Elbow structure of humanoid robot

Abstract

According to the elbow structure of the humanoid robot, the control precision is improved, the impact resistance is high, the service life is long, the installation position error is greatly reduced, self-adaptive angle change can be conducted after stress is conducted, in this way, large deformation generated when an elbow is subjected to overturning moment can be avoided, disassembly and assembly are convenient, the machining precision is higher, the installation precision is better, and the practicability is high. And the installation is more convenient. The robot comprises a large arm assembly, an elbow joint assembly and a small arm assembly. The big arm assembly comprises a big arm adapter plate (11), a big arm sleeve (12), an elbow joint main shaft (14) and a driver (16) which are connected with one another; the elbow joint assembly comprises an elbow joint base (21), a main driving shaft (22) and an angular contact ball bearing (24); the small arm assembly comprises a small arm adapter sleeve (31) and a rotary joint (32).

Description

Technical Field

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

[0002] A humanoid robot is a bionic robot, which is similar in shape and size to the human body, can imitate human movements, expressions, interactions and actions, and has a certain degree of cognitive and decision-making intelligence. Humanoid robots are built on a multidisciplinary basis, integrating artificial intelligence, high-end manufacturing, new materials and other advanced technologies to achieve anthropomorphic functions, more universal environmental adaptation, more diverse task operations, and more friendly human-computer interaction. It is expected to become a disruptive product after computers, smart phones, and new energy vehicles. It will profoundly change human production and lifestyle and is an important symbol of a country's high-tech strength and development level. The arm of a humanoid robot is an extremely important part, and the elbow design is very critical. It is not only related to the robot's athletic ability, but also directly affects the efficiency and accuracy of the robot's task execution. The following are some possible development directions and considerations:

[0003] 1. Increased degrees of freedom: In addition to the basic flexion and extension degrees of freedom, some advanced robotic elbow designs may increase the rotational degrees of freedom to achieve more complex movements.

[0004] 2. Simulating human muscles: By using actuation methods similar to human muscles, such as pneumatic or hydraulic systems, the strength and flexibility of the robot's elbow can be improved.

[0005] 3. Lightweight design: Reducing the weight of the elbow can reduce energy consumption and improve the robot's response speed.

[0006] 4. Intelligent control algorithms: Using machine learning and artificial intelligence techniques, more advanced control algorithms can be developed to achieve more natural and precise movements.

[0007] 5. Modular design: The modular design makes the elbow easier to upgrade and maintain, and also facilitates customization according to different application requirements.

[0008] 6. Safety: When designing the elbow, the safety of interaction with humans needs to be taken into consideration to ensure that the robot does not cause harm to humans when performing tasks.

[0009] 7. Cost-effectiveness: While ensuring performance, cost also needs to be considered so that the robot can be more widely used.

[0010] 8. Environmental adaptability: Depending on the operating environment, the elbow design may need to have characteristics such as waterproof, dustproof, and high temperature resistance.

[0011] With the advancement of technology, the design of future humanoid robot elbows will be more diversified and intelligent to adapt to ever-changing application scenarios and needs.

[0012] The shortcomings of the prior art are mainly:

[0013] 1. Limited joint mobility: The bending angle of the elbow is limited, which affects the range of motion of the arm.

[0014] 2. Insufficient torque output: The rotary joint design of traditional humanoid arms results in limited torque output, making it difficult to carry heavier end loads.

[0015] 3. Control accuracy needs to be improved: The elbow structure is not rigid enough and is prone to significant deformation when subjected to force, which affects control accuracy.

[0016] 4. Durability issue: The rotating joint of the elbow is easily damaged when subjected to a large impact force, affecting the durability of the arm. Summary of the invention

[0017] In order to overcome the defects of the prior art, the technical problem to be solved by the present invention is to provide an elbow structure of a humanoid robot, which has improved control accuracy, strong impact resistance, long service life, greatly reduced installation position error, and can make adaptive angle changes after being subjected to force, so as to avoid large deformation of the elbow when it is subjected to overturning moment. It is easy to disassemble and assemble, has higher processing accuracy, better installation accuracy, and is more convenient to install.

