Wrist system of humanoid robot

Abstract

According to the wrist system of the humanoid robot, the machining difficulty and the machining cost of parts are reduced, mounting and dismounting are easy and convenient, the impact resistance of a wrist is high, the axial back clearance is reduced, the movement precision and reliability are improved, a planetary roller screw rod is small in size and large in thrust, and therefore the size of the wrist is smaller, and the load capacity is large. The device comprises a forearm sleeve (1), a wrist base (2), a base end fixing shaft, a force sensor (4), a planetary roller lead screw (5), a planetary roller lead screw (6), a supporting shaft, an output end fixing shaft and a rotating base (8).

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a wrist system of a humanoid robot. Background Art

[0002] A humanoid robot (English: Android), also known as a bionic man, is a robot designed to mimic human appearance and behavior. It specifically refers to a type with a human-like body. Until recently, the concept of humanoid robots was a science fiction concept, often seen in movies, television, comics, novels, etc. Today, advances in robotics have made it possible to design functional, realistic humanoid robots.

[0003] As a key component of the humanoid robot arm, the humanoid robot wrist has a wide range of applications in many fields. For example, the humanoid robot wrist can be used in automated production lines for precision assembly, handling, and testing, including smart 3C production lines, to achieve refined assembly of typical parts such as soft cables and SIM cards. In the medical field, the humanoid robot wrist can assist in surgery or serve as a prosthetic device for the disabled to enhance their ability to take care of themselves. In the aerospace field, the wrist can be used for maintenance of space stations or as an auxiliary tool for astronauts.

[0004] The wrist of a humanoid robot is an important part of the robot design. It usually needs to have a high degree of flexibility and precision to simulate the movements of a human wrist. The following are some key features of the humanoid robot wrist:

[0005] 1. Degrees of freedom: The wrist of a humanoid robot usually has multiple degrees of freedom to achieve complex rotation and movement. This includes pitch, internal and external rotation, roll, etc.

[0006] 2. Joint design: The joint design of the wrist needs to consider force transmission, durability and response speed. Common joint types include rotational joints, hinge joints and ball joints.

[0007] 3. Drive mechanism: The drive of the wrist can be electric, hydraulic or pneumatic. Electric drive is often used for precision operations because of its high efficiency and easy control.

[0008] 4. Sensor integration: In order to improve the perception ability of the wrist, multiple sensors may be integrated, such as force sensors, position sensors, and tactile sensors.

[0009] 5. Control algorithm: Wrist movements require precise control algorithms to achieve smooth and coordinated movements, which usually involves complex feedback control systems.

[0010] 6. Material selection: The material of the wrist needs to be both light and strong to support rapid movement and withstand the wear and tear of repeated use.

[0011] 7. Safety: Considering the possibility of interaction with humans, the design of the wrist also needs to take into account safety features to prevent accidental injuries.

[0012] 8. Maintenance and durability: The wrist should be designed to be easy to maintain and able to withstand long-term use without performance degradation.

[0013] The wrist design of humanoid robots is a multidisciplinary field, involving mechanical engineering, electronic engineering, computer science, biomechanics and other fields. With the advancement of technology, the wrist design of humanoid robots is also constantly developing and improving. However, there are still some defects: high processing difficulty and processing cost, complex disassembly and assembly, weak impact resistance, large axial backlash, low reliability, planetary roller screws are easily deformed and damaged by forces in different directions, and are relatively heavy and bulky. Summary of the invention

[0014] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to provide a wrist system for a humanoid robot, which reduces the processing difficulty and cost of parts, is simple and convenient to install and disassemble, has strong impact resistance of the wrist, reduces axial backlash, improves motion accuracy and reliability, and has a small size and large thrust of the planetary roller screw, which makes the wrist smaller in size and has a large load capacity.

[0015] The technical solution of the present invention is: the wrist system of the humanoid robot comprises: a forearm sleeve (1), a wrist base (2), a base end fixed shaft, a force sensor (4), a planetary roller screw (5), a planetary roller screw (6), a support shaft, an output end fixed shaft, and a rotating base (8);

[0016] The forearm sleeve is connected to the forearm assembly via the male end (11) of the spring ejector pin inside the forearm sleeve, and the driver (12) is installed in the forearm sleeve, and the forearm sleeve is fixedly connected to the wrist base via a fastening screw (14);

[0017] The wrist base comprises a disc and a frame. The right end face of the disc is provided with two bosses (21). A through hole (22) is provided in the middle of each boss. Each of the two base end fixed shafts (31) passes through a base end joint ball bearing (23) and a through hole and is installed on a boss. Each of the two force sensors (4) is respectively connected to a base end joint ball bearing and a planetary roller screw (5). The two parallel planetary roller screws are separated by the frame. The planetary roller screw (6) inside the planetary roller screw performs telescopic reciprocating motion and drives the corresponding output end joint ball bearing (26) to move.

