Spring torque-increasing Z-shaped lifting module for anti-explosion humanoid robot and anti-explosion humanoid robot

Abstract

The invention provides a spring torque-increasing Z-shaped lifting module for an anti-explosion humanoid robot, and belongs to the technical field of robots, the spring torque-increasing Z-shaped lifting module comprises a base, a first rotating joint, a second rotating joint and a third rotating joint, and further comprises a spring torque-increasing mechanism, and the spring torque-increasing mechanism comprises a first tension spring and a second tension spring; through cooperative work of a first tension spring and a second tension spring, the designed spring torque increasing mechanism can remarkably reduce loads of the first rotating joint and the second rotating joint, so that the joints are allowed to drive larger loads, and the working efficiency and the load capacity of the robot are improved; in addition, the invention further provides the anti-explosion humanoid robot which comprises the spring torque-increasing Z-shaped lifting module, better balance and flexibility can be provided by installing the spring torque-increasing Z-shaped lifting module, and the stability and adaptability of the robot in the complex environment are enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a spring torsion-increasing Z-shaped lifting module for an explosion-proof humanoid robot and the humanoid robot. Background Art

[0002] Humanoid robots are one of the most promising and attractive branches in the field of robotics. They can adapt to more complex terrain conditions, have a more flexible working space and rapid movement capabilities, and can accomplish more complex tasks such as handling, precise grasping, contact detection and other segmented scenarios.

[0003] The lifting mechanism in a humanoid robot is usually located in the torso of the robot. It is designed to increase the range of motion of the robotic arm system and enhance its flexibility and environmental adaptability. Specifically, the lifting mechanism is mounted on a base at the bottom and connected to a mounting base for mounting the humanoid robot body at the top. The power provided by the drive device is transmitted to the lifting body through a multi-stage belt transmission device to achieve vertical lifting of the mounting base and maintain a horizontal state during the vertical lifting process.

[0004] At present, the folding and lifting mechanism of humanoid robots on the market is mainly a multi-joint modular platform with weak overall load capacity. However, explosion-proof humanoid robots are heavy, and the center of gravity changes and deflects greatly during the execution of actions, resulting in a large dynamic overturning moment. The lifting platform is difficult to meet the large anti-dynamic overturning moment. At the same time, it occupies a large space in the retracted state, and the speed is too slow when performing lifting actions, which cannot meet the needs of humanoid robots. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the prior art and to provide a spring torque-increasing Z-type lifting module and a humanoid robot for an explosion-proof humanoid robot. By designing a spring torque-increasing mechanism, the load on the first rotary joint and the second rotary joint is reduced, the overall torsion resistance is increased, and high power density torque output is achieved.

[0006] Technical solution: The spring torque-increasing Z-type lifting module for explosion-proof humanoid robots described in the present invention comprises a base, a first rotating joint, a second rotating joint and a third rotating joint, wherein the base is connected with the first rotating joint, the first rotating joint is connected with the second rotating joint through a first set of supporting arms, the second rotating joint is connected with the third rotating joint through a second set of supporting arms, and a spring torque-increasing mechanism is also arranged between the first rotating joint and the second rotating joint; the spring torque-increasing mechanism comprises a first tension spring, one end of the first tension spring is fixed to the base through a first spring fixing shaft and a first spring fixing block, and the other end of the first tension spring is fixedly connected to the first set of supporting arms through a second spring fixing shaft. The spring torque-increasing mechanism also comprises a second tension spring, one end of the second tension spring is fixedly connected to a second spring fixing member A, the second spring fixing member A is fixedly connected to the first set of supporting arms through a second spring fixing shaft, and the other end of the second tension spring is connected to the second rotating joint through a wire rope; the spring torque-increasing mechanism reduces the load of the first rotating joint and the second rotating joint through the first tension spring and the second tension spring.

