Humanoid robot bending joint structure

Abstract

The invention discloses a bending joint structure of a humanoid robot. The bending joint structure comprises a power device, a power device dowel bar, a power device fixing rod, a bending component, a swing rod, a sliding device, a hinge A and a hinge B, the power device fixing rod is connected with the swing rod through a hinge A. The swing rod is fixed to the slope of the bending component, and the power device fixing rod fixes the power device. The power device pushes (pulls) the power device dowel bar, pushing (pulling) force is transmitted to the sliding device through the hinge B, the sliding device rotates with the hinge B as the center and slides along the swing rod, the swing rod and the bending component are forced to rotate with the hinge A as the center, and the bending function of the bending joint is achieved. The one-way swing structure of the humanoid robot is simple in structure, the joint bending center of the one-way swing structure of the humanoid robot is located on the outer side of the bending joint, and compared with the one-way swing structure of the humanoid robot with the patent number of 2023218600601, the one-way swing structure of the humanoid robot has the advantage that the similarity between the bending joint and human joint movement is improved.

Description

Technical Field

[0001] The invention relates to the field of humanoid robots, and in particular to a bending joint structure of a humanoid robot. Background Art

[0002] Some of the joints of a humanoid robot are one-way bending joints, such as elbow joints, finger joints, knee joints, etc.

[0003] Utility model patent No. 2023218600601 (a one-way swing structure of a humanoid robot) sets the swing center and the swing push (pull) force point at the two ends of the swing member respectively. Under the same size and power conditions, it has a greater torque than the traditional one-way swing device and can realize the joint bending function. However, the swing push (pull) force point of this structure is located on the outside of the joint bend. When the joint bend is large, the power transmission rod will extend out of the arc of the joint bend. When the humanoid robot uses a flexible shell, the processing of the components extending outside the joint bend arc is complicated and reduces the similarity between the humanoid robot and humans. Summary of the invention

[0004] In order to solve the problem of utility model patent No. 2023218600601 (a unidirectional swinging structure of a humanoid robot), when the joint is bent greatly, the power transmission rod extends out of the arc of the joint bending, the present invention sets the swing axis on the outside of the bending joint, and sets the swing push (pull) force point on the inside of the bending joint.

[0005] The present invention is implemented by the following technical scheme: A humanoid robot bending joint structure, including a power device, a power device force transmission rod, a power device fixing rod, a bending member, a swing rod, a sliding device, a hinge A, and a hinge B; and

[0006] The power device is fixed to one end of the power device fixing rod, and the other end is connected to the swing rod by hinge A, and the hinge A enables the two components connected to the hinge A to rotate relative to each other with the hinge A as the center; and

[0007] The power device is a linear motion device, the push (pull) power device force transmission rod performs linear reciprocating motion, the top of the power device force transmission rod is connected to the sliding device by a hinge B, and the hinge B enables the two components connected to the hinge B to rotate relative to each other with the hinge B as the center; and

[0008] The sliding device is installed on the swing rod and can slide back and forth along the swing rod. The swing rod is fixed on the bending member. When the power transmission rod of the power device makes reciprocating linear motion, the hinge B also makes reciprocating linear motion. The sliding device rotates around the hinge B, and the sliding device slides along the swing rod, forcing the swing rod and the bending member to rotate around the hinge A.

[0009] As a further improvement of the above solution, the bending member is cylindrical, and the cylindrical opening that fixes the swing rod is an inclined surface, the swing rod is fixed at its maximum slope position, and the hinge A is located at the end of the acute angle inclined surface.

[0010] As a further improvement of the above scheme, the sliding device includes a roller, a roller retaining box and a sliding device fixing rod. A plurality of openings are opened on one side of the roller retaining box. The size of the openings matches the roller and the depth is less than the diameter of the roller. The sliding device has two roller retaining boxes. Rollers are installed in the openings, and the rollers are installed on the upper and lower surfaces of the swing rod. The roller retaining boxes are symmetrically installed on the upper and lower surfaces of the swing rod. The sliding device fixing rod is a rod member, one end of which has a reamed hole. The diameter of the reamed hole matches the hinge B. The sliding device has two sliding device fixing rods, which are symmetrically fixed on both side surfaces of the roller retaining box so that the two roller retaining boxes maintain an appropriate distance and can slide on the swing rod. The reamed hole end of the sliding device fixing rod extends out of the roller retaining box for installing hinge B.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. The present invention can be used for the knee joints, elbow joints, and finger joints of humanoid robots. The present invention has a simple structure, and the vertical distance between hinge A and hinge B can be greater than the distance from hinge B to the centroid of the cross section of the bending member. Therefore, under the same dynamic conditions, the present invention can output a larger torque than a bending joint whose cross section centroid of the bending member is the rotation axis, and does not have the disadvantage of the power transmission rod extending out of the arc of the joint bending in utility model patent No. 2023218600601 (a unidirectional swing structure of a humanoid robot). BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A three-dimensional schematic diagram of the bending joint structure of the humanoid robot of the present invention;