[0018] Each of the two output-end fixed shafts (32) passes through an output-end joint ball bearing and is fixed through a main drive shaft (81). The central axis of the main drive shaft passes through two rolling bearings (83), and the other end passes through one of the rolling bearings with a secondary drive shaft (82). The inner ring of the rolling bearing is locked by the end faces of the main drive shaft and the secondary drive shaft, and the outer ring of the rolling bearing is clamped by the rotating base (8).

[0019] The driver controls the movement of the main drive shaft. The main support shaft and the auxiliary support shaft are at a corner of the frame of the wrist base. One end of the rotating base is connected to the main drive shaft and the auxiliary drive shaft through two rolling bearings, and the other end is passed through by the main support shaft (71). The main support shaft passes through the two rolling bearings, the rotating base, and the auxiliary support shaft (72), and is fastened by a locking nut. The two rolling bearings are nested in the wrist base, and the inner ring of one rolling bearing fits the end face of the main support shaft, and the inner ring of the other rolling bearing fits the end face of the auxiliary support shaft.

[0020] The two planetary roller screws extend synchronously to drive the rotating base to rotate around the support axis to achieve the pitch movement of the wrist;

[0021] The extension of one planetary roller screw is equal to the contraction of another planetary roller screw, which drives the main drive shaft to rotate and realizes the rolling movement of the wrist;

[0022] The extension of one planetary roller screw is not equal to the contraction of another planetary roller screw.

[0023] The main drive shaft is driven to rotate to realize the compound movement of the wrist.

[0024] The beneficial technical effects of the present invention are:

[0025] 1. There is a spring ejector male end at the end of the forearm sleeve as an electrical interface, which is simple and convenient to install and facilitate later disassembly and maintenance. The driver, circuit board and other electronic components can be placed inside the forearm sleeve, which is convenient for later waterproof and dustproof protection, and the heat dissipation performance is better.

[0026] 2. The wrist base not only supports the ball bearing at the base end, but also supports the main support shaft and the auxiliary support shaft. It also serves as a mechanical limiter when the wrist performs pitch motion, reducing the number of parts, reducing installation difficulty, and reducing costs.

[0027] 3. The main drive shaft, the fixed shaft at the base end, and the fixed shaft at the output end are divided into two, each of which is fixed with a joint ball bearing. This can reduce the difficulty of processing, ensure coaxiality, and make installation simple and convenient.

[0028] 4. The pitch and roll rotation axes of this solution are offset. This has the advantage of reducing the volume as much as possible while ensuring a certain structural strength.

[0029] 5. Reduce axial backlash, high reliability, and the planetary roller screw is not easy to deform or damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 3 is a schematic structural diagram of a humanoid robot according to the present invention with its wrist system in zero position.

[0031] Figure 2 yes Figure 1 Top view of the .

[0032] Figure 3 yes Figure 1 Left view of .

[0033] Figure 4 yes Figure 1 VV section view.

[0034] Figure 5 yes Figure 1 UU section view.

[0035] Figure 6 yes Figure 1 TT section view.

[0036] Figure 7 It is a structural schematic diagram of a humanoid robot according to the present invention, in which the wrist system is in a reclining position.

[0037] Figure 8 yes Figure 7 Top view of the .

[0038] Fig. 9 yes Figure 8 WW section view.

[0039] Fig.10 It is a structural schematic diagram of a wrist system of a humanoid robot according to the present invention in a forward-bending position.

[0040] Fig.11 yes Fig.10 YY section view.

[0041] Fig.12 It is a structural schematic diagram of a humanoid robot wrist system in a rolling state according to the present invention.

[0042] Fig.13 It is a structural schematic diagram of a wrist system of a humanoid robot in a composite state according to the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] In order to make the description of the present disclosure more detailed and complete, the following provides an illustrative description of the implementation and specific embodiments of the present invention; however, this is not the only form of implementing or using the specific embodiments of the present invention. The implementation covers the features of multiple specific embodiments and the method steps and sequences used to construct and operate these specific embodiments. However, other specific embodiments can also be used to achieve the same or equivalent functions and step sequences.