[0007] Since the spring has elastic properties, the spring torque increasing mechanism designed by the present invention can significantly reduce the load of the first rotary joint and the second rotary joint through the application of the first tension spring and the second tension spring, thereby allowing these joints to drive a larger load and improving the working efficiency and load capacity of the robot. In addition, due to the elasticity, the joint is allowed to be fine-tuned within a certain range, which improves the flexibility and adaptability of the joint, allowing the robot to perform complex actions more accurately.

[0008] Furthermore, the base includes a base bottom plate, a base rotating seat, a base side plate, a first arm connecting plate and a first arm reinforcement plate. The base bottom plate is fixed with a base rotating seat, the side of the base rotating seat is fixed with a base side plate, and the upper part of the base rotating seat is fixed with a first arm connecting plate and a first arm reinforcement plate.

[0009] A stable base is provided through the combination of the base bottom plate, the base rotating seat and the base side plate, ensuring the stability of the entire module when bearing loads and moving. The addition of the base side plate and the first arm reinforcement plate enhances the structural rigidity of the base and reduces deformation under high loads or dynamic conditions. The base rotating seat allows the components connected thereto, such as the first rotating joint, to perform rotational movement, providing the necessary freedom of movement.

[0010] Furthermore, the first rotary joint includes a first joint module, to which a third spring fixed axis is fixedly connected, the third spring fixed axis connects one end of the first group of arms to the base rotating seat, the first group of arms rotates around the third spring fixed axis, and the other end of the first group of arms is rotationally connected to the second rotary joint.

[0011] Connecting one end of the first set of arms to the base swivel seat through a third spring fixed axis can enhance the stability and load-bearing capacity of the entire joint. This structure helps to disperse the load and reduce the pressure on individual components. The first set of arms rotates around the third spring fixed axis, providing joint flexibility, allowing a wider range of motion and more refined movement control.

[0012] Furthermore, the second rotary joint includes a second joint rotary seat and a second joint module, the output shaft of the second joint module is connected to the second joint rotary seat, and the second joint module drives the second joint rotary seat to rotate, thereby driving the first group of support arms to rotate; the second rotary joint is also rotationally connected to one end of the second group of support arms, and the other end of the second group of support arms is rotationally connected to the third rotary joint.

[0013] In the present invention, the output shaft of the second joint module is connected to the second joint rotating seat, so that the second joint module can directly drive the second joint rotating seat to rotate. This direct drive method can reduce energy loss in the transmission process and improve movement efficiency; the design of the second rotary joint allows the first group of arms to rotate around the first spring fixed axis. This design provides additional flexibility, allowing the robot arm to perform precise movement and positioning in multiple directions. The second rotary joint can also drive the first group of arms to rotate through its rotational movement. This design helps to reduce the load of the third rotary joint because part of the load is transferred and dispersed through the rotational movement of the second rotary joint.

[0014] Furthermore, the third rotary joint includes a third joint rotating seat and a third joint module. The output shaft of the third joint module is connected to the third joint rotating seat. The third joint module drives the third joint rotating seat to rotate, thereby driving the second set of arms to rotate. The design of the third rotary joint can directly drive the third joint rotating seat to rotate. This direct drive method can provide precise speed and position control, which is particularly important for application scenarios that require fine operation.

[0015] The present invention also provides a humanoid robot, comprising the above-mentioned spring torsion-enhancing Z-type lifting module. For a humanoid robot, the trunk and waist are key parts that support the entire body and connect the upper and lower limbs. Installing the spring torsion-enhancing Z-type lifting module in these areas can provide better balance and flexibility, and enhance the stability and adaptability of the robot in complex environments. The lifting module can also be installed on the arms or legs to assist the arms and legs and increase flexibility and stability.