[0018] The technical solution of the present invention is: the elbow structure of the humanoid robot comprises: a large arm assembly, an elbow joint assembly, and a small arm assembly; the large arm assembly comprises a large arm adapter plate (11), a large arm sleeve (12), an elbow joint main shaft (14), and a driver (16) connected to each other; the elbow joint assembly comprises an elbow joint base (21), a main drive shaft (22), and an angular contact ball bearing (24); the small arm assembly comprises a small arm adapter sleeve (31) and a rotary joint (32);

[0019] The upper arm adapter plate is connected to the shoulder of the humanoid robot, and electric energy and communication are transmitted through a quick-release joint (51). The linear joint body (41) is inside the upper arm sleeve and a force sensor (6) is arranged near the upper arm side. The end of the linear joint push rod (42) is fixedly connected to the output end joint ball head bearing (43). The elbow joint main shaft includes two parts. The outer end surface of each part is fixed to the upper arm sleeve through an elbow joint fastening screw (23) and the inner end surface is clamped in the inner ring of the angular contact ball bearing. A driver (16) for realizing linear joint motion control is installed in the upper arm sleeve. The ball bearing fastening shaft (44) is close to the upper arm adapter plate and passes through the anti-loosening washer (81), the upper arm sleeve, the center hole of the base end joint ball head bearing (45), the upper arm sleeve, and the anti-loosening nut (82) in sequence, and is fastened to the anti-loosening nut through a thread.

[0020] The main drive shaft passes through the anti-loosening washer (81), the elbow joint base, the center hole of the output end joint ball head bearing, and the elbow joint base in sequence, and is fixed by a locking nut (25). The thrust of the linear joint push rod extending outward acts on the main drive shaft, driving the elbow joint base to rotate around the axis of the elbow joint main shaft. The outer rings of the two angular contact ball bearings are respectively placed at both ends of the elbow joint base to achieve another axial limit, thereby achieving limit in two axial directions and radial limit. A quick-release joint is provided on the elbow joint base.

[0021] The forearm adapter sleeve is connected to the elbow joint base, a quick-release joint is arranged on one end of the rotary joint and the other end is connected to the wrist assembly, the rotary joint output end is connected to the elbow joint base, the elbow joint bending drives the forearm assembly to bend, and at the same time, the rotary joint output end rotates to make the forearm assembly rotate relative to the elbow joint base.

[0022] The beneficial technical effects of the present invention are:

[0023] 1. The elbow adopts linear joint as the main force unit to drive, which has high precision, strong impact resistance and long service life; and the joint ball bearing at the base end is installed on the arm sleeve, which greatly reduces the installation position error. The joint ball bearing at the output end is installed on the main drive shaft, and can make adaptive angle changes after being stressed, so as to avoid large deformation of the elbow when it is subjected to overturning moment.

[0024] 2. Both ends of the elbow are connected by quick-release connectors. The mechanical structure and electrical connectors are fixed as a whole, which is easy to disassemble and assemble.

[0025] 3. Compared with the traditional single axis, the elbow joint spindle adopts two axes and is fixed on the arm sleeve through the elbow joint fastening screws. The processing accuracy is higher, the installation accuracy is also better, and the installation is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 1 is a schematic diagram of the disassembled structure of the elbow structure of the humanoid robot according to the present invention.

[0027] Figure 2 yes Figure 1 State diagram of the elbow structure when bent.

[0028] Figure 3 yes Figure 2 Horizontal cross-sectional view.

[0029] Figure 4 yes Figure 3 UU section view.

[0030] Figure 5 yes Figure 3 VV section view.

[0031] Figure 6 yes Figure 1 Schematic diagram of the structure of the boom assembly.

[0032] Figure 7 yes Figure 6 Right view of .

[0033] Figure 8 yes Figure 6 RR section view.

[0034] Fig. 9 yes Figure 6 TT section view.

[0035] Fig.10 yes Figure 1 Schematic diagram of the structure of the elbow joint components.

[0036] Fig.11 yes Fig.10 Right view of .

[0037] Fig.12 yes Fig.10 YY section view. DETAILED DESCRIPTION

[0038] 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.

[0039] In order to make the description of the present disclosure more detailed and complete, the following is 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.

[0040] like Figure 1-Figure 12 As shown, the elbow structure of the humanoid robot includes: a big arm assembly, an elbow joint assembly, and a small arm assembly; the big arm assembly includes a connected big arm adapter plate 11, a big arm sleeve 12, an elbow joint main shaft 14, and a driver 16; the elbow joint assembly includes an elbow joint base 21, a main drive shaft 22, and an angular contact ball bearing 24; the small arm assembly includes a small arm adapter sleeve 31 and a rotary joint 32;

