Humanoid robot integrated joint module

Abstract

The humanoid robot integrated joint module comprises a joint module body, the right end of the joint module body is fixedly connected with a fixing seat, and the outer surface of the fixing seat is movably connected with a mounting seat. According to the joint module disclosed by the invention, through the arrangement of the fixed seat and the mounting seat, the periphery of the joint module body can be limited while the joint module body and the humanoid robot joint are conveniently spliced by personnel, so that the joint module body is prevented from displacing in the front-back direction and the up-down direction in the use process; through the arrangement of a rotating disc, an annular frame, a guide plate, a clamping rod, a supporting ball, a through hole and a clamping groove, after the joint module body and the humanoid robot joint are spliced, a person can operate the rotating disc to rotate, so that the clamping rod can be inserted into the clamping groove; and the joint module body, the fixed seat, the mounting seat and the humanoid robot joint can be effectively locked and limited.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated joint modules, and particularly to an integrated joint module for a humanoid robot. Background Art

[0002] The integrated joint module is a highly integrated core power component of a robot. By integrating key components such as a servo driver, a frameless torque motor, a reducer (such as a harmonic or planetary reducer), an encoder, and a sensor into a single module, it realizes precise transmission, dynamic response, and energy optimization of the robot joint. It is the "power heart" of high-end equipment such as humanoid robots. Currently, during the use of the integrated joint module, it is usually installed and fixed to the humanoid robot joint by a flange plate and bolts. Since multiple bolts are often required during the installation process and tools matching the bolts are needed to operate, the installation operation is time-consuming and laborious, thus reducing the efficiency of personnel assembly work and increasing the difficulty of personnel disassembly and maintenance in the later stage. Summary of the Invention

[0003] The purpose of the present invention is to provide an integrated joint module for a humanoid robot, which has the advantages of facilitating personnel to quickly install and fix the integrated joint module, being convenient and fast in overall operation, and effectively improving the efficiency of personnel assembly work.

[0004] To achieve the above purpose, the present invention provides the following technical solution: An integrated joint module for a humanoid robot, including a joint module body. A fixing seat is fixedly connected to the right end of the joint module body. An installation seat is movably connected to the outer surface of the fixing seat. A humanoid robot joint is fixedly connected to the right side of the installation seat. A card slot is opened at the right end of the inner cavity of the installation seat. A through hole is opened at the right end of the fixing seat. A clamping rod is movably connected to the surface of the through hole. A rotating disk is movably connected to the middle end of the inner cavity of the fixing seat. An annular frame is fixedly connected to the right side of the rotating disk. A support ball is movably connected between the surface of the clamping rod and the outer surface of the annular frame. A guide plate is fixedly connected to the outer surface of the annular frame.

[0005] As a preferred solution, a pin slot is opened on the left side of the fixing seat. A receiving hole is opened on the left side of the rotating disk. A pin is movably connected between the surface of the receiving hole and the left side of the inner cavity of the fixing seat. A first spring is fixedly connected between the right side of the pin and the right side of the receiving hole. A fixing rod is fixedly connected to the left side of the pin. The right end of the fixing rod is movably connected to the surface of the pin slot.

[0006] As a preferred solution, the number of both the pin slot and the receiving hole is three.

[0007] As a preferred solution, limit blocks are fixedly connected to the left ends on both sides of the accommodation hole, limit grooves are formed on both sides of the pin, and the surface of the limit block is movably connected to the surface of the limit groove.

[0008] As a preferred solution, a control panel is movably connected to the left end of the fixed rod, and anti-slip patterns are formed on the surface of the control panel.

[0009] As a preferred solution, a guide groove is formed in the middle of the clamping rod, a guide block is fixedly connected to the surface of the through hole, the surface of the guide block is movably connected to the surface of the guide groove, and a second spring is fixedly connected between the surface of the guide block and the surface of the guide groove.

[0010] As a preferred solution, guide balls are movably connected between the surface of the rotating disk and the inner cavity of the fixed seat.