[0016] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0017] (1) The spring torque increasing mechanism designed in the present invention can significantly reduce the load of the first rotation joint and the second rotation joint through the application of the first tension spring and the second tension spring, thereby allowing these joints to drive a larger load, thereby improving the working efficiency and load capacity of the robot;

[0018] (2) The spring torque increasing mechanism designed by the present invention can be used in multi-axis systems such as robotic arms and can be integrated and used as a torque increasing kit;

[0019] (3) The folding lifting mechanism designed by the present invention can enable the robot to adjust its height in different working environments to adapt to different task requirements. For example, when picking or operating objects of different heights, the robot's working height can be flexibly adjusted to improve work efficiency;

[0020] (4) Through the folding design, the folding lifting mechanism can reduce the space occupied when not in use, making it convenient to store and move. This design is particularly suitable for robots that need to move frequently, such as service robots or logistics robots; and the folding lifting mechanism can enable the robot to move and operate more flexibly in complex environments, especially on narrow or uneven ground, and can maintain good stability and operating accuracy;

[0021] (5) The folding and lifting mechanism of the present invention can be used as a module alone or in combination with a human upper body module, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the base and the first rotating joint in the present invention;

[0024] Figure 3 It is a structural schematic diagram of the spring torque increasing mechanism in the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the second rotary joint and the third rotary joint in the present invention;

[0026] 001-base, 002-first rotary joint, 003-second rotary joint, 004-third rotary joint, 005-spring torque increasing mechanism;

[0027] 1-base bottom plate; 2-base rotating seat; 3-base side plate; 4-first arm connecting plate; 5-first arm reinforcement plate; 6-side cover; 7-bearing pressure ring; 8-third spring fixed shaft; 9-first bearing; 10-first joint module; 11-first arm; 12-second arm reinforcement plate; 13-second arm; 14-second spring fixed shaft; 15-first tension spring; 16-wire rope; 17-wire rope buckle; 18-second spring wire rope fixed shaft; 19-second spring fixed block bolt shaft B; 20-second spring fixing block bolt shaft A; 21-second bearing; 22-second spring fixing piece B; 23-second spring fixing piece A; 24-second spring fixing shaft; 25-first spring fixing shaft; 26-first spring fixing block; 27-third support arm; 28-third joint rotating seat; 29-fourth support arm; 30-support arm connecting plate; 31-second joint rotating seat; 32-second joint module; 33-third joint module; 34-second tension spring; 35-second spring fixing block bolt shaft C. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0029] Example 1

[0030] like Figure 1 The spring torque-increasing Z-type lifting module for an explosion-proof humanoid robot shown in the figure includes five major components, namely a base 001, a first rotating joint 002, a second rotating joint 003, a third rotating joint 004 and a spring torque-increasing mechanism 005, wherein the base 001 is connected to the first rotating joint 002, the first rotating joint 002 is connected to the second rotating joint 003 through a first set of supporting arms, the second rotating joint 003 is connected to the third rotating joint 004 through a second set of supporting arms, and a spring torque-increasing mechanism 005 is also arranged between the first rotating joint 002 and the second rotating joint 003. The first set of supporting arms includes a first supporting arm 11 and a second supporting arm 13, and the second set of supporting arms includes a third supporting arm 27 and a fourth supporting arm 29. The specific structure is as follows:

[0031] like Figure 2As shown, the base 001 includes a base bottom plate 1, a base rotating seat 2, a base side plate 3, a first arm connecting plate 4 and a first arm reinforcing plate 5. The base rotating seat 2 is fixed on the base bottom plate 1, the base side plate 3 is fixed on the side of the base rotating seat 2, and the first arm connecting plate 4 and the first arm reinforcing plate 5 are fixed on the upper part of the base rotating seat 2. The first rotating joint 002 includes a first joint module 10, and the first joint module 10 is fixedly connected with a third spring fixed shaft 8. The third spring fixed shaft 8 connects one end of the first arm 11 and the second arm 13 to the base rotating seat 2. The first arm 11 and the second arm 13 rotate around the third spring fixed shaft 8, and the other ends of the first arm 11 and the second arm 13 are rotationally connected with the second rotating joint 003. After the third spring fixed shaft 8 and the base rotating seat 2 are installed and the first arm 11 and the second arm 13 are installed, the third spring fixed shaft 8 is located on one side of the base side plate 3 and the bearing 9, the bearing pressure ring 7 and the side cover 6 are installed in sequence, and the other side of the third spring fixed shaft 8 is also installed with the first bearing 9 and the side cover 6. In addition, for the stability of the arm, the second arm reinforcement plate 12 is installed at the end of the first arm 11 and the second arm 13 away from the base rotating seat 2.

