Joint control device for humanoid robot

Abstract

The application provides a joint control device for a humanoid robot, which is applied to the technical field of robot joint assemblies. The bottom end of a joint arm is internally fixedly connected with a support page, the middle part of the support page is rotationally connected with a joint shaft, the top two ends of a rotating assembly are fixedly connected with the two ends of the joint shaft, and the outer end of the joint shaft is fixedly connected with a rotating disc. The rotating disc rotates according to the rotation state of the joint, and is detected in real time by a rotary encoder. According to the angle signal required by the joint rotation, the input voltage of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is gradually increased. The repulsive force between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is increased to realize the step-by-step clamping of the front friction clamping piece and the rear friction clamping piece on the rotating disc. Finally, the rotating disc is clamped and locked, the rotation state of the joint is fixed, the accuracy of the joint rotation angle is effectively improved, the rotation control of the joint is facilitated, and the control process is more smooth.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot joint assembly, in particular to a joint control device for humanoid robot. BACKGROUND

[0002] A humanoid robot is a robot designed to resemble a human appearance and behavior, especially a kind with similar body to human. With the development of robot technology, there are more and more types of robots, such as biped robot, quadruped robot, humanoid robot and other walking robots. The robot moves through the driving motor to drive the movement of each joint, and realizes the walking and other related actions of the robot by simulating the movement of human joints.

[0003] When the joint of the robot is driven to rotate by the driving device, the rotation of the joint has a certain inertia force, and the joint cannot stop in time after rotating to a specified angle, which is easy to cause the error of over-rotation of the joint. If the joint is forced to stop at the specified angle, the connecting structure of the joint is easy to be damaged by the inertia force, thereby affecting the service life of the joint structure. SUMMARY

[0004] The present application aims to improve the control effect of the rotation angle of the joint and improve the accuracy of the rotation angle of the joint. Compared with the prior art, a joint control device for humanoid robot is provided, the bottom end of the joint arm is internally fixedly connected with a bracket page, the middle part of the bracket page is rotatably connected with a joint shaft, the top two ends of the rotating assembly are fixedly connected with the two ends of the joint shaft, one end of the joint shaft is externally fixedly connected with a rotating disc, the rotating disc is coaxially arranged with the joint shaft, one end of the bracket page is fixedly connected with a rotary encoder, the detection end of the rotary encoder is in gear meshing transmission connection with the outer ring of the rotating disc, the top two ends of the rotating disc are slidably connected with a front friction clamp and a rear friction clamp, the top of the front friction clamp is fixedly connected with a transmission plate, the rear end of the transmission plate is fixedly connected with a front clamp electromagnetic contact block, the rear end of the rear friction clamp is fixedly connected with a rear clamp electromagnetic contact block, the front clamp electromagnetic contact block and the rear clamp electromagnetic contact block repel each other magnetically, the front clamp electromagnetic contact block and the rear clamp electromagnetic contact block are jointly connected with a voltage control circuit, and the voltage control circuit is connected with the output end of the rotary encoder.

[0005] The rotating disc follows the rotation of the joint and rotates according to the rotation of the joint, and is detected in real time by the rotary encoder, and the angle of the joint is signaled, and the input voltage of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is gradually increased in the process of the joint rotating to the specified angle position, the repulsive force between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is increased, the front friction clamping piece and the rear friction clamping piece are gradually clamped to the rotating disc, and finally the rotating disc is clamped and locked, the rotation state of the joint is fixed, the accuracy of the rotation angle of the joint is effectively improved, and the rotation control of the joint is facilitated.

[0006] Further, the end of the front friction clamping piece and the rear friction clamping piece in contact with the rotating disc is fixedly embedded with a friction pad, and the friction pad is made of carbon fiber friction material, the friction effect of the front friction clamping piece and the rear friction clamping piece is improved by using the friction pad, and the front friction clamping piece and the rear friction clamping piece are convenient to replace, and the service life of the front friction clamping piece and the rear friction clamping piece is effectively improved.

[0007] Further, the top of the bracket page is fixedly connected with a front mounting piece and a rear mounting piece at the front and rear ends respectively, the front friction clamping piece and the rear friction clamping piece are symmetrically arranged about the front mounting piece, and the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block are symmetrically arranged about the rear mounting piece, so that the distance between the front friction clamping piece and the rear friction clamping piece and the distance between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block are dynamically changed, and when the distance between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is increased, the distance between the front friction clamping piece and the rear friction clamping piece is reduced.

