Humanoid robot wrist link transmission structure

Abstract

The application discloses a humanoid robot wrist connecting rod transmission structure, comprising: a mechanical arm bone plate, the mechanical arm bone plate has two opposite ends, a first shaft hole is formed in one end of the mechanical arm bone plate, a support shaft is rotatably installed in the first shaft hole, and the support shaft is connected with a connecting shaft; a shaft sleeve, the connecting shaft is rotatably sleeved with the shaft sleeve at two ends; a connecting piece, the side of the connecting piece away from the palm component is formed with two oppositely arranged lug plates, the lug plate is provided with a second shaft hole, and the shaft sleeve at the two ends of the connecting shaft is rotatably arranged in the second shaft hole of the two lug plates; two linear driving mechanisms, one end of the two linear driving mechanisms is respectively spherically hinged to the opposite sides of the mechanical arm bone plate, the other end of the linear driving mechanism is hinged with an adapter, the adapter is connected to the shaft sleeve, and the adapter is formed with an actuating part for turning the lug plate. The application solves the problem that the wrist is bloated and the overall proportion is not coordinated after the driving actuator is directly placed at the wrist joint of the humanoid robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of humanoid robots, and particularly relates to a wrist linkage transmission structure of a humanoid robot. BACKGROUND

[0002] In order to complete more humanized actions, a high humanoid robot generally sets two degrees of freedom at the wrist position of a mechanical arm. However, due to the overall shape of the robot, the space range of the wrist position is relatively small, and the space for motor stacking is small. The scheme of directly placing a driving actuator at the joint will cause the wrist to be bloated, and the overall proportion is not coordinated.

[0003] The information disclosed in this BACKGROUND section is only for the purpose of increasing the understanding of the background of the present application and should not be taken as an acknowledgment or any form of suggestion that this information forms prior art that is publicly known. SUMMARY

[0004] In order to overcome the defects of the prior art, a wrist linkage transmission structure of a humanoid robot is provided to solve the problem that the direct placement of a driving actuator at the wrist joint of some high humanoid robots causes the wrist to be bloated and the overall proportion to be not coordinated.

[0005] To achieve the above-mentioned purpose, a wrist linkage transmission structure of a humanoid robot is provided, comprising:

[0006] A mechanical arm bone plate having two opposite ends, one end of the mechanical arm bone plate is provided with a first shaft hole, a support shaft is rotatably installed in the first shaft hole, and the support shaft is connected with a connecting shaft;

[0007] A shaft sleeve, the shaft sleeves at the two ends of the connecting shaft are rotatably sleeved;

[0008] A connecting piece for mounting a palm component, the side of the connecting piece away from the palm component is formed with two oppositely arranged ear plates, the ear plates are provided with second shaft holes, and the shaft sleeves at the two ends of the connecting shaft are rotatably threaded into the second shaft holes of the two ear plates;

[0009] Two linear drive mechanisms are provided, with one end of each linear drive mechanism ball-jointed to opposite sides of the robotic arm bone plate. The other end of each linear drive mechanism is hinged to a connector, which is connected to the bushing. The connector has an actuating part for rotating the ear plate. When the two linear drive mechanisms push forward or pull back simultaneously, they drive the connector to rotate so that the actuating part rotates the ear plate, causing the connector to flip downward or upward. When one linear drive mechanism pushes forward and the other linear drive mechanism pulls back, the two linear drive mechanisms drive the connecting shaft to twist through the connector, causing the connector to swing around the support shaft.

[0010] Furthermore, the linear drive mechanism includes:

[0011] A linear motor, wherein the linear motor is ball-jointed to the hoop plate of the robotic arm;

[0012] A push rod is coaxially connected to the output shaft of the linear motor, and the push rod is hinged to the adapter.

[0013] Furthermore, insert rods are installed on opposite sides of the two adapters, and the push rod has a third shaft hole, in which the insert rod is rotatably inserted.

[0014] Furthermore, a ring is rotatably fitted around the actuating part, and the insert rod is connected to the ring.

[0015] Furthermore, a stiffening plate is formed on the upper part of the robotic arm bone plate, and the two linear drive mechanisms are respectively ball-jointed to the opposite sides of the stiffening plate.

[0016] Furthermore, reaction plates are detachably installed on opposite sides of the stiffening plate, and one end of the linear drive mechanism is connected to the reaction plate via a fisheye bearing ball joint.

[0017] Furthermore, the stiffening plate is arranged along the length direction of the mechanical arm bone plate, and the width of the stiffening plate gradually increases from the end of the stiffening plate near the connector to the other end of the stiffening plate away from the connector.