[0041] The upper arm adapter plate is connected to the shoulder of the humanoid robot (for example, connected by the adapter plate fastening screw 18 in the figure), and the power and communication are transmitted through the quick-release joint 51. The linear joint body 41 is in the upper arm sleeve and a force sensor 6 is arranged near the upper arm side. The end of the linear joint push rod 42 is fixedly connected to the output end joint ball head bearing 43. The elbow joint main shaft includes two parts. The outer end surface of each part is fixed to the upper arm sleeve by the elbow joint fastening screw 23 and the inner end surface is clamped in the inner ring of the angular contact ball bearing. The driver 16 for realizing the linear joint motion control is installed in the upper arm sleeve. The ball bearing fastening shaft 44 is close to the upper arm adapter plate and passes through the anti-loosening washer 81, the upper arm sleeve, the center hole of the base end joint ball head bearing 45, the upper arm sleeve, and the anti-loosening nut 82 in sequence, and is fastened to the anti-loosening nut through threads;

[0042] The main drive shaft passes through the anti-loosening washer 81, the elbow joint base, the center hole of the output end joint ball head bearing, and the elbow joint base in sequence, and is fixed by the locking nut 25. The thrust of the linear joint push rod extending outward acts on the main drive shaft, driving the elbow joint base to rotate around the axis of the elbow joint main shaft. The outer rings of the two angular contact ball bearings are respectively placed at both ends of the elbow joint base to achieve the other axial limit, thereby achieving the limit in both axial directions and the radial limit. A quick-release joint is provided on the elbow joint base;

[0043] The forearm adapter sleeve is connected to the elbow joint base, a quick-release joint is arranged on one end of the rotary joint and the other end is connected to the wrist assembly, the rotary joint output end is connected to the elbow joint base, the elbow joint bending drives the forearm assembly to bend, and at the same time, the rotary joint output end rotates to make the forearm assembly rotate relative to the elbow joint base.

[0044] The beneficial technical effects of the present invention are:

[0045] 1. The elbow adopts linear joint as the main force unit to drive, which has high precision, strong impact resistance and long service life; and the joint ball bearing at the base end is installed on the arm sleeve, which greatly reduces the installation position error. The joint ball bearing at the output end is installed on the main drive shaft, and can make adaptive angle changes after being stressed, so as to avoid large deformation of the elbow when it is subjected to overturning moment.

[0046] 2. Both ends of the elbow are connected by quick-release connectors. The mechanical structure and electrical connectors are fixed as a whole, which is easy to disassemble and assemble.

[0047] 3. Compared with the traditional single axis, the elbow joint spindle adopts two axes and is fixed on the arm sleeve through the elbow joint fastening screws. The processing accuracy is higher, the installation accuracy is also better, and the installation is more convenient.

[0048] Preferably, a limit support shaft 15 is provided in the middle of the upper arm sleeve, and its two ends are positioned and fastened by locking bolts 17. The limit support shaft is placed in the middle of the upper arm sleeve, and its two ends are positioned and fastened by locking bolts, thereby improving the structural strength and rigidity of the upper arm sleeve. A buffer sleeve is installed outside the limit support shaft. When the elbow is bent, the forearm adapter sleeve will contact the buffer sleeve, which can avoid exceeding the mechanical limit and causing damage.

[0049] Preferably, a buffer sleeve 13 is sleeved on the outer surface of the position-limiting support shaft.

[0050] Preferably, the quick-release connector is installed on a quick-release circuit board 52, the quick-release circuit board is fixed to a circuit board base 54 by circuit board screws 53, and the circuit board base is fixed to the upper arm adapter plate, elbow joint base or forearm assembly by base fastening screws 26.

[0051] Preferably, the anti-loosening nut is an external hexagonal nut, and its outer edge is stuck in the arm sleeve. When the ball bearing is tightened with a tool, no additional tool is needed to fix the outer edge of the external hexagonal anti-loosening nut, and disassembly and assembly are simple and convenient.

[0052] Preferably, the locking nut is an outer hexagonal nut, and its outer edge is stuck in the elbow joint base. When the ball bearing is tightened with a tool, no additional tool is needed to fix the outer edge of the outer hexagonal locking nut, and disassembly and assembly are simple and convenient.

[0053] Preferably, the angular contact ball bearing is a double-row angular contact ball bearing arranged back to back. The main support shaft and the auxiliary support shaft are fixed in a way that the double-row angular contact ball bearing arranged back to back can withstand forces in both axial and radial directions. The installation is simple and convenient, and the anti-loosening gasket and anti-loosening nut fixing method can adjust the preload force, eliminate axial backlash, and improve accuracy. The double-row angular contact ball bearing can be replaced with a face-to-face arrangement, that is, the two angular contact ball bearings are arranged in a different direction. Replace the double-row angular contact ball bearing with a cross roller bearing or a four-point contact ball bearing.