[0008] Further, the transmission plate penetrates the front mounting piece, the rear clamping piece electromagnetic contact block and the rear mounting piece in sequence, and the four corners of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block are fixedly connected with tension springs, so that the transmission plate connects the front mounting piece, the rear clamping piece electromagnetic contact block and the rear mounting piece in series to form a unified whole, and the tension springs realize the automatic approach between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block.

[0009] Optionally, the top and the bottom of the rear mounting piece are movably connected with a temporary wedge and a limiting wedge respectively, the tips of the temporary wedge and the limiting wedge are inserted between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block, and the distance between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is expanded by inserting the temporary wedge and the limiting wedge therebetween.

[0010] Further, the top and the bottom of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block are provided with expansion grooves, the temporary wedge and the limiting wedge are inserted into the adjacent expansion grooves in correspondence, and the expansion grooves facilitate the insertion of the temporary wedge and the limiting wedge, and improve the expansion stability of the distance between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block.

[0011] Further, the provisional wedge and the limiting wedge are both triangularly arranged, the expansion groove is arranged in an inclined manner corresponding to the side of the provisional wedge and the limiting wedge, the triangular provisional wedge and limiting wedge correspond to the inclined expansion groove, and the insertion depth of the provisional wedge and the limiting wedge corresponds to the size of the interval expansion.

[0012] Optionally, the joint arm is fixedly connected with a push cylinder inside, and the output end of the push cylinder is fixedly connected with the provisional wedge, the push cylinder is used to push the provisional wedge to descend, while the insertion state of the provisional wedge is maintained, so that the continuous locking of the rotating disc is facilitated, and the rotating state of the joint is maintained for a long time.

[0013] Further, the middle part of the joint shaft is fixedly connected with a rotating wheel, the outer ring of the rotating wheel is in rolling contact with the bottom of the limiting wedge, and the rotating wheel synchronously rotates with the joint shaft, and the lifting of the limiting wedge is affected by the rotation of the rotating wheel.

[0014] Further, the outer ring of the rotating wheel is fixedly connected with a limiting top touch protruding block, the limiting top touch protruding block is arranged in a fan shape, and the fan angle of the limiting top touch protruding block corresponds to the non-rotatable angle of the rotating assembly, when the limiting top touch protruding block on the rotating wheel rotates to the bottom of the limiting wedge, the limiting top touch protruding block lifts the limiting wedge, the limiting wedge is inserted upward, the joint is prevented from rotating excessively by locking, and the protection effect of the joint is effectively improved.

[0015] Compared with the prior art, the application has the following advantages:

[0016] (1) In the scheme, the rotating disc rotates according to the rotating condition of the joint, and is detected in real time by the rotary encoder, and a signal is generated according to the angle at which the joint needs to rotate, during the process that the joint is about to rotate to the specified angle position, the input voltage of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is gradually increased, the repulsive force between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is increased, the front friction clamping piece and the rear friction clamping piece are gradually clamped to the rotating disc, the rotating disc is finally clamped and locked, the rotating state of the joint is fixed, the accuracy of the rotating angle of the joint is effectively improved, the rotation control of the joint is facilitated, and the control process is more smooth.

[0017] (2) The end of the front friction clamping piece and the rear friction clamping piece in contact with the rotating disc is fixedly embedded with a friction pad, and the friction pad is made of carbon fiber friction material, the friction effect of the front friction clamping piece and the rear friction clamping piece is improved by using the friction pad, the friction pad is convenient to replace, and the service life of the front friction clamping piece and the rear friction clamping piece is effectively improved.

[0018] (3) The top of the bracket page is fixedly connected with a front mounting plate and a rear mounting plate at the front and rear ends respectively, the front friction clamping piece and the rear friction clamping piece are symmetrically arranged about the front mounting plate, the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block are symmetrically arranged about the rear mounting plate, the interval of the front friction clamping piece and the rear friction clamping piece and the interval of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block are dynamically changed, and the interval of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is increased to affect the interval of the front friction clamping piece and the rear friction clamping piece to be reduced.