[0014] Figure 2 It is a three-dimensional schematic diagram of the sliding device of the present invention;

[0015] Figure 3 It is a schematic diagram of the bending joints of the humanoid robot of the present invention.

[0016] Main symbols: 1 power device, 2 power device force transmission rod, 3 power device fixed rod, 4 bending member, 5 swing rod, 6 sliding device, 6.1 roller, 6.2 roller retaining box, 6.3 sliding device fixed rod, 7 hinge A, 8 hinge B DETAILED DESCRIPTION

[0017] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0018] Embodiment 1:

[0019] Please refer to Figure 1-3 A humanoid robot bending joint structure of this embodiment includes: a power device 1, a power device force transmission rod 2, a power device fixing rod 3, a bending member 4, a swing rod 5, a sliding device 6, a hinge A7, and a hinge B8; and

[0020] The power device 1 is fixed to one end of the power device fixing rod 3, and the other end is connected to the swing rod 5 by a hinge A7, and the hinge A7 enables the two components connected to the hinge A7 to rotate relative to each other with the hinge A7 as the center; and

[0021] The power device 1 is a linear motion device, pushing (pulling) the power device force transmission rod 2 to perform linear reciprocating motion, the top of the power device force transmission rod 2 is connected to the sliding device 6 by a hinge B8, and the hinge B8 enables the two components connected to the hinge B8 to rotate relative to each other with the hinge B8 as the center; and

[0022] The sliding device 6 is installed on the swing rod 5 and can slide back and forth along the swing rod 5. The swing rod 5 is fixed on the bending member 4. When the power transmission rod 2 of the power device makes reciprocating linear motion, the hinge B8 also makes reciprocating linear motion. The sliding device 6 rotates around the hinge B8, and the sliding device 6 slides along the swing rod 5, forcing the swing rod 5 and the bending member 4 to rotate around the hinge A7.

[0023] Please refer to Figure 1 The bending member 4 is cylindrical, and the cylindrical opening of the fixed swing rod 5 is an inclined surface. The swing rod 5 is fixed at its maximum slope position, and the hinge A7 is located at the end of the acute angle inclined surface.

[0024] Please refer to Figure 1-2 The sliding device 6 includes a roller 61, a roller retaining box 62 and a sliding device fixing rod 63. A plurality of openings are opened on one side of the roller retaining box 62. The size of the openings matches the roller 61, and the depth is less than the diameter of the roller 61. The sliding device 6 has two roller retaining boxes 62, and the rollers 61 are installed in the openings thereof, and the rollers 61 are installed on the upper and lower surfaces of the swing rod 5. The roller retaining boxes 62 are symmetrically installed on the upper and lower surfaces of the swing rod 5. The sliding device fixing rod 63 is a rod member, one end of which has a reamed hole, and the reamed hole diameter matches the hinge B8. The sliding device 6 has two sliding device fixing rods 63, which are symmetrically fixed on both side surfaces of the roller retaining box 62, so that the two roller retaining boxes 62 maintain an appropriate distance and can slide on the swing rod 5. The reamed end of the sliding device fixing rod 63 extends out of the roller retaining box 62 for installing the hinge B8.

[0025] The implementation principle of a bending joint structure of a humanoid robot in the embodiment of the present application is:

[0026] Please refer to Figure 1-3The power device fixing rod 3 can be a rectangular rod, which is grooved at the connection end with the hinge A7 to form a U-shaped groove, and the swing rod 5 can be embedded in it, and a reamed hole is opened in the middle of the groove wall at the open end of the U-shaped groove, and the diameter of the reamed hole is matched with the hinge A7; the power device force transmission rod 2 can be a rectangular rod, which is grooved at the connection end with the hinge B8, and the diameter of the reamed hole is matched with the hinge B8; the swing rod 5 can be a rectangular rod, which is grooved at the position connected with the hinge A7, and the diameter of the reamed hole is matched with the hinge A7.

