motor drive rod, which is used to drive one end of the motor drive rod to rotate.

[0027] A humanoid robot is provided with an actuator; the actuator is provided with a drive component of the aforementioned actuator.

[0028] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0029] This solution provides a drive component for an actuator, which drives the active planetary gear to rotate in the same or opposite directions via a cam. This allows the output end of the actuator to move at different angles in different steering states. Furthermore, based on the cooperation of the active planetary gear, the driven planetary gear, the connecting seat, and the linkage, the active planetary gear can adjust the rotation angle of the output end of the actuator, enabling the actuator to bear a larger load. This solves the problems of complex spatial structure and reduced mobility of existing robots. Attached Figure Description

[0030] Figure 1 This is a structural schematic diagram of one embodiment of the actuator;

[0031] Figure 2 This is a structural schematic diagram of one embodiment of the actuator;

[0032] Figure 3 This is a structural schematic diagram of one embodiment of the execution base;

[0033] Figure 4 This is a schematic diagram of one embodiment where the actuator is a lower leg structure;

[0034] Figure 5 This is a schematic diagram of one embodiment of the connection between the lower leg structure and the thigh structure.

[0035] in:

[0036] 1. Execution base frame; 3. Drive assembly of the actuator; 4. Cam; 5. Fixing mechanism; 6. Rotary driver; 7. Motor drive rod; 11. Rotary seat; 111. Base plate; 112. End cap; 113. Fixing screw; 114. L-shaped groove; 115. Groove fixing hole; 116. Cover fixing hole; 31. Inner shaft; 32. Fixing sleeve; 33. Driven planetary gear; 34. Driven planetary gear; 35. Side shaft; 36. Connecting seat; 37. Connecting rod; 38. Fixing nut; 311. Shaft hole; 321. Adjustment port; 351. Screw head; 352. Internal thread structure.

[0037] Foot plate 2, bottom shaft 12, limit rotating block 13; foot connector 21; foot swivel 211, front foot seat 212, rear foot seat 213; foot rotating shaft 214; limit cavity 215; movement clearance 216. Detailed Implementation

[0038] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0039] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," "inner side," "outer side," "inner end," "outer end," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish descriptive features, without any order or emphasis. In the description of this utility model, unless otherwise stated, "multiple" means two or more.

[0040] like Figure 1-5A drive assembly 3 for an actuator includes: an actuator base 1, an inner shaft 31, a fixed sleeve 32, a cam 4, a driving planetary gear 33, a driven planetary gear 34, a side shaft 35, a connecting seat 36, and a connecting rod 37.

[0041] The actuator base 1 is provided with a rotating seat 11; the inner shaft 31 is rotatably connected to the rotating seat 11 around the Y-axis; the fixed sleeve 32 is rotatably mounted on the inner shaft 31; the driving planetary gear 33 is fixed to the cam 4, and both are rotatably mounted on the inner shaft 31, with the driving planetary gear 33 located at the left and right positions of the fixed sleeve 32 respectively; the cam 4 is used to drive the driving planetary gear 33 to rotate around the Y-axis;

[0042] The driven planetary gear 34 is connected to the connecting seat 36, and the driven planetary gear 34 meshes with the driving planetary gears 33 on both sides; one end of the side shaft 35 is limited to the fixed sleeve 32, and the driven planetary gear 34 is rotatably sleeved on the side shaft 35; one end of the connecting rod 37 is rotatably connected to the connecting seat 36; the other end of the connecting rod 37 is the output end of the actuator;

[0043] When the cams 4 in the left and right positions rotate in the same direction, the connecting seat 36 and the connecting rod 37 rotate around the Y-axis;

[0044] When the cam 4 in the left and right positions rotates in opposite directions, the connecting seat 36 and the connecting rod 37 rotate around the side shaft 35.