[0054] Preferably, the buffer sleeve and the upper arm sleeve are integrally formed.

[0055] Preferably, the anti-loosening nut and the upper arm sleeve are integrally formed, and the locking nut and the elbow joint base are integrally formed.

[0056] Preferably, the upper arm sleeve, the elbow joint base and the lower arm adapter sleeve are all provided with a plurality of weight-reducing holes 7. The weight-reducing holes can not only reduce weight, but also dissipate heat well.

[0057] 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. An elbow structure of a humanoid robot, characterized in that: It includes: Upper arm assembly, elbow joint assembly, lower arm assembly; The upper arm assembly comprises a connected upper arm adapter plate (11), an upper arm sleeve (12), an elbow joint main shaft (14), and a driver (16); the elbow joint assembly comprises an elbow joint base (21), a main drive shaft (22), and an angular contact ball bearing (24); the lower arm assembly comprises an upper arm adapter sleeve (31) and a rotary joint (32); The upper arm adapter plate is connected to the shoulder of the humanoid robot, and electric energy and communication are transmitted through a quick-release joint (51). The linear joint body (41) is inside the upper arm sleeve and a force sensor (6) is arranged near the upper arm side. The end of the linear joint push rod (42) is fixedly connected to the output end joint ball head bearing (43). The elbow joint main shaft includes two parts. The outer end surface of each part is fixed to the upper arm sleeve through an elbow joint fastening screw (23) and the inner end surface is clamped in the inner ring of the angular contact ball bearing. A driver (16) for realizing linear joint motion control is installed in the upper arm sleeve. The ball bearing fastening shaft (44) is close to the upper arm adapter plate and passes through the anti-loosening washer (81), the upper arm sleeve, the center hole of the base end joint ball head bearing (45), the upper arm sleeve, and the anti-loosening nut (82) in sequence, and is fastened to the anti-loosening nut through a thread. The main drive shaft passes through the anti-loosening washer (81), the elbow joint base, the center hole of the output end joint ball head bearing, and the elbow joint base in sequence, and is fixed by a locking nut (25). The thrust of the linear joint push rod extending outward acts on the main drive shaft, driving the elbow joint base to rotate around the axis of the elbow joint main shaft. The outer rings of the two angular contact ball bearings are respectively placed at both ends of the elbow joint base to achieve another axial limit, thereby achieving limit in two axial directions and radial limit. A quick-release joint is provided on the elbow joint base. The forearm adapter sleeve is connected to the elbow joint base, a quick-release joint is arranged on one end of the rotary joint and the other end is connected to the wrist assembly, the rotary joint output end is connected to the elbow joint base, the elbow joint bending drives the forearm assembly to bend, and at the same time, the rotary joint output end rotates to make the forearm assembly rotate relative to the elbow joint base.

2. The elbow structure of a humanoid robot according to claim 1, characterized in that: A limiting support shaft (15) is arranged in the middle of the upper arm sleeve, and its two ends are positioned and fastened by locking bolts (17).

3. The elbow structure of a humanoid robot according to claim 2, characterized in that: The outer surface of the position-limiting support shaft is covered with a buffer sleeve (13).

4. The elbow structure of a humanoid robot according to claim 1, characterized in that: The quick-release joint is mounted on a quick-release circuit board (52), the quick-release circuit board is fixed to a circuit board base (54) via circuit board screws (53), and the circuit board base is fixed to the upper arm adapter plate, the elbow joint base or the lower arm assembly via base fastening screws (26).

5. The elbow structure of a humanoid robot according to claim 1, characterized in that: The anti-loosening nut is an external hexagonal nut, and its outer edge is stuck in the boom sleeve.

6. The elbow structure of a humanoid robot according to claim 1, characterized in that: The locking nut is an outer hexagonal nut, and its outer edge is clamped in the elbow joint base.

7. The elbow structure of a humanoid robot according to claim 1, characterized in that: The angular contact ball bearings are double-row angular contact ball bearings arranged back to back.

8. The elbow structure of a humanoid robot according to claim 1, characterized in that: The buffer sleeve and the upper arm sleeve are integrally formed.

9. The elbow structure of a humanoid robot according to claim 1, characterized in that: The anti-loosening nut and the upper arm sleeve are integrally formed, and the locking nut and the elbow joint base are integrally formed.

10. The elbow structure of a humanoid robot according to claim 1, characterized in that: The upper arm sleeve, the elbow joint base and the lower arm transfer sleeve are all provided with a plurality of weight-reducing holes (7).

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