[0019] (4) The transmission plate penetrates the front mounting plate, the rear clamping piece electromagnetic contact block and the rear mounting plate in sequence, the four corners of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block are fixedly connected with tension springs, the transmission plate is used to connect the front mounting plate, the rear clamping piece electromagnetic contact block and the rear mounting plate into a unified whole, and the tension springs are used to realize automatic approach between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block.

[0020] (5) The top and the bottom of the rear mounting plate are movably connected with a temporary wedge and a limiting wedge respectively, the tips of the temporary wedge and the limiting wedge are inserted between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block, the temporary wedge and the limiting wedge are inserted between the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block to expand the interval of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block.

[0021] (6) The top and the bottom of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block are provided with expansion grooves, the temporary wedge and the limiting wedge are inserted into the adjacent expansion grooves in correspondence, the expansion grooves facilitate the insertion of the temporary wedge and the limiting wedge, and the expansion stability of the interval of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block is improved.

[0022] (7) The temporary wedge and the limiting wedge are triangularly arranged, the side edges of the expansion grooves corresponding to the temporary wedge and the limiting wedge are arranged in an inclined manner, the triangular temporary wedge and the limiting wedge correspond to the inclined expansion grooves, and the insertion depth of the temporary wedge and the limiting wedge corresponds to the size of the interval expansion.

[0023] (8) The inside of the joint arm is fixedly connected with a push air cylinder, and the output end of the push air cylinder is fixedly connected with the temporary wedge, the push air cylinder is used to push the temporary wedge to descend while maintaining the insertion state of the temporary wedge, the continuous locking of the rotating disc is facilitated, and the rotating state of the joint is maintained for a long time.

[0024] (9) The middle of the joint shaft is fixedly connected with a rotating wheel, the outer circle of the rotating wheel is in rolling contact with the bottom of the limiting wedge, the rotating wheel rotates synchronously with the joint shaft, and the lifting of the limiting wedge is affected by the rotation of the rotating wheel.

[0025] (10) The outer ring of the rotating wheel is fixedly connected with a limiting top touch protrusion, the limiting top touch protrusion is arranged in a fan shape, and the fan angle of the limiting top touch protrusion corresponds to the non-rotatable angle of the rotating assembly. When the limiting top touch protrusion on the rotating wheel rotates to the bottom of the limiting wedge, the limiting top touch protrusion lifts the limiting wedge, realizes the lifting insertion of the limiting wedge, prevents excessive rotation of the joint through locking, responds in time, effectively improves the protection effect of the joint, and guarantees the service life of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a perspective view of the joint of the application;

[0027] Figure 2 It is a front perspective view of the bracket page of the application;

[0028] Figure 3 It is a rear perspective view of the bracket page of the application;

[0029] Figure 4 It is a perspective sectional view of the application;

[0030] Figure 5 It is a side sectional view of the application;

[0031] Figure 6 It is a perspective view of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block of the application;

[0032] Figure 7 It is a demonstration diagram of repulsive expansion of the front clamping piece electromagnetic contact block and the rear clamping piece electromagnetic contact block of the application;

[0033] Figure 8 It is a structure diagram of the temporary wedge and the limiting wedge of the application;

[0034] Figure 9 It is a side sectional view of the temporary wedge and the limiting wedge of the application;

[0035] Figure 10 It is a perspective view of the rotating wheel of the application;

[0036] Figure 11 It is a demonstration diagram of the temporary wedge of the application;

[0037] Figure 12 It is a demonstration diagram of the limiting wedge of the application.

[0038] Explanation of reference numerals in the drawings:

[0039] 1, joint arm; 101, bracket page; 102, joint shaft; 103, front mounting piece; 104, rear mounting piece; 2, rotating assembly; 3, rotating disc; 301, rotating encoder; 4, front friction clamp; 401, transmission plate; 402, front clamp electromagnetic contact block; 5, rear friction clamp; 501, rear clamp electromagnetic contact block; 6, friction pad; 7, tension spring; 8, temporary wedge; 801, push cylinder; 9, limiting wedge; 901, rotating wheel; 902, limit top contact block; 10, expansion slot. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0041] Embodiment one

