A linkage type shoulder action mechanism

Abstract

This invention belongs to the field of biomimetic robot technology, and specifically relates to a linkage-type shoulder motion mechanism. The technical solution is as follows: A linkage-type shoulder motion mechanism includes a torso fixation base, a shoulder fixation base fixed to the top of the torso fixation base, a shoulder structure rotatably connected to the shoulder fixation base, a forward tilting drive link rotatably connected to the shoulder structure, a forward tilting power source mounted on the torso fixation base, the outer ring of the output end of the forward tilting power source being rotatably connected to the forward tilting drive link, and the forward tilting power source being located on the rear side of the shoulder structure; a shoulder shrug power source mounted on the forward tilting drive link, the outer ring of the output end of the shoulder shrug power source being rotatably connected to a shoulder shrug drive link, and the other end of the shoulder shrug drive link being rotatably connected to the side of the torso fixation base. This invention provides a linkage-type shoulder motion mechanism capable of realizing forward tilting and up-and-down shoulder shrugs.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robot technology, and specifically relates to a linkage-type shoulder motion mechanism. Background Technology

[0002] The field of robotics research is expanding into environments such as aerospace, surface and underwater environments, and underground pipelines, aiming to replace humans in unpredictable environments for rescue, reconnaissance, and exploration tasks. Therefore, the requirements for robots' mobility and environmental adaptability are further increasing. Bionic robots, by mimicking certain characteristics of animals, can adapt to different environments, have a wide range of activities, and strong mobility, showing broad application prospects in areas such as climbing rescue and extravehicular activity (EVA).

[0003] Patent application number CN201610796148.X discloses a humanoid robot, including a robot head, robot arms, robot waist, robot legs, and a robot outer shell that covers the internal structure of the robot, each with its own motion drive mechanism. Through the arrangement of the robot head, robot arms, robot waist, robot legs, and robot outer shell, the humanoid robot can achieve actions such as eye movement, mouth opening and closing, nodding, and head turning; arm swinging and rotating; and waist bending through the drive mechanisms. The robot outer shell makes the robot's appearance more realistic and vivid. This humanoid robot has multiple degrees of freedom of movement, a compact structure, and a lifelike appearance. This invention is applicable to the field of bionic robots.

[0004] However, the shoulders of the aforementioned humanoid robots cannot move, while the shoulders of humans can perform forward tilting, shrugging up and down, or a combination of both. Therefore, the biomimicry of the shoulders of the aforementioned robots is poor. Summary of the Invention

[0005] In order to solve the above-mentioned problems in the prior art, the purpose of the present invention is to provide a linkage-type shoulder movement mechanism that can realize forward shoulder tilting and up-and-down shoulder shrugging.

[0006] The technical solution adopted in this invention is as follows:

[0007] A linkage-type shoulder motion mechanism includes a torso fixation base, a shoulder fixation base fixed to the top of the torso fixation base, a shoulder structure rotatably connected to the shoulder fixation base, a forward tilting drive linkage rotatably connected to the shoulder structure, a forward tilting power source mounted on the torso fixation base, the outer ring of the output end of the forward tilting power source being rotatably connected to the forward tilting drive linkage, and the forward tilting power source being located on the rear side of the shoulder structure; a shoulder shrug power source mounted on the forward tilting drive linkage, the outer ring of the output end of the shoulder shrug power source being rotatably connected to a shoulder shrug drive linkage, and the other end of the shoulder shrug drive linkage being rotatably connected to the side of the torso fixation base.

[0008] The output end of the forward tilting power source of this invention drives the forward tilting drive linkage. Since the forward tilting power source is located on the rear side of the shoulder structure, its output end causes the shoulder structure to tilt forward or return to its original position. The output end of the shoulder shrug power source pushes the shoulder shrug drive linkage up and down. Since one end of the shoulder shrug drive linkage is fixed to the torso fixation base, the shoulder shrug power source and the shoulder structure move up and down together under the push of the reverse force, thereby achieving the shoulder shrug effect. When the forward tilting power source and the shoulder shrug power source move simultaneously, the shoulder performs a combined movement of forward tilting and shoulder shrug. This invention can simulate the forward tilting and shoulder shrug movements of the human shoulder, exhibiting a high degree of biomimicry.

[0009] In a preferred embodiment of the present invention, the torso fixation base and the shoulder fixation base, the output end of the forward tilting power source and the forward tilting drive linkage, the output end of the shoulder shrug power source and the shoulder shrug drive linkage, and the shoulder shrug drive linkage and the torso fixation base are all connected by fisheye bearings. The use of fisheye bearings at all these connections ensures motion transmission while preventing motion interference.