[0032] like Figure 3 As shown, the spring torque increasing mechanism 005 includes a first tension spring 15, one side force point of the first tension spring 15 is fixed on the base 001 through the first spring fixing shaft 25 and the first spring fixing block 26, and the other end of the first tension spring 15 is fixedly connected to the first arm 11 and the second arm 13 through the second spring fixing shaft 14. The spring torque increasing mechanism 005 also includes a second tension spring 34, one end of the second tension spring 34 is fixedly connected to the second spring fixing block bolt shaft A20, the second spring fixing block bolt shaft A20 is installed in the inner hole of the second spring fixing member A23 and can move freely, and the second spring fixing member A23 is fixedly connected to the base rotating seat 2 through the second spring fixing shaft 24. The other end of the second tension spring 34 is connected to the second spring fixing block bolt shaft C35 in the second spring fixing member B22; the second spring fixing block bolt shaft C35 and the second spring fixing block bolt shaft B19 are installed in the inner hole of the second spring fixing member B22 and can move freely, wherein the second spring fixing block bolt shaft B19 is sleeved with the second bearing 21, and the second wire rope fixing shaft 18 is fixedly connected to the first arm 11 and the second arm 13. One end of the wire rope 16 is fixed to the second wire rope fixing shaft 18 through the wire rope bayonet 17, and is wound around the second bearing 21 for rotation, and the other end of the wire rope 16 is fixed to the second joint rotating seat. The spring torque increasing mechanism 005 reduces the load of the first rotating joint 002 and the second rotating joint 003 through the first tension spring 15 and the second tension spring 34.

[0033] like Figure 4As shown, the second rotary joint 003 includes a second joint rotating seat 31 and a second joint module 32, the output shaft of the second joint module 32 is connected to the second joint rotating seat 31, and the second joint module 32 drives the second joint rotating seat 31 to rotate, thereby driving the first arm 11 and the second arm 13 to rotate; the second rotary joint 003 is also rotatably connected to one end of the third arm 27 and the fourth arm 29, and the other end of the third arm 27 and the fourth arm 29 is rotatably connected to the third rotary joint 004. In addition, an arm connecting plate 30 is also provided between the third arm 27 and the fourth arm 29 to reinforce the connection. The third rotary joint 004 includes a third joint rotating seat 28 and a third joint module 33, the output shaft of the third joint module 33 is connected to the third joint rotating seat 28, and the third joint module 33 drives the third joint rotating seat 28 to rotate, thereby driving the third arm 27 and the fourth arm 29 to rotate.

[0034] The working principle of this embodiment is:

[0035] like Figure 1 In this embodiment, the Z-type lifting module has a total of three rotatable joints, among which the first and second rotating joints adopt a tension spring structure to ensure that the first and second rotating joints can achieve a greater torque output. Figure 2 In the embodiment, the first joint module 10 drives the first arm 11 and the second arm 13 to rotate around the third spring fixing axis 8. Figure 3 In the figure, the first tension spring 15 is connected between the base 001 and the first arm 11 and the second arm 13. Through the torsion-increasing principle of the spring, the driving load of the first joint module 10 is reduced, so that the first joint module 10 can drive a larger load. One end of the second tension spring 34 is fixed on the second spring fixing member 23. The second spring fixing member 23 is connected to the first arm 11 and the second arm 13 through the second spring fixing shaft 24. The other end is connected to the second joint rotating seat 31 through the wire rope 16. The second joint module 32 drives the second joint rotating seat 31 to rotate and wrap the wire rope 16. The wire rope 16 and the second tension spring 34 reduce the load on the second joint module 32, so that the second joint module 32 can drive a larger load. Figure 4 In the embodiment, the second joint module 32 drives the second joint rotating seat 31 to drive the third arm 27 and the fourth arm 29 to rotate, and the third joint module 33 rotates to drive the third joint rotating seat 28 to rotate.