[0042] The present application provides a joint control device for a humanoid robot, please refer to Figures 1-4 , including joint arm 1 and rotating assembly 2, the bottom end of joint arm 1 is internally fixedly connected with bracket page 101, and the middle part of bracket page 101 is rotatably connected with joint shaft 102, and the top of rotating assembly 2 is fixedly connected with the two ends of joint shaft 102, realizing the hinged rotation of the joint, one end of joint shaft 102 is externally fixedly connected with rotating disc 3, and rotating disc 3 is coaxially arranged with joint shaft 102, rotating disc 3 follows the rotating state of the joint in real time, one end of bracket page 101 is fixedly connected with rotating encoder 301, (rotating encoder 301 is prior art, a person skilled in the art can select the appropriate model, which will not be described in detail here), and the detection end of rotating encoder 301 is drivingly connected with the outer ring of rotating disc 3 through gear meshing, the gear of the input end of rotating encoder 301 is drivingly connected with the outer ring of rotating disc 3, rotating encoder 301 detects the rotation angle of rotating disc 3, and transmits the detected signal to the control circuit of the joint;

[0043] When the joint rotates, the joint arm 1 and the rotating assembly 2 of the joint rotate, the rotating disc 3 on the joint shaft 102 follows the angular rotation of the joint, and the rotating encoder 301 on the bracket page 101 detects the rotation angle of the joint in real time by the way of gear meshing rotating disc 3, providing real-time angle data signal for the control of the joint.

[0044] Please refer to Figures 4-6The top two ends of the rotating disc 3 are respectively slidably connected with a front friction clamping piece 4 and a rear friction clamping piece 5, and the front friction clamping piece 4 and the rear friction clamping piece 5 are fixedly embedded with friction pads 6. The friction pads 6 made of carbon fiber friction material have good friction effect and are convenient to replace. The top of the front friction clamping piece 4 is fixedly connected with a transmission plate 401, the rear end of the transmission plate 401 is fixedly connected with a front clamping piece electromagnetic contact block 402, the rear end of the rear friction clamping piece 5 is fixedly connected with a rear clamping piece electromagnetic contact block 501, the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 repel each other magnetically, the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 generate repelling magnetic force when electrified, the distance between the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 is increased, and the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 are commonly connected with a voltage control circuit. According to the linearly increasing input voltage circuit of the rotation angle, the voltage control circuit is connected with the output end of the rotary encoder 301, and the angle rotation signal of the rotary encoder 301 is transmitted to the voltage control circuit.

[0045] According to the joint rotation change, the rotary encoder 301 transmits the angle rotation signal of the joint to the voltage control circuit. Before the joint rotates to a specified angle, the voltage control circuit gradually increases the input voltage of the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501, the repelling force between the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 is gradually increased, the front friction clamping piece 4 and the rear friction clamping piece 5 are gradually clamped to the rotating disc 3, and finally the rotating disc 3 is clamped and locked at the final angle position of the joint angle rotation, the accuracy of the joint rotation angle is effectively improved, and the rotation control of the joint is facilitated.

[0046] Please refer to Figures 5-7 The top front and rear ends of the bracket page 101 are respectively fixedly connected with a front mounting piece 103 and a rear mounting piece 104, the distance between the front friction clamping piece 4 and the rear friction clamping piece 5 and the distance between the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 are dynamically changed, when the distance between the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 is increased, the distance between the front friction clamping piece 4 and the rear friction clamping piece 5 is reduced, the transmission plate 401 penetrates the front mounting piece 103, the rear clamping piece electromagnetic contact block 501 and the rear mounting piece 104 in sequence, the transmission plate 401 connects the front mounting piece 103, the rear clamping piece electromagnetic contact block 501 and the rear mounting piece 104 in series into a unified whole, the four corners between the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 are fixedly connected with tension springs 7, and the tension springs 7 realize the automatic approach between the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501.

[0047] When the front friction clamp 4 and the rear friction clamp 5 are assembled, the front friction clamp 4 is symmetrical to the rear friction clamp 5 about the front mounting sheet 103, when the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501 are assembled, the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501 are symmetrical about the rear mounting sheet 104, the distance between the front friction clamp 4 and the rear friction clamp 5 and the distance between the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501 are dynamically changed, when the distance between the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501 is increased, the distance between the front friction clamp 4 and the rear friction clamp 5 is reduced, when the distance between the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501 is reduced by the tension of the tension spring 7, the distance between the front friction clamp 4 and the rear friction clamp 5 is increased.