[0010] As a preferred embodiment of the present invention, both the forward tilting power source and the shoulder shrug power source include a harmonic reduction motor. The harmonic reduction motor includes a central shaft, a motor stator connected to the central shaft, a motor rotor sleeved on the motor stator, and a harmonic reduction unit connected to the motor rotor. The output end of the harmonic reduction unit is fixed to the central shaft, and the output end of the harmonic reduction unit is engaged with a harmonic rigid wheel. The harmonic rigid wheel of the forward tilting power source is fixed to the body fixing seat, and the harmonic rigid wheel of the shoulder shrug power source is fixed to the forward tilting drive linkage. A rear cover is fixed to one end of the central shaft, and the rear cover is fixed to the harmonic rigid wheel.

[0011] The output speed of the harmonic reducer is significantly lower than that of the cam, resulting in a stable and low-speed output from the harmonic reducer motor. The harmonic reducer meshes with the harmonic gear, giving the output of the harmonic reducer motor high transmission accuracy relative to the cam. The output of the harmonic reducer is rotatably connected to the central shaft, ensuring stable rotation of the output.

[0012] As a preferred embodiment of the present invention, the harmonic reduction unit includes a cam, which is fixed on the motor rotor. A flexible bearing is mounted on the cam, and a flexible wheel is sleeved on the outer ring of the flexible bearing. The flexible wheel meshes with the harmonic rigid wheel, and the number of teeth on the flexible wheel is less than the number of teeth on the harmonic rigid wheel. An output flange is fixed on the flexible wheel. The output flange of the forward tilting power source is rotatably connected to the forward tilting drive linkage, and the output flange of the shoulder shrug power source is rotatably connected to the shoulder shrug drive linkage.

[0013] When the motor is powered on, the motor rotor rotates relative to the motor stator. The motor rotor drives the cam to rotate, and the cam drives the flex wheel to mesh with the harmonic rigid wheel through a flexible bearing. If the number of teeth on the flex wheel is N less than the number of teeth on the harmonic rigid wheel, then when the cam rotates one revolution, the flex wheel rotates N teeth relative to the harmonic rigid wheel. This results in a greater speed reduction for the output flange connected to the flex wheel, ensuring a stable output force, and ensuring transmission accuracy through gear transmission.

[0014] In a preferred embodiment of the present invention, the flexible wheel is rotatably connected to the central shaft, and the central shaft reliably supports the flexible wheel.

[0015] In a preferred embodiment of the present invention, the inner side of the cam is connected to the central shaft via a rolling bearing. The central shaft reliably supports the cam, and the central shaft and the cam can rotate relative to each other.

[0016] In a preferred embodiment of the present invention, both the cam and the flexible bearing are elliptical in shape, and the flexible wheel meshes with the harmonic rigid wheel at two positions. The flexible bearing pushes the flexible wheel to engage with the harmonic rigid wheel from two points, ensuring stable transmission between the flexible wheel and the harmonic rigid wheel.

[0017] In a preferred embodiment of the present invention, the harmonic geared motor further includes a crossed roller bearing. The inner ring of the crossed roller bearing is integrally formed or fixedly connected to the output flange, and the outer ring of the crossed roller bearing is integrally formed or fixedly connected to the harmonic rigid wheel. The outer ring of the crossed roller bearing provides stable support for the harmonic rigid wheel.

[0018] As a preferred embodiment of the present invention, sealing rings are provided between the output flange and the harmonic rigid wheel, between the flexible wheel and the output flange, and between the flexible wheel and the central shaft.

[0019] In a preferred embodiment of the present invention, a wiring hole is provided on the central shaft, through which the stator wiring of the motor passes. The wiring passing through the wiring hole facilitates wiring. The beneficial effects of the present invention are:

[0020] The output end of the forward tilting power source of this invention drives the forward tilting drive linkage. Since the forward tilting power source is located on the rear side of the shoulder structure, its output end causes the shoulder structure to tilt forward or return to its original position. The output end of the shoulder shrug power source pushes the shoulder shrug drive linkage up and down. Since one end of the shoulder shrug drive linkage is fixed to the torso fixation base, the shoulder shrug power source and the shoulder structure move up and down together under the push of the reverse force, thereby achieving the shoulder shrug effect. When the forward tilting power source and the shoulder shrug power source move simultaneously, the shoulder performs a combined movement of forward tilting and shoulder shrug. This invention can simulate the forward tilting and shoulder shrug movements of the human shoulder, exhibiting a high degree of biomimicry. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure in the first direction of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure in the second direction of the present invention;

[0023] Figure 3 This is a partial structural diagram of the present invention;

[0024] Figure 4 This is a cross-sectional view of a harmonic geared motor;

[0025] Figure 5 This is a partial structural diagram of a harmonic geared motor.