[0045] This solution provides a drive component for an actuator, which drives the active planetary gear 33 to rotate in the same direction or in opposite directions via a cam 4. This allows the output end of the actuator to move at different angles in different steering states. Furthermore, based on the cooperation of the active planetary gear 33, the driven planetary gear 34, the connecting seat 36, and the connecting rod 37, the active planetary gear 33 can adjust the rotation angle of the output end of the actuator, enabling the actuator to bear a larger load. This solves the problems of complex spatial structure and reduced mobility of existing robots.

[0046] Specifically, the actuator is the core component for the humanoid robot to achieve movement and operation, such as the hand (end effector), wrist, arm, waist (column), and legs (walking mechanism). The actuator can be connected to the fixed mechanism 5, for example, the actuator base 1 can be rotatably connected to the fixed mechanism 5. At any position between the actuator and the fixed mechanism 5, a rotation driver 6 can be set as needed. The rotation driver 6 can directly or indirectly drive the cam 4 to rotate, as long as the cam 4 can rotate. The cam 4 is fixed to the active planetary gear 33, and the two are... A step is rotatably mounted on an inner shaft 31, and the inner shaft 31 is respectively provided with a cam 4 and a driving planetary gear 33 at the left and right positions; a fixed sleeve 32 is provided between two adjacent driving planetary gears 33; a driven planetary gear 34 is fixed to a connecting seat 36, and the driven planetary gear 34 can rotate relative to the side shaft 35, driving the connecting seat 36 to rotate; one end of the side shaft 35 is rotatably connected to the fixed sleeve 32, so that the driven planetary gear 34 is confined between the two driving planetary gears 33, and the driven planetary gear 34 meshes with the left and right driving planetary gears 33 respectively, such as Figure 2 Link 37 can connect to the movable end of a joint in the robot, such as the waist, arm, thigh, calf, or foot; taking foot 2 as an example, such as... Figure 3 The connecting seat 36 is connected to the foot plate 2 via a connecting rod 37, and the foot plate 2 can rotate in the X-axis direction with respect to the execution base 1.

[0047] Each rotary actuator 6 independently rotates one of the cams 4, and the two cams 4 can rotate in the same direction or in opposite directions. When the two cams 4 rotate in the same direction, the two driving planetary gears 33 rotate in the same direction, and the two driving planetary gears 33 simultaneously keep the driven planetary gear 34 stationary or rotating at a low speed, based on the connection between the connecting seat 36 and the fixed sleeve 32 via the side shaft 35. The driven planetary gear 34, the connecting seat 36, and the fixed sleeve 32 rotate around the inner shaft 31. The connecting seat 36 drives the foot plate 2 to rotate around the Y-axis through the connecting rod 37, which is equivalent to the output end of the humanoid robot's actuator swinging back and forth. At the same time, since the driving planetary gears 33 rotate simultaneously in the same direction, it is equivalent to using two rotary actuators 6 to drive the foot plate 2 to rotate simultaneously through the connecting rod 37, which can reduce the weight burden on the output end of the actuator. When the two cams 4 rotate in opposite directions, the two driving planetary gears 33 rotate in opposite directions, and the two driving planetary gears 33 simultaneously cause the driven planetary gear 34 to rotate clockwise or counterclockwise; based on the connection between the connecting seat 36 and the fixed sleeve 32 via the side shaft 35, and the connection relationship between the side shaft 35 and the fixed sleeve 32; the driven planetary gear 34 and the connecting seat 36 rotate around the side shaft 35; as Figure 1Link 37 can be raised and lowered, reducing the weight burden on footplate 2. Thus, this solution allows the actuator to bear a greater load, solving the problems of complex spatial structure and reduced mobility in existing robots where two motors at different heights control movements in two different directions.

[0048] Alternatively, the turntable 11 may include: a base plate 111 and an end cap 112;

[0049] The end cap 112 is detachably mounted on the left and right sides of the base plate 111; the two ends of the inner shaft 31 are rotatably connected to the end cap 112.