[0018] The beneficial effects of this invention are as follows: The humanoid robot wrist linkage transmission structure of this invention uses two linear drive mechanisms positioned forward on the forearm component of the arm. This allows the forearm to achieve two degrees of freedom at the wrist while meeting aesthetic requirements. Furthermore, the forward placement of the linear drive mechanisms reduces the mass at the wrist, shifting the overall center of gravity of the arm forward and reducing the torque requirements of motors in the shoulder and other areas. This increases the load-bearing capacity of the arm's end effector while maintaining the same motor torque. On the other hand, the connecting shaft, acting as the wrist axis, engages with the forearm component via a shaft connection. The wrist axis can rotate along two axes defined in the wrist axis component. This engagement allows the hand to achieve degrees of freedom in both the up-down and left-right directions, reaching any position within the permissible range of physical movement without mechanical dead spots, resulting in smoother movement. Attached Figure Description

[0019] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0020] Fig. 1 This is a schematic diagram of the wrist linkage transmission structure of a humanoid robot according to an embodiment of the present invention.

[0021] Fig. 2 This is a top view of the wrist linkage transmission structure of a humanoid robot according to an embodiment of the present invention.

[0022] Fig. 3 This is a schematic diagram of the back of the humanoid robot wrist linkage transmission structure according to an embodiment of the present invention. Detailed Implementation

[0023] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] Reference Figs. 1 to 3 As shown, the present invention provides a humanoid robot wrist linkage transmission structure, including: a mechanical arm bone plate 1, a bushing 2, a connector 3, and a linear drive mechanism 4.

[0026] In this embodiment, the humanoid robot's arm structure includes an upper arm and a forearm. The forearm is hinged to the upper arm. The forearm has a robotic arm skeleton. The robotic arm skeleton has two opposing ends in its length direction and two opposing sides in its width direction.

[0027] One end of the robotic arm skeleton plate 1 has a first shaft hole. A support shaft 11 is rotatably mounted in the first shaft hole. The support shaft 11 is connected to a connecting shaft 12.

[0028] The other end of the robotic arm skeleton plate is connected to a housing for mounting the drive structure of the drive arm.

[0029] Both ends of the connecting shaft 12 are rotatably fitted with bushings 2. Two opposing ear plates 31 are formed on the side of the connecting member 3 away from the palm component. The ear plates 31 have second shaft holes, and the bushings 2 at both ends of the connecting shaft 12 are rotatably inserted into the second shaft holes of the two ear plates 31.

[0030] Connector 3 is used to install the palm component.

[0031] In this embodiment, the bushing and the connecting shaft, as well as the bushing and the second shaft hole, are rotatably mounted by bearings.

[0032] In this embodiment, there are two linear drive mechanisms. One end of each linear drive mechanism 4 is ball-jointed to opposite sides of the robotic arm skeleton plate 1. The other end of each linear drive mechanism 4 is hinged to an adapter. The adapter is connected to the bushing 2. The adapter has an actuating part 44.

[0033] Specifically, when the two linear drive mechanisms 4 push forward or pull back simultaneously, the two linear drive mechanisms 4 drive the adapter to rotate so that the actuating part 44 can rotate the ear plate 31, causing the connector 3 to flip downward or upward. The actuating part 44 is used to rotate the ear plate 31 so that the connector rotates around the central axis of the connecting shaft, thereby causing the palm component mounted on the connector to perform an up-and-down flipping action.

[0034] Furthermore, when one linear drive mechanism 4 pushes forward and the other linear drive mechanism pulls backward, the two linear drive mechanisms 4 drive the connecting shaft 12 to twist through the adapter, causing the connecting member 3 to swing or rotate around the central axis of the support shaft 11, thereby causing the palm component installed on the connecting member to make a left-right swaying motion.

[0035] In a preferred embodiment, the linear drive mechanism 4 includes a linear motor 41 and a push rod 42.

[0036] The linear motor 41 is ball-jointed to the hoop plate of the robotic arm. The push rod 42 is coaxially connected to the output shaft of the linear motor 41. The push rod 42 is hinged to the adapter.

[0037] In this embodiment, insert rods 46 are respectively installed on opposite sides of the two adapters at both ends of the connecting shaft. The push rod 42 has a third shaft hole. The insert rods 46 are rotatably inserted into the third shaft hole.

[0038] A ring 45 is rotatably fitted around the outside of the actuating part 44. The insert rod 46 is connected to the ring 45.