[0026] In the diagram: 1-Body fixing seat; 2-Shoulder fixing seat; 3-Shoulder structure; 4-Forward tilt drive linkage; 5-Forward tilt power source; 6-Shoulder shrug power source; 7-Shoulder shrug drive linkage; a1-Central shaft; a2-Motor stator; a3-Motor rotor; a4-Harmonic reduction unit; a5-Harmonic rigid wheel; a6-Cross roller bearing; a7-Rear cover; a11-Rolling bearing; a41-Cam; a42-Flexible bearing; a43-Flexible wheel; a44-Output flange. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0029] like Figures 1-3As shown, the linkage-type shoulder movement mechanism of this embodiment includes a torso fixation base 1, a shoulder fixation base 2 fixed to the top of the torso fixation base 1, a shoulder structure 3 rotatably connected to the shoulder fixation base 2, a forward tilting drive linkage 4 rotatably connected to the shoulder structure 3, an arm structure fixed to the forward tilting drive linkage 4, a forward tilting power source 5 installed on the torso fixation base 1, the outer ring of the output end of the forward tilting power source 5 rotatably connected to the forward tilting drive linkage 4, and the forward tilting power source 5 located on the rear side of the shoulder structure 3; a shoulder shrug power source 6 installed on the forward tilting drive linkage 4, the outer ring of the output end of the shoulder shrug power source 6 rotatably connected to the shoulder shrug drive linkage 7, and the other end of the shoulder shrug drive linkage 7 rotatably connected to the side of the torso fixation base 1.

[0030] The output end of the forward tilting power source 5 of this invention drives the forward tilting drive linkage 4 to move. Since the forward tilting power source 5 is located on the rear side of the shoulder structure 3, the output end of the forward tilting power source 5 drives the shoulder structure 3 to tilt forward or return to its original position. The output end of the shoulder shrug power source 6 pushes the shoulder shrug drive linkage 7 to move up and down. Since one end of the shoulder shrug drive linkage 7 is fixed to the body fixation base 1, the shoulder shrug power source 6 and the shoulder structure 3 move up and down together under the push of the reverse force, thereby achieving the shoulder shrug effect. When the forward tilting power source 5 and the shoulder shrug power source 6 move simultaneously, the shoulder performs a compound movement of forward tilting and shoulder shrug. This invention can simulate the forward tilting and shoulder shrug movements of the human shoulder, and its biomimicry is high.

[0031] Specifically, the torso fixation seat 1 and shoulder fixation seat 2, the output end of the forward tilting power source 5 and the forward tilting drive link 4, the output end of the shoulder shrug power source 6 and the shoulder shrug drive link 7, and the shoulder shrug drive link 7 and torso fixation seat 1 are all connected by fisheye bearings. The use of fisheye bearings at all these connections ensures motion transmission while preventing motion interference.

[0032] Specifically, such as Figure 4 As shown, both the forward tilting power source 5 and the shoulder shrug power source 6 include a harmonic reduction motor. The harmonic reduction motor includes a central shaft a1, a motor stator a2 connected to the central shaft a1, a motor rotor a3 sleeved on the motor stator a2, and a harmonic reduction unit a4 connected to the motor rotor a3. The output end of the harmonic reduction unit a4 is fixed to the central shaft a1, and the output end of the harmonic reduction unit a4 is engaged with a harmonic rigid wheel a5. The harmonic rigid wheel a5 of the forward tilting power source 5 is fixed to the body fixing seat 1, and the harmonic rigid wheel a5 of the shoulder shrug power source 6 is fixed to the forward tilting drive linkage 4. A rear cover a7 is fixed to one end of the central shaft a1, and the rear cover a7 is fixed to the harmonic rigid wheel a5.

[0033] The output speed of the harmonic reduction unit a4 is significantly lower than that of the cam a41, resulting in a stable and low-speed output of the harmonic reduction motor. The harmonic reduction unit a4 meshes with the harmonic rigid wheel a5, thus providing high transmission accuracy at the output of the harmonic reduction motor relative to the cam a41. The output of the harmonic reduction unit a4 is rotatably connected to the central shaft a1, ensuring stable rotation of its output.