[0045] like Figure 1-Figure 13 As shown, the wrist system of the humanoid robot includes: a forearm sleeve 1, a wrist base 2, a fixed shaft at the base end, a force sensor 4, a planetary roller screw 5, a planetary roller screw 6, a support shaft, an output end fixed shaft, and a rotating base 8;

[0046] The forearm sleeve is connected to the forearm assembly through the spring ejector male end 11 inside the forearm sleeve, and the driver 12 is installed in the forearm sleeve, and the forearm sleeve is fixedly connected to the wrist base by the fastening screw 14;

[0047] The wrist base includes a disc and a frame. Two bosses 21 are provided on the right end face of the disc. A through hole 22 is provided in the middle of each boss. Each of the two base-end fixed shafts 31 passes through a base-end joint ball bearing 23 and a through hole and is installed on a boss. Each of the two force sensors 4 is respectively connected with a base-end joint ball bearing and a planetary roller screw 5. The two parallel planetary roller screws are separated by the frame. The planetary roller screw 6 inside the planetary roller screw performs telescopic reciprocating motion and drives the corresponding output-end joint ball bearing 26 to move.

[0048] Each of the two output-end fixed shafts 32 passes through an output-end joint ball bearing and is fixed through a main drive shaft 81. The central axis of the main drive shaft passes through two rolling bearings 83, and the other end passes through one of the rolling bearings with a secondary drive shaft 82. The inner ring of the rolling bearing is locked by the end faces of the main drive shaft and the secondary drive shaft, and the outer ring of the rolling bearing is clamped by the rotating base 8.

[0049] The driver controls the movement of the main drive shaft. The main support shaft and the auxiliary support shaft are at a corner of the frame of the wrist base. One end of the rotating base is connected to the main drive shaft and the auxiliary drive shaft through two rolling bearings, and the other end is passed through by the main support shaft 71. The main support shaft passes through two rolling bearings, the rotating base, and the auxiliary support shaft 72, and is fastened by a locking nut. The two rolling bearings are nested in the wrist base, and the inner ring of one rolling bearing fits with the end face of the main support shaft, and the inner ring of the other rolling bearing fits with the end face of the auxiliary support shaft.

[0050] The two planetary roller screws extend synchronously to drive the rotating base to rotate around the support axis to achieve the pitch movement of the wrist;

[0051] The extension of one planetary roller screw is equal to the contraction of another planetary roller screw, which drives the main drive shaft to rotate and realizes the rolling movement of the wrist;

[0052] The extension of one planetary roller screw is not equal to the contraction of another planetary roller screw.

[0053] The main drive shaft is driven to rotate to realize the compound movement of the wrist.

[0054] The beneficial technical effects of the present invention are:

[0055] 1. There is a spring ejector male end at the end of the forearm sleeve as an electrical interface, which is simple and convenient to install and facilitate later disassembly and maintenance. The driver, circuit board and other electronic components can be placed inside the forearm sleeve, which is convenient for later waterproof and dustproof protection, and the heat dissipation performance is better.

[0056] 2. The wrist base not only supports the ball bearing at the base end, but also supports the main support shaft and the auxiliary support shaft. It also serves as a mechanical limiter when the wrist performs pitch motion, reducing the number of parts, reducing the volume, reducing the difficulty of installation, and reducing costs.

[0057] 3. The main drive shaft, the fixed shaft at the base end, and the fixed shaft at the output end are divided into two, each of which is fixed with a joint ball bearing. This can reduce the difficulty of processing, ensure coaxiality, and make installation simple and convenient.

[0058] 4. The pitch and roll rotation axes of this solution are offset. This has the advantage of reducing the volume as much as possible while ensuring a certain structural strength.

[0059] 5. Reduce axial backlash and achieve higher position accuracy, thereby improving the accuracy of motion control

[0060] 6. Planetary roller screw is not easy to deform or damage, is impact-resistant and has high reliability.

[0061] Preferably, the driver 12 is installed in the forearm sleeve and fixed in the forearm sleeve by the driver screw 13. Integrating the driver into the forearm sleeve has the advantage of good heat dissipation and the disadvantage of complex installation.

[0062] Preferably, the male end of the spring ejector is connected to the ejector circuit board 111 , the ejector circuit board is fixed to the forearm sleeve by a circuit board screw 113 , the driver is connected to the driver circuit board, and the force sensor, the ejector circuit board and the driver circuit board are connected by a wiring harness 112 .

[0063] Preferably, the driver is integrated inside the planetary roller screw. Integrating the driver inside the planetary roller screw has the advantage of simpler installation and the disadvantage of poor heat dissipation.

[0064] Preferably, the base end fixed shaft passes through a base end joint ball bearing and a through hole and is fastened by an anti-loosening washer 24 and a locking nut 25; the output end fixed shaft passes through the output end joint ball bearing and the main drive shaft and is fastened by an anti-loosening washer and a locking nut.

[0065] Preferably, a limiting buffer zone 73 is provided on the frame of the wrist base.

[0066] Preferably, the rolling bearing is a deep groove ball bearing, an angular contact ball bearing, or a cross roller bearing. If two deep groove ball bearings are replaced with two angular contact ball bearings or cross roller bearings, the effect is the same, but the cost will be higher.