[0048] Embodiment two

[0049] Compared with embodiment one, the embodiment mainly adds the temporary wedge 8 and the limiting wedge 9, realizes two kinds of clamping locking of the rotating disc 3, facilitates the joint rotation angle to be kept and limits the joint rotation angle range, and improves the use effect of the joint, please refer to Figures 8-10 The top and the bottom of the rear mounting sheet 104 are movably connected with the temporary wedge 8 and the limiting wedge 9 respectively, the tips of the temporary wedge 8 and the limiting wedge 9 are inserted between the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501, the top and the bottom of the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501 are provided with the expansion slot 10, the temporary wedge 8 and the limiting wedge 9 are inserted into the expansion slot 10, the expansion slot 10 improves the expansion stability of the distance between the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501, the temporary wedge 8 and the limiting wedge 9 are inserted between the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501, the distance between the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501 is expanded, the temporary wedge 8 and the limiting wedge 9 are provided in a triangular shape, the side of the expansion slot 10 corresponding to the temporary wedge 8 and the limiting wedge 9 is provided in an inclined manner, the triangular temporary wedge 8 and the limiting wedge 9 correspond to the inclined expansion slot 10, the insertion depth of the temporary wedge 8 and the limiting wedge 9 corresponds to the expansion size of the distance between the front clamp electromagnetic contact block 402 and the rear clamp electromagnetic contact block 501, the side angle of the temporary wedge 8 and the limiting wedge 9 and the inclination angle of the expansion slot 10 can be set by the person skilled in the art;

[0050] The expansion groove 10 improves the insertion stability of the provisional wedge 8 and the limiting wedge 9, the triangular provisional wedge 8 and the limiting wedge 9 realize the linear change of the expansion of the insertion depth and the spacing, realize the clamping locking of the rotating state of the rotating disc 3 in the case of power off, expand the spacing of the front clamping electromagnetic contact block 402 and the rear clamping electromagnetic contact block 501, and realize the clamping locking of the rotating state of the rotating disc 3.

[0051] Please refer to Figures 11-12 , the joint arm 1 is fixedly connected with a push air cylinder 801, and the output end of the push air cylinder 801 is fixedly connected with the provisional wedge 8, when the joint needs to keep a specified angle state for a long time, the provisional wedge 8 is pushed down by the push air cylinder 801, while the insertion state of the provisional wedge 8 is kept, which is convenient for the continuous locking of the rotating disc 3, and the joint keeps a specified angle state for a long time, the middle part of the joint shaft 102 is fixedly connected with a rotating wheel 901, the outer circle of the rotating wheel 901 is in rolling contact with the bottom of the limiting wedge 9, the rotating wheel 901 rotates synchronously with the joint shaft 102, the lifting of the limiting wedge 9 is affected by the rotation of the rotating wheel 901, the outer circle of the rotating wheel 901 is fixedly connected with a limiting top contact convex block 902, the limiting top contact convex block 902 is arranged in a fan shape, and the fan angle of the limiting top contact convex block 902 corresponds to the non-rotatable angle of the rotating assembly 2, which is suitable for joints that cannot rotate through a full angle, for example, the rotatable angle of the joint is 300°, and the fan angle of the limiting top contact convex block 902 is 60°, when the limiting top contact convex block 902 on the rotating wheel 901 rotates to the bottom of the limiting wedge 9, the limiting top contact convex block 902 lifts the limiting wedge 9, realizing the lifting insertion of the limiting wedge 9, preventing the joint from rotating excessively through locking, and effectively improving the protection effect of the joint;

[0052] When the joint needs to be kept in the rotated state for a long time, the air cylinder 801 is pushed to push the temporary wedge 8 down to be inserted between the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501, and then the power supply of the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 is turned off. The temporary wedge 8 replaces the repulsive support to open the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501, saves the electric energy required for joint control, and facilitates the joint to keep the posture under rotation for a long time. When the joint is about to rotate to the maximum angle, the limiting top touch protrusion 902 on the rotating wheel 901 rotates to the bottom of the limiting wedge 9, the limiting top touch protrusion 902 lifts the limiting wedge 9, the limiting wedge 9 is inserted between the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501, and the front clamping piece electromagnetic contact block 402 and the rear clamping piece electromagnetic contact block 501 are expanded in a way of being pressed and expanded, so as to realize the clamping and locking of the front friction clamping piece 4 and the rear friction clamping piece 5 on the rotating disc 3. Thus, the joint is prevented from over-rotation in a locking manner, the response is timely, the protection effect of the joint is effectively improved, and the service life of the robot is guaranteed.