[0011] As a preferred solution, a reinforcing plate is fixedly connected between the inner cavity of the annular frame and the right side of the rotating disk, and the shape of the reinforcing plate is triangular.

[0012] As a preferred solution, the number of the card slots, through holes, clamping rods and guide plates is eight.

[0013] As a preferred solution, positioning grooves are formed around the left side of the mounting seat, positioning blocks are fixedly connected around the left end of the outer surface of the fixed seat, and the surface of the positioning block is movably connected to the surface of the positioning groove.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. Through the settings of the fixed seat and the mounting seat, the present invention facilitates the splicing between the joint module body and the humanoid robot joint by personnel, and can limit the periphery of the joint module body, avoiding the displacement of the joint module body in the front-back and up-down directions during use. And through the settings of the rotating disk, annular frame, guide plate, clamping rod, supporting ball, through hole and card slot, after the joint module body and the humanoid robot joint are spliced, the personnel can rotate the rotating disk to insert the clamping rod into the card slot, so as to effectively lock and limit the joint module body, the fixed seat and the mounting seat, and the humanoid robot joint, avoiding the displacement of the joint module body and the fixed seat in the left-right direction, thereby achieving the purpose of quickly installing and fixing the joint module body and the humanoid robot joint. The overall operation is convenient and fast, effectively saving the time required for the installation operation, and greatly improving the efficiency of the installation operation.

[0016] 2. The present invention is provided with a pin groove, a receiving hole, a pin, a fixing rod and a first spring, so that during the installation operation, personnel can rotate and push the rotating disc through the fixing rod and the pin. And when the rotating disc rotates and the latch rod is inserted into the card slot, at the same time when the personnel stop operating the fixing rod and the pin, under the push of the pre-compressed tension of the first spring, the pin can be inserted into the surface of the pin groove, thereby being able to lock and limit the rotation direction of the fixing rod, the pin, the rotating disc, the annular frame and the guide plate, avoiding the loosening between the latch rod and the card slot due to the force-induced rotation of the guide plate, and ensuring the stability of the installation operation. Through the setting of the limit block and the limit groove, the limit between the pin and the receiving hole can be carried out to prevent the pin from loosening from the inside of the receiving hole. Through the setting of the operating disc and the anti-slip pattern, during the installation or disassembly operation, personnel can sleeved the jacks corresponding to the three fixing rods on the right side of the operating disc on the surface of the fixing rod, so that personnel can rotate or press and push the three fixing rods simultaneously by operating the operating disc, which brings great convenience to the work of personnel.

[0017] 3. The present invention is provided with a guiding groove, a guiding block and a second spring, achieving the purpose of guiding between the latch rod and the through hole, avoiding the separation of the latch rod from the inside of the through hole, and being able to elastically support the latch rod. So that during the disassembly process, under the push of the pre-compressed tension of the second spring, the latch rod can be separated from the card slot. Through the setting of the guiding ball, the purpose of guiding between the rotating disc and the fixing seat is achieved, reducing the friction force received during the rotation of the rotating disc, and avoiding the deviation of the rotating disc during the rotation process. Through the setting of the reinforcing plate, the connection strength between the annular frame and the rotating disc is effectively improved. Through the setting of the positioning groove and the positioning block, the purpose of positioning between the fixing seat and the mounting seat is achieved, ensuring that the latch rod and the card slot will not be misaligned during the connection process between the fixing seat and the mounting seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a perspective view of the present invention;

[0019] Figure 2 is a schematic structural diagram of the integrated joint module of the present invention;

[0020] Figure 3 is a schematic structural diagram of the mounting seat of the present invention;

[0021] Figure 4 is a schematic partial cross-sectional view of the front of the fixing seat of the present invention;

[0022] Figure 5 is the present invention Figure 4 partial enlarged view at A in;

[0023] Figure 6This is a schematic diagram of the right side structure of the rotating disk of the present invention.