[0050] The rotary seat 11 of this solution preferably uses a detachable structure, which can be assembled from one end of the inner shaft 31 to the other end. One end of the inner shaft 31 can be installed on an end cover 112 first, and then the cam 4, the fixed sleeve 32 (and its driven planetary gear 34 and connecting seat 36) and the cam 4 can be assembled in sequence. Then the other end of the inner shaft 31 can be installed on another end cover 112, thereby simplifying the assembly structure of the actuator.

[0051] Alternatively, the rotary table 11 may further include: a fixing screw 113;

[0052] The substrate 111 has L-shaped grooves 114 on both sides, and the inner wall of the L-shaped grooves 114 has groove fixing holes 115; the end cap 112 has a cover fixing hole 116; the fixing screw 113 passes through the cover fixing hole 116 and is threaded into the groove fixing hole 115, so that the end cap 112 is limited to the L-shaped grooves 114.

[0053] In this design, the substrate 111 and the end cap 112 are preferably fixed using a fixing screw 113. The fixing screw 113 may have a screw head and a threaded rod. The fixing screw 113 can extend into the cap fixing hole 116 and the slot fixing hole 115 through the threaded rod, and under the action of rotation, it is threaded into the slot fixing hole 115. The screw head is limited to the cap fixing hole 116, and the end cap 112 is limited to the L-shaped slot 114. In this way, when it is necessary to install or remove the end cap 112, the fixing screw 113 can be adjusted using a screwdriver.

[0054] Alternatively, one end of the side shaft 35 extends into the fixed sleeve 32, and the side shaft 35 fixes the driven planetary gear 34 and the connecting seat 36 together.

[0055] The fixed sleeve 32 is provided with an adjustment port 321, which exposes the side shaft 35; the adjustment port 321 is used to adjust the movement of the side shaft 35 to adjust the tightness of the connection between the driven planetary gear 34 and the connecting seat 36.

[0056] In this design, the driven planetary gear 34 and the connecting seat 36 are preferably connected in a separate manner. Specifically, the fixed sleeve 32 is provided with an adjustment port 321, and one end of the side shaft 35 extends into the fixed sleeve 32. The adjustment port 321 can expose the end of the side shaft 35 inside the fixed sleeve 32. Therefore, an external tool (such as a screwdriver) can be inserted into the fixed sleeve 32 through the adjustment port 321, and the side shaft 35 can be adjusted using the external tool to make the side shaft 35 move. Since the side shaft 35 fixes the driven planetary gear 34 and the connecting seat 36 together, driving the side shaft 35 to move can make the connection between the driven planetary gear 34 and the connecting seat 36 tighter, or make the driven planetary gear 34 and the connecting seat 36 disassembled and separated, simplifying the installation process between the fixed sleeve 32, the side shaft 35, the driven planetary gear 34 and the connecting seat 36.

[0057] Alternatively, the inner shaft 31 may be provided with a shaft hole 311, one end of which protrudes from the side shaft 35, and the adjustment port 321 protrudes from the other end of the shaft hole 311.

[0058] The inner shaft 31 of this design has a shaft hole 311 with its axis pointing in a straight line. Therefore, the shaft hole 311 can connect to the side shaft 35 at one end and to the adjustment port 321 at the other end. One end of the side shaft 35 within the fixing sleeve 32 can extend into the shaft hole 311, which can accommodate one end of the inner shaft 31. The fixing sleeve 32 does not need to be designed to be larger. Simultaneously, the shaft hole 311 can accommodate external tools, allowing them to move within the shaft hole 311.

[0059] Alternatively, the side shaft 35 may have a screw head 351 at one end inside the fixed sleeve 32, and the connecting seat 36 may have an internal thread structure 352 at the other end of the side shaft 35. The side shaft 35 may have an external thread structure, and the side shaft 35 may be threaded into the internal thread structure 352.