[0034] like Figure 5 As shown, the harmonic reduction unit a4 includes a cam a41, which is fixed to the motor rotor a3. A flexible bearing a42 is mounted on the cam a41, and a flexible wheel a43 is fitted around the outer ring of the flexible bearing a42. The flexible wheel a43 meshes with the harmonic rigid wheel a5, and the number of teeth on the flexible wheel a43 is less than the number of teeth on the harmonic rigid wheel a5. An output flange a44 is fixed on the flexible wheel a43, and the flexible wheel a43 is rotatably connected to the central shaft a1. The output flange a44 of the forward tilting power source 5 is rotatably connected to the forward tilting drive link 4, and the output flange a44 of the shoulder shrug power source 6 is rotatably connected to the shoulder shrug drive link 7. Both the cam a41 and the flexible bearing a42 are elliptical in shape, and the flexible wheel a43 meshes with the harmonic rigid wheel a5 in two positions. The flexible bearing a42 pushes the flexible wheel a43 to mesh with the harmonic rigid wheel a5 from two points, ensuring stable transmission between the flexible wheel a43 and the harmonic rigid wheel a5.

[0035] The motor stator a2 and electronic rotor a3 are built into the flexible wheel a43, which can effectively utilize space, reduce the volume of the harmonic geared motor, and simplify the structure.

[0036] The reduction principle of a harmonic geared motor utilizes the relative motion of the flexure a43, the harmonic rigid wheel a5, and the cam a41, primarily through the controllable elastic deformation of the flexure a43 to achieve motion and power transmission. The elliptical cam a41 rotates within the flexure a43, causing the flexure a43 to deform. When the teeth of the flexure a43 at both ends of the major axis of the elliptical cam a41 engage with the teeth of the harmonic rigid wheel a5, the teeth of the flexure a43 at both ends of the minor axis disengage from the teeth of the harmonic rigid wheel a5. For the teeth between the major and minor axes of the cam a41, the gradual engagement (partial engagement) along different sections of the circumference of the flexure a43 and the harmonic rigid wheel a5 is called engagement. The gradual disengagement (partial engagement) is called disengagement. As cam a41 rotates continuously, flexure a43 undergoes continuous deformation, causing the teeth of the two gears to constantly change their original working states in four motions: engagement, disengagement, and retraction, resulting in a tooth-shifting motion. This achieves motion transmission between cam a41 and flexure a43. The harmonic geared motor offers smooth transmission, low noise, high motion accuracy, and a backlash of less than 10 arcseconds.

[0037] When the motor is powered on, the motor rotor a3 rotates relative to the motor stator a2. The motor rotor a3 drives the cam a41 to rotate, and the cam a41 drives the flexure a43 to mesh with the harmonic rigid wheel a5 through the flexible bearing a42. The flexible bearing a42 is also elliptical and rotates synchronously with the cam a41. The flexure a43 is made of flexible material and is sleeved on the cam a42. When the flexible bearing a42 rotates, the teeth of the harmonic rigid wheel a5 block the teeth of the flexure a43, causing the flexure a43 to slide on the flexible bearing a42. Due to the pressing action of the flexible bearing a42, the meshing position of the flexure a43 and the harmonic rigid wheel a5 changes continuously. Since the number of teeth on the flexure a43 is less than the number of teeth on the harmonic rigid wheel a5, the meshing position of the flexure a43 and the harmonic rigid wheel a5 does not change by one revolution when the cam a41 rotates one revolution. If the number of teeth on the flexible wheel a43 is N less than the number of teeth on the harmonic rigid wheel a5, then when the cam a41 rotates one revolution, the flexible wheel a43 rotates N teeth relative to the harmonic rigid wheel a5, thereby the output flange a44 connected to the flexible wheel a43 is significantly decelerated, ensuring a stable output force, and the transmission accuracy is ensured through gear transmission. Figure 5 In the process, the number of teeth of the flexible wheel a43 is two fewer than the number of teeth of the harmonic rigid wheel a5. When the cam a41 rotates one revolution, the flexible wheel a43 rotates two teeth, and the output flange a44 rotates by the corresponding angle with the cam a41.

[0038] To facilitate wiring connections, a wiring hole a12 is provided on the central shaft a1, through which the wiring of the motor rotor a3 and the motor stator a2 passes. This facilitates wiring routing. To support the cam a41, the inner side of the cam a41 is connected to the central shaft a1 via a rolling bearing a11. The central shaft a1 reliably supports the cam a41, and the central shaft a1 and the cam a41 can rotate relative to each other.

[0039] To support the harmonic rigid wheel a5, the harmonic geared motor also includes a crossed roller bearing a6. The inner ring of the crossed roller bearing a6 is integrally formed or fixedly connected to the output flange a44, and the outer ring of the crossed roller bearing a6 is integrally formed or fixedly connected to the harmonic rigid wheel a5. The outer ring of the crossed roller bearing a6 provides stable support for the harmonic rigid wheel a5.