[0036] Example 2

[0037] The present invention also provides an explosion-proof humanoid robot, comprising the above-mentioned spring torsion-increasing Z-type lifting module. For a humanoid robot, the trunk and waist are key parts that support the entire body and connect the upper and lower limbs. Installing the spring torsion-increasing Z-type lifting module in these areas can provide better balance and flexibility, and enhance the stability and adaptability of the robot in complex environments. The lifting module can also be installed on the arms or legs to assist the arms and legs and increase flexibility and stability.

[0038] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A spring torsion-increasing Z-type lifting module for an explosion-proof humanoid robot, comprising a base (001), a first rotating joint (002), a second rotating joint (003) and a third rotating joint (004), wherein the base (001) is connected to the first rotating joint (002), the first rotating joint (002) is connected to the second rotating joint (003) via a first set of supporting arms, and the second rotating joint (003) is connected to the third rotating joint (004) via a second set of supporting arms, characterized in that: A spring torque increasing mechanism (005) is also provided between the first rotating joint (002) and the second rotating joint (003); The spring torque increasing mechanism (005) comprises a first tension spring (15), one end of the first tension spring (15) is fixed to the base (001) via a first spring fixing shaft (25) and a first spring fixing block (26), and the other end of the first tension spring (15) is fixedly connected to the first group of supporting arms via a second spring fixing shaft (14); The spring torque increasing mechanism (005) further comprises a second tension spring (34), one end of the second tension spring (34) being fixedly connected to a second spring fixing member A (23), the second spring fixing member A (23) being fixedly connected to the first group of support arms via a second spring fixing shaft (24), and the other end of the second tension spring (34) being connected to the second rotating joint (003) via a steel wire rope (16); the spring torque increasing mechanism (5) reduces the loads of the first rotating joint (002) and the second rotating joint (003) via the first tension spring (15) and the second tension spring (34).

2. A spring torque-increasing Z-type lifting module for an explosion-proof humanoid robot according to claim 1, characterized in that: The base (001) comprises a base bottom plate (1), a base rotating seat (2), a base side plate (3), a first support arm connecting plate (4) and a first support arm reinforcing plate (5); the base bottom plate (1) is fixed with the base rotating seat (2); the side of the base rotating seat (2) is fixed with the base side plate (3); the upper part of the base rotating seat (2) is fixed with the support arm connecting plate (4) and the first support arm reinforcing plate (5).

3. A spring torque-increasing Z-type lifting module for an explosion-proof humanoid robot according to claim 2, characterized in that: The first rotating joint (002) comprises a first joint module (10), to which a third spring fixing shaft (8) is fixedly connected, and the third spring fixing shaft (8) connects one end of the first group of supporting arms to the base rotating seat (2), and the first group of supporting arms rotates around the third spring fixing shaft (8), and the other end of the first group of supporting arms is rotationally connected to the second rotating joint (003).

4. The spring torque-increasing Z-type lifting module for an explosion-proof humanoid robot according to claim 1, characterized in that: The second rotating joint (003) comprises a second joint rotating seat (31) and a second joint module (32); the output shaft of the second joint module (32) is connected to the second joint rotating seat (31); the second joint module (32) drives the second joint rotating seat (31) to rotate, thereby driving the first group of support arms to rotate; the second rotating joint (003) is also rotationally connected to one end of the second group of support arms, and the other end of the second group of support arms is rotationally connected to the third rotating joint (004).

5. The spring torque-increasing Z-type lifting module for an explosion-proof humanoid robot according to claim 4, characterized in that: The third rotating joint (004) comprises a third joint rotating seat (28) and a third joint module (33), the output shaft of the third joint module (33) is connected to the third joint rotating seat (28), and the third joint module (33) drives the third joint rotating seat (28) to rotate, thereby driving the second group of supporting arms to rotate.

6. An explosion-proof humanoid robot, characterized in that: It comprises a spring torque-increasing Z-shaped lifting module as described in any one of claims 1 to 5.

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