[0060] The side shaft 35 is similar to a screw, with a screw head 351. An adjustment port 321 exposes the screw head 351 at one end of the side shaft 35. The other end of the side shaft 35 is threaded into the internal thread structure 352 of the connecting seat 36. The internal thread structure 352 can be a hole structure in the connecting seat 36 itself or a fixing nut 38. Thus, when the side shaft 35 is threaded into the internal thread structure 352, the screw head 351 can be adjusted through the adjustment port 321 to loosen or tighten the side shaft 35. The screw head 351 and the internal thread structure 352 can be used together to adjust the tightness of the connection between the driven planetary gear 34 and the connecting seat 36, improving installation flexibility and convenience.

[0061] Alternatively, the connecting seat 36 may be provided with a fixing nut 38; the fixing nut 38 may be provided with the internal thread structure 352;

[0062] The side shaft 35 passes through the driven planetary gear 34 and the connecting seat 36. One end of the side shaft 35 is threaded into the fixing nut 38, so that the fixing sleeve 32, the driven planetary gear 34 and the connecting seat 36 are connected.

[0063] The fixing nut 38 can be integrally formed with the connecting seat 36 or detachable from the connecting seat 36; the two ends of the side shaft 35 are connected to the connecting seat 36 via the driven planetary gear 34, and the driven planetary gear 34 is rotatably connected to the side shaft 35, with one end of the side shaft 35 confined to the fixing sleeve 32; during installation, the drive assembly 3 of the actuator can be assembled by first assembling the fixing sleeve 32, the side shaft 35, and the driven planetary gear 34, then assembling the connecting seat 36 and the connecting rod 37, and finally extending the end of the side shaft 35 through the driven planetary gear 34 into the connecting seat 36, so that the side shaft 35 passes through the connecting seat 36 and is threaded into the fixing nut 38, thereby connecting the fixing sleeve 32, the driven planetary gear 34, and the connecting seat 36 as one unit, and the drive assembly 3 of the actuator can be assembled in steps; at the same time, during installation, only a screwdriver needs to be inserted into the adjustment port 321 to fix the angle of the side shaft 35, and then a wrench is used to adjust the fixing nut 38, making the adjustment faster and more convenient.

[0064] Alternatively, the connecting rods 37 can be positioned at the left and right sides of the connecting seat 36.

[0065] Linkages 37 are arranged in pairs and located at the left and right positions of the connecting seat 36. The actuator uses a double linkage 37 for transmission, which can further improve the balance of the actuator during operation. In the embodiment of double linkage 37, when the two cams 4 rotate in the same direction, the connecting seat 36 drives the actuator base 1 to rotate around the Y-axis through the linkages 37 on both sides. The two rotary drivers 6 simultaneously drive the actuator base 1 to rotate through the linkages 37, which can reduce the weight load of each linkage 37. The linkage 37 can more accurately adjust the angle of the actuator base 1 under low load. When the two cams 4 rotate in opposite directions, the driven planetary gear 34 and the connecting seat 36 rotate around the side shaft 35, and the linkage 37 can perform lifting and lowering movements. One linkage 37 moves downward and the other linkage 37 moves upward, ensuring angle stability.

[0066] Alternatively, the drive assembly 3 may further include: a fixing mechanism 5, a rotary driver 6, a motor drive rod 7, and the actuator;

[0067] The fixing mechanism 5 is rotatably mounted on the inner shaft 31; the rotation driver 6 is mounted on the fixing mechanism 5, and one end of the motor drive rod 7 is connected to the cam 4; the output end of the rotation driver 6 is connected to the other end of the motor drive rod 7, and is used to drive the cam 4 to rotate around the inner shaft 31 through the motor drive rod 7.

[0068] The rotary driver 6 of this solution is set on the fixed mechanism 5, which can make the actuator lighter. At the same time, the rotary driver 6 can be a drive motor, preferably a combination of drive motor and differential, or a combination of drive motor and reducer. It can precisely adjust the rotation angle of the upper end of the motor drive rod 7, so as to directly or indirectly connect to the cam 4 through the motor drive rod 7. The cam 4 is connected to the motor drive rod 7 through a hole structure.