[0027] The swing rod 5 of the present invention is fixed on the curved member 4, and the hinge hole of the swing rod 5 is located on its side. After being embedded in the U-shaped groove of the power device fixing rod, it is connected with a hinge A7; the two sliding device fixing rods 63 of the sliding device 6 are located on the two sides of the roller retaining box 62 and the swing rod 5, and are symmetrically arranged, with the power device force transmission rod 2 embedded in the middle, and connected with a hinge B8. At this time, the central axis of the hinge A7 and the central axis of the hinge B8 are parallel to each other, so the components connected with these two hinges rotate on the same plane.

[0028] The power device fixed rod 3 is a fixed part, therefore, the hinge A7 is used as a connecting part between the power device fixed rod 3 and the swing rod 5, and its position is fixed. The movement of the swing rod 5 can only be rotation centered on the hinge A7.

[0029] The power device 1 can be an electrically driven, hydraulically or pneumatically driven power device 1. The power device 1 provides force to push (pull) the power device force transmission rod 2 to perform reciprocating linear motion relative to the power device 1. The power device force transmission rod 2 transmits the motion force to the sliding device 6 through the hinge B8. The sliding device 6 rotates around the hinge B8, and the sliding device 6 slides along the swing rod 5, pushing (pulling) the swing rod 5, forcing the swing rod 5 and the curved member 4 fixed on the swing rod 5 to swing around the hinge A7, thereby achieving the purpose of the patent that the curved member 4 swings around the hinge A7 under the push (pull) force of the power device 1.

[0030] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A humanoid robot bending joint structure, characterized in that: include: A power device (1), a power device force transmission rod (2), a power device fixing rod (3), a bending member (4), a swing rod (5), a sliding device (6), a hinge A (7), and a hinge B (8); and The power device fixing rod (3) has a power device (1) fixed to one end thereof, and the other end thereof is connected to the swing rod (5) by a hinge A (7), wherein the hinge A (7) enables the two components connected to the hinge A (7) to rotate relative to each other with the hinge A (7) as the center; and The power device (1) is a linear motion device, pushing (pulling) the power device force transmission rod (2) to perform linear reciprocating motion, the top of the power device force transmission rod (2) is connected to the sliding device (6) by a hinge B (8), and the hinge B (8) enables the two components connected to the hinge B (8) to rotate relative to each other with the hinge B (8) as the center; and The sliding device (6) is installed on the swing rod (5) and can slide back and forth along the swing rod (5). The swing rod (5) is fixed on the curved member (4). When the power transmission rod (2) of the power device performs reciprocating linear motion, the hinge B (8) also performs reciprocating linear motion. The sliding device (6) rotates around the hinge B (8) and slides along the swing rod (5), forcing the swing rod (5) and the curved member (4) to rotate around the hinge A (7).

2. A humanoid robot bending joint structure according to claim 1, characterized in that: The bending member (4) is cylindrical, and the cylindrical opening for fixing the swing rod (5) is an inclined surface. The swing rod (5) is fixed at its maximum slope position, and the hinge A (7) is located at the end of the acute angle inclined surface.

3. The humanoid robot bending joint structure according to claim 1, characterized in that: The sliding device (6) comprises a roller (61), a roller holding box (62) and a sliding device fixing rod (63). A plurality of openings are opened on one side of the roller holding box (62). The size of the openings matches the roller (61) and the depth is less than the diameter of the roller (61). The sliding device (6) has two roller holding boxes (62). The rollers (61) are installed in the openings. The rollers (61) are installed on the upper and lower surfaces of the swing rod (5). The roller holding boxes (62) are symmetrically installed on the swing rod (5). On the upper and lower surfaces of the movable rod (5), the sliding device fixing rod (63) is a rod member, one end of which is provided with a reaming hole, the diameter of the reaming hole being matched with the hinge B (8). The sliding device fixing rod (63) of the sliding device (6) is two, symmetrically fixed on the two side surfaces of the roller retaining box (62), so that the two roller retaining boxes (62) are kept at an appropriate distance and can slide on the swing rod (5). The reaming end of the sliding device fixing rod (63) extends out of the roller retaining box (62) for installing the hinge B (8).

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