[0067] Preferably, a threaded hole is provided on the main driving shaft, and the end adapter plate 9 is fixed to the main driving shaft by screws.

[0068] Preferably, the force sensor is a two-dimensional force sensor or a multi-dimensional force sensor. The advantage of using a two-dimensional or multi-dimensional force sensor is that the perception is more accurate, but the cost will increase and the weight and volume will also increase.

[0069] Preferably, the frame of the wrist base is evenly spaced with elliptical holes 27. This can reduce the weight of the frame, thereby making the entire device lightweight.

[0070] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A wrist system of a humanoid robot, characterized in that: It includes: A forearm sleeve (1), a wrist base (2), a base end fixed shaft, a force sensor (4), a planetary roller screw (5), a planetary roller screw (6), a support shaft, an output end fixed shaft, and a rotating base (8); The forearm sleeve is connected to the forearm assembly via the male end (11) of the spring ejector pin inside the forearm sleeve, and the driver (12) is installed in the forearm sleeve, and the forearm sleeve is fixedly connected to the wrist base via a fastening screw (14); The wrist base comprises a disc and a frame. The right end face of the disc is provided with two bosses (21). A through hole (22) is provided in the middle of each boss. Each of the two base end fixed shafts (31) passes through a base end joint ball bearing (23) and a through hole and is installed on a boss. Each of the two force sensors (4) is respectively connected to a base end joint ball bearing and a planetary roller screw (5). The two parallel planetary roller screws are separated by the frame. The planetary roller screw (6) inside the planetary roller screw performs telescopic reciprocating motion and drives the corresponding output end joint ball bearing (26) to move. Each of the two output-end fixed shafts (32) passes through an output-end joint ball bearing and is fixed through a main drive shaft (81). The central axis of the main drive shaft passes through two rolling bearings (83), and the other end passes through one of the rolling bearings with a secondary drive shaft (82). The inner ring of the rolling bearing is locked by the end faces of the main drive shaft and the secondary drive shaft, and the outer ring of the rolling bearing is clamped by the rotating base (8). The driver controls the movement of the main drive shaft. The main support shaft and the auxiliary support shaft are at a corner of the frame of the wrist base. One end of the rotating base is connected to the main drive shaft and the auxiliary drive shaft through two rolling bearings, and the other end is passed through by the main support shaft (71). The main support shaft passes through the two rolling bearings, the rotating base, and the auxiliary support shaft (72), and is fastened by a locking nut. The two rolling bearings are nested in the wrist base, and the inner ring of one rolling bearing fits the end face of the main support shaft, and the inner ring of the other rolling bearing fits the end face of the auxiliary support shaft. The two planetary roller screws extend synchronously to drive the rotating base to rotate around the support axis to achieve the pitch movement of the wrist; The extension of one planetary roller screw is equal to the contraction of another planetary roller screw, which drives the main drive shaft to rotate and realizes the rolling movement of the wrist; The extension amount of one planetary roller screw is not equal to the contraction amount of another planetary roller screw, so the main driving shaft is driven to rotate to realize the compound movement of the wrist.

2. The humanoid robot wrist system according to claim 1, characterized in that: The driver (12) is installed in the forearm sleeve and is fixed in the forearm sleeve by a driver screw (13).

3. The wrist system of a humanoid robot according to claim 2, characterized in that: The male end of the spring ejector is connected to an ejector circuit board (111), the ejector circuit board is fixed to the forearm sleeve via a circuit board screw (113), the driver is connected to a driver circuit board, and the force sensor, the ejector circuit board, and the driver circuit board are connected via a wiring harness (112).

4. The wrist system of a humanoid robot according to claim 1, characterized in that: The drive is integrated inside the planetary roller screw.

5. The humanoid robot wrist system according to claim 1, characterized in that: The base end fixed shaft passes through a base end joint ball bearing and a through hole and is fastened by an anti-loosening washer (24) and a locking nut (25); the output end fixed shaft passes through the output end joint ball bearing and the main drive shaft and is fastened by an anti-loosening washer and a locking nut.

6. The humanoid robot wrist system according to claim 1, characterized in that: A limiting buffer zone (73) is provided at the frame of the wrist base.

7. The humanoid robot wrist system according to claim 1, characterized in that: The rolling bearing is a deep groove ball bearing, an angular contact ball bearing, or a cross roller bearing.

8. The wrist system of a humanoid robot according to claim 1, characterized in that: The main drive shaft is provided with a threaded hole, and the end adapter plate (9) is fixed on the main drive shaft by screws.

9. The wrist system of a humanoid robot according to claim 1, characterized in that: The force sensor is a two-dimensional force sensor or a multi-dimensional force sensor.

10. The wrist system of a humanoid robot according to claim 1, characterized in that: The frame of the wrist base is provided with elliptical holes (27) at equal intervals.

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