[0069] Optimally, the rotary drive 6 includes: a drive motor and a differential;

[0070] The drive motor has an output end connected to the input end of the differential, and the output end of the differential is connected to one end of the motor drive rod 7, used to drive one end of the motor drive rod 7 to rotate. The rotation driver 6, which is composed of the drive motor and the differential, converts the angle input into the angle output of the cam 4, and then drives the rotation of the actuator through the drive assembly 3 of the actuator, realizing precise control of the rotation process and avoiding the problem of excessive weight burden on the actuator caused by the direct drive method in traditional systems.

[0071] A humanoid robot is provided with an actuator; the actuator is provided with a drive component of an actuator according to any of the above embodiments.

[0072] This article uses the lower leg structure of a humanoid robot as one example:

[0073] A humanoid robot has a lower leg structure and a thigh structure; the lower leg structure is an actuator; the thigh structure is a fixing mechanism.

[0074] The lower leg structure includes: foot plate 2 and drive assembly 3;

[0075] Drive assembly 3 includes: actuation base 1, inner shaft 31, cam 4, fixed sleeve 32, driving planetary gear 33, driven planetary gear 34, side shaft 35, connecting seat 36, connecting rod 37, rotary driver 6 and motor drive rod 7;

[0076] The inner shaft 31 is rotatably connected to the rotary seat 11 around the Y-axis; the fixed sleeve 32 is rotatably mounted on the inner shaft 31; the driving planetary gear 33 is fixed to the cam 4, and both are rotatably mounted on the inner shaft 31, with the driving planetary gear 33 located at the left and right positions of the fixed sleeve 32 respectively; the cam 4 is used to drive the driving planetary gear 33 to rotate around the Y-axis; the driven planetary gear 34 is connected to the connecting seat 36, and the driven planetary gear 34 meshes with the driving planetary gears 33 on both sides; one end of the side shaft 35 is limited to the fixed sleeve 32, and the driven planetary gear 34 is rotatably sleeved on the side shaft 35; the upper end of the connecting rod 37 is rotatably connected to the connecting seat 36, and the lower end of the connecting rod 37 is rotatably connected to the foot plate 2, which is equivalent to the foot plate 2 being connected to the output end of the actuator;

[0077] The thigh structure is rotatably mounted on the inner shaft 31; the foot plate 2 is rotatably connected to the actuator base 1 around the X-axis; the actuator base 1 is provided with a rotating seat 11; the rotation driver 6 is mounted on the thigh structure, and one end of the motor drive rod 7 is connected to the cam 4; the output end of the rotation driver 6 is connected to the other end of the motor drive rod 7, for driving the cam 4 to rotate around the inner shaft 31 through the motor drive rod 7.

[0078] When the left and right cams 4 rotate in the same direction, the connecting seat 36 drives the foot plate 2 and the execution base 1 to rotate around the Y-axis through the connecting rod 37;

[0079] When the left and right cams 4 rotate in opposite directions, the connecting seat 36 rotates around the side shaft 35, and drives the foot plate 2 to rotate around the X-axis relative to the execution base 1 via the connecting rod 37.