[0040] Sealing rings are provided between the output flange a44 and the harmonic rigid wheel a5, between the flexible wheel a43 and the output flange a44, between the flexible wheel a43 and the central shaft a1, and between the rear cover a7 and the central shaft a1.

[0041] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A linkage-type shoulder motion mechanism, characterized in that: The system includes a torso fixation base (1), a shoulder fixation base (2) fixed to the top of the torso fixation base (1), a shoulder structure (3) rotatably connected to the shoulder fixation base (2), a forward tilting drive linkage (4) rotatably connected to the shoulder structure (3), a forward tilting power source (5) installed on the torso fixation base (1), the outer ring of the output end of the forward tilting power source (5) rotatably connected to the forward tilting drive linkage (4), and the forward tilting power source (5) located on the rear side of the shoulder structure (3); a shoulder shrug power source (6) installed on the forward tilting drive linkage (4), the outer ring of the output end of the shoulder shrug power source (6) rotatably connected to the shoulder shrug drive linkage (7), and the other end of the shoulder shrug drive linkage (7) rotatably connected to the side of the torso fixation base (1); The torso fixation seat (1) and shoulder fixation seat (2), the output end of the forward tilting power source (5) and the forward tilting drive link (4), the output end of the shoulder shrug power source (6) and the shoulder shrug drive link (7), and the shoulder shrug drive link (7) and torso fixation seat (1) are all connected by fisheye bearings.

2. The linkage-type shoulder motion mechanism according to claim 1, characterized in that: Both the forward tilting power source (5) and the shoulder shrug power source (6) include a harmonic reduction motor. The harmonic reduction motor includes a central shaft (a1), a motor stator (a2) connected to the central shaft (a1), a motor rotor (a3) ​​sleeved on the motor stator (a2), a harmonic reduction unit (a4) connected to the motor rotor (a3), and a harmonic rigid wheel (a5) meshing with the output end of the harmonic reduction unit (a4). The harmonic rigid wheel (a5) of the forward tilting power source (5) is fixed on the body fixing seat (1), and the harmonic rigid wheel (a5) of the shoulder shrug power source (6) is fixed on the forward tilting drive linkage (4). A rear cover (a7) is fixed to one end of the central shaft (a1), and the rear cover (a7) is fixed to the harmonic rigid wheel (a5).

3. The linkage-type shoulder motion mechanism according to claim 2, characterized in that: The harmonic deceleration unit (a4) includes a cam (a41), which is fixed on the motor rotor (a3). A flexible bearing (a42) is installed on the cam (a41). A flexible wheel (a43) is sleeved on the outer ring of the flexible bearing (a42). The flexible wheel (a43) meshes with the harmonic rigid wheel (a5). The number of teeth on the flexible wheel (a43) is less than the number of teeth on the harmonic rigid wheel (a5). An output flange (a44) is fixed on the flexible wheel (a43). The output flange (a44) of the forward tilting power source (5) is rotatably connected to the forward tilting drive link (4). The output flange (a44) of the shoulder shrug power source (6) is rotatably connected to the shoulder shrug drive link (7).

4. The linkage-type shoulder motion mechanism according to claim 3, characterized in that: The flexible wheel (a43) is rotatably connected to the central shaft (a1).

5. The linkage-type shoulder motion mechanism according to claim 3, characterized in that: The inner side of the cam (a41) is connected to the central shaft (a1) by a rolling bearing (a11).

6. The linkage-type shoulder motion mechanism according to claim 3, characterized in that: The cam (a41) and the flexible bearing (a42) are both elliptical in shape, and the flexible wheel (a43) meshes with the harmonic rigid wheel (a5) in two positions.

7. The linkage-type shoulder motion mechanism according to claim 3, characterized in that: The harmonic geared motor also includes a crossed roller bearing (a6), the inner ring of which is integrally formed or fixedly connected to the output flange (a44), and the outer ring of which is integrally formed or fixedly connected to the harmonic rigid wheel (a5).

8. A linkage-type shoulder motion mechanism according to claim 7, characterized in that: Sealing rings are provided between the output flange (a44) and the harmonic rigid wheel (a5), between the flexible wheel (a43) and the output flange (a44), and between the flexible wheel (a43) and the central shaft (a1).

9. A linkage-type shoulder movement mechanism according to claim 2, characterized in that: The central shaft (a1) is provided with a wiring hole (a12), and the wiring of the motor stator (a2) passes through the wiring hole (a12).

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