[0039] In this embodiment, the actuating part is connected to the ring sleeve via a connecting plate, and the actuating part is disposed opposite to the side of the ear plate. Specifically, the opposite ends of the ring sleeve extend to the outside of the third shaft hole. Connecting plates are formed at both ends of the ring sleeve. The connecting plates extend to the outside of the side of the ear plate. The actuating part is connected to the connecting plates at both ends of the ring sleeve. When the ring sleeve and the ear plate rotate relative to each other, the actuating part presses against the ear plate after rotating a certain distance. Correspondingly, after the actuating part rotates a certain distance in the opposite direction, it presses against the other side of the ear plate, thereby causing the ear plate to rotate around the central axis of the connecting shaft.

[0040] In a preferred embodiment, a stiffening plate 13 is formed on the upper part of the robotic arm skeleton plate 1. Two linear drive mechanisms 4 are respectively ball-jointed to opposite sides of the stiffening plate 13.

[0041] In this embodiment, reaction plates 14 are detachably mounted on opposite sides of the stiffening plate 13. One end of the linear drive mechanism 4 is connected to the reaction plate 14 via a ball joint with a fisheye bearing.

[0042] In a preferred embodiment, the stiffening plate 13 is arranged along the length of the robotic arm skeleton plate 1. The width of the stiffening plate 13 gradually increases from the end of the stiffening plate 13 near the connector 3 to the end of the stiffening plate 13 away from the connector 3.

[0043] The humanoid robot wrist linkage transmission structure of this invention employs a scheme where two linear drive mechanisms are positioned forward on the forearm component of the arm. This allows the forearm to achieve two degrees of freedom at the wrist while maintaining aesthetic requirements. Furthermore, the forward placement of the linear drive mechanisms reduces the mass at the wrist, shifting the overall center of gravity of the arm forward and reducing the torque requirements of motors in the shoulder and other areas. This increases the load-bearing capacity of the arm's end effector while maintaining the same motor torque. On the other hand, the connecting shaft, acting as the wrist axis, engages with the forearm component via a shaft connection. The wrist axis can rotate along two axes defined in the wrist axis component. This combination allows the hand to achieve degrees of freedom in both vertical and horizontal directions, reaching any position within the permissible range of physical movement without mechanical dead spots, resulting in smoother movement.

[0044] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A wrist linkage transmission structure for a humanoid robot, characterized in that, include: A robotic arm skeleton plate has two opposing ends. One end of the robotic arm skeleton plate has a first shaft hole, in which a support shaft is rotatably mounted. The support shaft is connected to a connecting shaft. The bushings are rotatably fitted onto both ends of the connecting shaft; A connector for mounting a palm component has two opposing ear plates formed on the side of the connector away from the palm component. The ear plates have second shaft holes, and the bushings at both ends of the connecting shaft are rotatably inserted into the second shaft holes of the two ear plates. Two linear drive mechanisms are provided. One end of each linear drive mechanism is ball-jointed to the opposite sides of the robotic arm bone plate. The other end of each linear drive mechanism is hinged to a connector, which is connected to the bushing. The connector has an actuating part for rotating the ear plate. When the two linear drive mechanisms push forward or pull back simultaneously, the two linear drive mechanisms drive the connector to rotate so that the actuating part rotates the ear plate, causing the connecting member to flip downward or upward. When one linear drive mechanism pushes forward and the other linear drive mechanism pulls back, the two linear drive mechanisms drive the connecting shaft to twist through the connector, causing the connecting member to swing around the support shaft. The linear drive mechanism includes: a linear motor, which is ball-jointed to the mechanical arm skeleton plate; A push rod is coaxially connected to the output shaft of the linear motor, and the push rod is hinged to the adapter. Insert rods are installed on opposite sides of the two adapters, and the push rod has a third shaft hole, in which the insert rod is rotatably inserted. The actuator is rotatably fitted with a ring sleeve, and the insertion rod is connected to the ring sleeve.

2. The humanoid robot wrist linkage transmission structure according to claim 1, characterized in that, A stiffening plate is formed on the upper part of the mechanical arm bone plate, and the two linear drive mechanisms are respectively ball-jointed to the opposite sides of the stiffening plate.

3. The humanoid robot wrist linkage transmission structure according to claim 2, characterized in that, Reaction plates are detachably installed on opposite sides of the stiffening plate, and one end of the linear drive mechanism is connected to the reaction plate via a fisheye bearing ball joint.

4. The humanoid robot wrist linkage transmission structure according to claim 2, characterized in that, The stiffening plate is arranged along the length of the mechanical arm bone plate, and the width of the stiffening plate gradually increases from the end of the stiffening plate near the connector to the other end of the stiffening plate away from the connector.

Images