[0080] Specifically, the lower leg structure is the lower leg of the humanoid robot, that is, the lower leg structure is connected to the thigh structure above, for example, the execution base 1 is rotatably connected to the thigh structure; at any position between the lower leg structure and the thigh structure, a rotation driver 6 can be set as needed, the rotation driver 6 can directly or indirectly drive the cam 4 to rotate, as long as the cam 4 can rotate; the cam 4 is fixed to the active planetary gear 33, and the two are synchronously rotatably set on the inner shaft 31, and the inner shaft 31 is respectively provided with the cam 4 and the active planetary gear 33 at the left and right positions; a fixed sleeve 32 is provided between two adjacent active planetary gears 33; the driven planetary gear 34 is fixed to the connecting seat 36, the driven planetary gear 34 can rotate relative to the side shaft 35, and drive the connecting seat 36 to rotate; one end of the side shaft 35 is rotatably connected to the fixed sleeve 32, so that the driven planetary gear 34 is limited between the two active planetary gears 33, and the driven planetary gear 34 meshes with the left and right active planetary gears 33 respectively, such as Figure 2 ;like Figure 4 and Figure 5The connecting seat 36 and the foot plate 2 are connected by a connecting rod 37, and the foot plate 2 and the execution base 1 can rotate in the X-axis direction. The rotary actuator 6 independently rotates one of the cams 4, and the two cams 4 can rotate in the same direction or in opposite directions. When the two cams 4 rotate in the same direction, the two active planetary gears 33 rotate in the same direction, simultaneously causing the driven planetary gear 34 to remain stationary or rotate at a low speed, based on the connection between the connecting seat 36 and the fixed sleeve 32 via a side shaft 35. The driven planetary gear 34, the connecting seat 36, and the fixed sleeve 32 rotate around the inner shaft 31. The connecting seat 36 drives the foot plate 2 and the execution base 1 to rotate around the Y-axis via the connecting rod 37, meaning the entire lower leg structure rotates relative to the thigh structure around the Y-axis, equivalent to the humanoid robot's lower leg structure swinging back and forth. Simultaneously, since the active planetary gears 33 rotate simultaneously in the same direction, it is equivalent to using two rotary actuators 6 to simultaneously drive the execution base 1 and the foot plate 2 to rotate, reducing the weight burden on the lower leg. When the two cams 4 rotate in opposite directions, the two driving planetary gears 33 rotate in opposite directions, and the two driving planetary gears 33 simultaneously cause the driven planetary gear 34 to rotate clockwise or counterclockwise; based on the connection between the connecting seat 36 and the fixed sleeve 32 via the side shaft 35, and the connection relationship between the side shaft 35 and the fixed sleeve 32; the driven planetary gear 34 and the connecting seat 36 rotate around the side shaft 35; as Figure 4 and Figure 5 Link 37 can be raised and lowered, causing foot plate 2 to rotate. Foot plate 2 rotates around the X-axis relative to the actuator base 1, thereby supporting foot plate 2 and reducing the weight burden on foot plate 2. In this way, this solution can achieve more flexible gait control and solve the problem of excessive weight burden on the lower leg caused by the direct drive method in traditional systems.

[0081] Optimally, the foot plate 2 is provided with a foot connector 21; the foot connector 21 includes: a foot swivel 211, a front foot seat 212, and a rear foot seat 213; the front foot seat 212 is located in front of the rear foot seat 213, and the foot swivel 211 is provided with foot pivots 214 at the front and rear positions respectively, one foot pivot 214 is rotatably connected to the foot swivel 211, and the other foot pivot 214 is rotatably connected to the rear foot seat 213; the foot swivel 211 is mounted on the actuator base 1, and the lower end of the connecting rod 37 is rotatably connected to the front foot seat 212; when the cam 4 at the left and right positions rotates in opposite directions, the foot plate 2 rotates around the foot pivot 214.

[0082] This design uses a double cam 4 in conjunction with a driving planetary gear 33 to drive the lower leg structure to swing, and also to drive the foot plate 2 to rotate. The foot plate 2 is equipped with a foot connector 21, in which the foot swivel 211 has foot pivots 214 at the front and rear, respectively. Figure 4 and Figure 5In the initial state, the foot pivot 214 faces the X-axis and can rotate relative to the front foot seat 212 and the rear foot seat 213, that is, the execution base 1 rotates relative to the X-axis. The front and rear foot pivots 214 can make the foot plate 2 more stable in rotation, and the center of gravity is mainly concentrated on the foot pivot seat 211, which is more conducive to the precise control of the horizontal angle of the foot plate 2. When the connecting seat 36 rotates around the side axis 35 to make the connecting rod 37 move downward relative to each other, the foot plate 2 swings downward around the foot pivot 214 on the side below the connecting rod 37, and the other side of the foot plate 2 tilts upward relative to each other around the foot pivot 214, thereby enabling flexible control of the gait.