[0053] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacement or change according to the technical solution and the improvement concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A joint control device for a humanoid robot, comprising a joint arm (1) and a rotating assembly (2), the bottom end of the joint arm (1) is fixedly connected with a bracket page (101) inside, and the middle part of the bracket page (101) is rotatably connected with a joint shaft (102), the top two ends of the rotating assembly (2) are fixedly connected with the two ends of the joint shaft (102), characterized in that, One end of the joint shaft (102) is externally fixedly connected with a rotating disc (3), and the rotating disc (3) is coaxially arranged with the joint shaft (102); one end of the support page (101) is fixedly connected with a rotary encoder (301), and the detection end of the rotary encoder (301) is in transmission connection with the outer ring of the rotating disc (3) through gear meshing; the top of the rotating disc (3) is slidably connected with a front friction clamp (4) and a rear friction clamp (5) at both ends, respectively; the top of the front friction clamp (4) is fixedly connected with a transmission plate (401); the rear end of the transmission plate (401) is fixedly connected with a front clamp electromagnetic contact block (402); the rear end of the rear friction clamp (5) is fixedly connected with a rear clamp electromagnetic contact block (501); the front clamp electromagnetic contact block (402) and the rear clamp electromagnetic contact block (501) are magnetically repelled; the front clamp electromagnetic contact block (402) and the rear clamp electromagnetic contact block (501) are jointly connected with a voltage control circuit; the voltage control circuit is connected with the output end of the rotary encoder (301); the top of the support page (101) is fixedly connected with a front mounting piece (103) and a rear mounting piece (104) at both ends; the front friction clamp (4) and the rear friction clamp (5) are symmetrically arranged about the front mounting piece (103); the front clamp electromagnetic contact block (402) and the rear clamp electromagnetic contact block (501) are symmetrically arranged about the rear mounting piece (104). The top and the bottom of the rear mounting piece (104) are movably connected with a temporary wedge block (8) and a limiting wedge block (9), respectively; the tips of the temporary wedge block (8) and the limiting wedge block (9) are inserted between the front clamp electromagnetic contact block (402) and the rear clamp electromagnetic contact block (501).

2. The joint control device for a humanoid robot according to claim 1, characterized by, The end of the front friction clamp (4) and the rear friction clamp (5) in contact with the rotating disc (3) is fixedly embedded with a friction pad (6) made of carbon fiber friction material.

3. The joint control device for a humanoid robot according to claim 1, characterized by, The transmission plate (401) penetrates the front mounting piece (103), the rear clamp electromagnetic contact block (501) and the rear mounting piece (104) in sequence; the front clamp electromagnetic contact block (402) and the rear clamp electromagnetic contact block (501) are fixedly connected with a tension spring (7) between the four corners.

4. The joint control device for a humanoid robot according to claim 1, characterized in that, The top and the bottom of the front clamp electromagnetic contact block (402) and the rear clamp electromagnetic contact block (501) are provided with an expansion slot (10); the temporary wedge block (8) and the limiting wedge block (9) are inserted into the expansion slot (10) in correspondence.

5. The joint control device for a humanoid robot according to claim 4, characterized in that, The temporary wedge block (8) and the limiting wedge block (9) are triangularly arranged; the side of the expansion slot (10) corresponding to the temporary wedge block (8) and the limiting wedge block (9) is obliquely arranged.

6. The joint control device for a humanoid robot according to claim 1, characterized by, The inside of the joint arm (1) is fixedly connected with a push air cylinder (801), and the output end of the push air cylinder (801) is fixedly connected with the temporary wedge block (8).

7. The joint control device for a humanoid robot according to claim 1, wherein The middle of the joint shaft (102) is fixedly connected with a rotating wheel (901), and the outer ring of the rotating wheel (901) is in rolling contact with the bottom of the limiting wedge block (9).

8. The joint control device for a humanoid robot according to claim 7, characterized in that, The outer ring of the rotating wheel (901) is fixedly connected with a limiting top touch protrusion (902), the limiting top touch protrusion (902) is arranged in a fan shape, and the fan angle of the limiting top touch protrusion (902) corresponds to the non-rotatable angle of the rotating assembly (2).

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