[0083] Optimally, the execution base 1 is provided with a bottom shaft 12, which is parallel to the inner shaft 31; the execution base 1 is rotatably connected to the foot swivel 211 through the bottom shaft 12; when the cams 4 in the left and right positions rotate in the same direction, the foot plate 2 rotates around the bottom shaft 12.

[0084] This embodiment further improves the gait of the lower leg structure. When the humanoid robot raises or lowers the lower leg structure, the footplate 2 can swing in the direction of movement, thus coordinating with the raising or lowering of the lower leg. Specifically, the execution base 1 is provided with a bottom shaft 12. In the initial state, the bottom shaft 12 is parallel to the inner shaft 31. When the two cams 4 rotate in the same direction, the connecting seat 36 drives the footplate 2 and the execution base 1 to rotate around the Y-axis through the connecting rod 37. At the same time, since the execution base 1 is provided with a bottom shaft 12, the connecting rod 37 can drive the footplate 2 to rotate around the bottom shaft 12, thereby lifting the footplate 2 when raising the lower leg structure and restoring the footplate 2 when lowering the lower leg structure. The gait of the lower leg structure is more biomimetic, which is beneficial for the footplate 2 to rotate around the bottom shaft 12 to lift upwards and avoid obstacles in front of the leg; when the footplate 2 rotates around the bottom shaft 12 to lower downwards, the toes and footplate touch the ground one after the other, improving the gait stability of the lower leg structure. Furthermore, the inner shaft 31, the bottom shaft 12, the upper end of the connecting rod 37, and the lower end of the connecting rod 37 are rotatable structures, such as... Figure 5 As can be seen from the side view of the lower leg structure, the angle formed by the four parts is rotatable around the Y-axis. Therefore, the lower leg structure can make adaptive angle adjustments around the Y-axis in its natural state, so that the lower leg structure can adapt to the standing and walking posture of the humanoid robot.

[0085] Optimally, the execution base 1 is provided with a limiting rotating block 13, and the limiting rotating block 13 is provided with a bottom shaft 12; the foot swivel 211 is provided with a limiting cavity 215; the bottom shaft 12 is rotatably installed in the limiting cavity 215, so that the limiting rotating block 13 rotates relative to the limiting cavity 215; an active gap 216 is formed between the limiting cavity 215 and the limiting rotating block 13; the foot plate 2 rotates around the bottom shaft 12 to abut against the inner wall in front or behind the limiting cavity 215.

[0086] This embodiment further improves the gait of the lower leg structure. By limiting the lifting or lowering of the foot plate 2 through the limiting cavity 215, excessive rotation of the foot plate 2 is avoided. Specifically, the execution base 1 is provided with a limiting rotating block 13, which is provided with a bottom shaft 12. The limiting rotating block 13 extends into the limiting cavity 215, and the bottom shaft 12 is installed in the limiting cavity 215, thereby limiting the limiting rotating block 13 within the limiting cavity 215. An movable gap 216 is formed between the inner wall of the limiting cavity 215 and the limiting rotating block 13, which can increase the rotation range of the limiting rotating block 13, allowing the foot plate 2 to rotate within a limited range. When the limiting rotating block 13 rotates around the bottom shaft 12 in the limiting cavity 215, the inner wall of the limiting cavity 215 in front of or behind the limiting rotating block 13 abuts against the limiting rotating block 13, thereby limiting the continued rotation of the foot plate 2, ensuring that the foot plate 2 maintains a specific angle for lifting or lowering, and improving the angular stability of the foot plate 2.

[0087] Ideally, the connecting rod 37 is positioned on the left and right sides of both the connecting seat 36 and the foot plate 2.

[0088] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A drive component for an actuator, characterized in that, include: The actuator base, inner shaft, fixed sleeve, cam, driving planetary gear, driven planetary gear, side shaft, connecting seat, and connecting rod; The actuator base is provided with a rotating seat; the inner shaft is rotatably connected to the rotating seat around the Y-axis; the fixed sleeve is rotatably mounted on the inner shaft; the driving planetary gear is fixed to the cam, and both are rotatably mounted on the inner shaft, with the driving planetary gear located at the left and right positions of the fixed sleeve respectively; the cam is used to drive the driving planetary gear to rotate around the Y-axis; The driven planetary gear is connected to the connecting seat, and the driven planetary gear meshes with the driving planetary gears on both sides; one end of the side shaft is limited to the fixed sleeve, and the driven planetary gear is rotatably sleeved on the side shaft; one end of the connecting rod is rotatably connected to the connecting seat; the other end of the connecting rod is the output end of the actuator; When the cams in the left and right positions rotate in the same direction, the connecting seat and the connecting rod rotate around the Y-axis; When the cams in the left and right positions rotate in opposite directions, the connecting seat and the connecting rod rotate about the side axis.

2. The drive component of an actuator according to claim 1, characterized in that, The rotating base includes: a base plate and an end cap; The end caps are detachably mounted on the left and right sides of the substrate; the two ends of the inner shaft are rotatably connected to the end caps.

3. The drive component of an actuator according to claim 2, characterized in that, The rotary table also includes: fixing screws; The substrate has L-shaped grooves on both sides, and the inner wall of the L-shaped grooves has groove fixing holes; the end cap has a cover fixing hole; the fixing screw passes through the cover fixing hole and is threaded into the groove fixing hole, so that the end cap is limited to the L-shaped groove.

4. The drive component of an actuator according to claim 1, characterized in that, One end of the side shaft extends into the fixed sleeve, and the side shaft fixes the driven planetary gear and the connecting seat together; The fixed sleeve is provided with an adjustment port, which protrudes from the side shaft; the adjustment port is used to adjust the movement of the side shaft to adjust the tightness of the connection between the driven planetary gear and the connecting seat.

5. The drive assembly of an actuator according to claim 4, characterized in that, The inner shaft is provided with a shaft hole, one end of which protrudes from the side shaft, and the adjustment port protrudes from the other end of the shaft hole.

6. The drive assembly of an actuator according to claim 5, characterized in that, The side shaft has a screw head at one end inside the fixed sleeve, the connecting seat has an internal thread structure at the other end of the side shaft, the side shaft has an external thread structure, and the side shaft threadedly engages with the internal thread structure.

7. The drive assembly for an actuator according to claim 6, characterized in that, The connecting seat is provided with a fixing nut; the fixing nut is provided with the internal thread structure; The side shaft passes through the driven planetary gear and the connecting seat, and one end of the side shaft is threaded into the fixing nut, so that the fixing sleeve, the driven planetary gear and the connecting seat are connected.

8. A drive assembly for an actuator according to any one of claims 1-7, characterized in that, Also includes: Fixed mechanism, rotary actuator and motor drive rod; The fixing mechanism is rotatably mounted on the inner shaft; the rotation driver is mounted on the fixing mechanism, and one end of the motor drive rod is connected to the cam; the output end of the rotation driver is connected to the other end of the motor drive rod, for driving the cam to rotate around the inner shaft via the motor drive rod.

9. The drive assembly of an actuator according to claim 8, characterized in that, The rotary drive includes: a drive motor and a differential; The drive motor has an output terminal connected to the input terminal of the differential, and the output terminal of the differential is connected to one end of the motor drive rod, which is used to drive one end of the motor drive rod to rotate.

10. A humanoid robot, characterized in that, The device is equipped with an actuator; the actuator is equipped with a drive component as described in any one of claims 1-9.

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