[0024] In the figure: 1, joint module body; 2, mounting seat; 3, fixed seat; 4, humanoid robot joint; 5, control panel; 6, positioning block; 7, positioning groove; 8, fixing rod; 9, pin slot; 10, limiting block; 11, rotating disk; 12, limiting groove; 13, first spring; 14, receiving hole; 15, guiding ball; 16, pin; 17, card slot; 18, clamping rod; 19, supporting ball; 20, annular frame; 21, guiding groove; 22, second spring; 23, guiding block; 24, through hole; 25, guiding plate; 26, reinforcing plate. Specific embodiments

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure or characteristic that can be included in at least one implementation manner of the present invention. The "in one embodiment" that appears in different places in this specification does not all refer to the same embodiment, nor is it a separate or selectively exclusive embodiment from other embodiments.

[0027] Embodiment 1:

[0028] Please refer to Figures 1-6 As shown, the present invention provides an integrated joint module for a humanoid robot, including a joint module body 1. The right end of the joint module body 1 is fixedly connected to a fixed seat 3. The outer surface of the fixed seat 3 is movably connected to a mounting seat 2. The right side of the mounting seat 2 is fixedly connected to a humanoid robot joint 4. A card slot 17 is opened at the right end of the inner cavity of the mounting seat 2. A through hole 24 is opened at the right end of the fixed seat 3. A clamping rod 18 is movably connected to the surface of the through hole 24. The middle end of the inner cavity of the fixed seat 3 is movably connected to a rotating disk 11. The right side of the rotating disk 11 is fixedly connected to an annular frame 20. A supporting ball 19 is movably connected between the surface of the clamping rod 18 and the outer surface of the annular frame 20. The outer surface of the annular frame 20 is fixedly connected to a guiding plate 25.

[0029] In this technical solution, through the settings of the fixed seat 3 and the mounting seat 2, it is convenient for personnel to splice the joint module body 1 and the humanoid robot joint 4, and at the same time, it can limit the periphery of the joint module body 1 to prevent the joint module body 1 from displacing in the front-back and up-down directions during use. Through the settings of the rotating disk 11, the annular frame 20, the guide plate 25, the clamping rod 18, the supporting ball 19, the through hole 24 and the clamping groove 17, after the joint module body 1 and the humanoid robot joint 4 are spliced, the personnel can insert the clamping rod 18 into the clamping groove 17 by rotating the rotating disk 11, so as to effectively lock and limit the joint module body 1, the fixed seat 3, the mounting seat 2 and the humanoid robot joint 4, and prevent the joint module body 1 and the fixed seat 3 from displacing in the left-right direction, thus achieving the purpose of quickly installing and fixing the joint module body 1 and the humanoid robot joint 4. The overall operation is convenient and fast, effectively saving the time required for installation work, and greatly improving the efficiency of installation work.

[0030] Embodiment 2:

[0031] On the basis of Embodiment 1, as shown in the present invention Figures 2-4 The left side of the fixed seat 3 is provided with a pin slot 9, the left side of the rotating disk 11 is provided with a receiving hole 14, a pin 16 is movably connected between the surface of the receiving hole 14 and the left side of the inner cavity of the fixed seat 3, a first spring 13 is fixedly connected between the right side of the pin 16 and the right side of the receiving hole 14, the left side of the pin 16 is fixedly connected with a fixed rod 8, the right end of the fixed rod 8 is movably connected to the surface of the pin slot 9, the number of the pin slots 9 and the receiving holes 14 is three, the left ends of both sides of the receiving hole 14 are fixedly connected with limit blocks 10, limit slots 12 are provided on both sides of the pin 16, the surface of the limit block 10 is movably connected to the surface of the limit slot 12, the left end of the fixed rod 8 is movably connected with a control disk 5, and the surface of the control disk 5 is provided with anti-slip lines.

[0032] In this technical solution, through the settings of the pin slot 9, the receiving hole 14, the pin 16, the fixing rod 8 and the first spring 13, it is convenient for personnel to rotate and push the rotating disc 11 through the fixing rod 8 and the pin 16 during the installation operation. And when the rotating disc 11 rotates and the latch 18 is inserted into the card slot 17, at the same time when the personnel stop operating the fixing rod 8 and the pin 16, under the push of the pre-compressed tension of the first spring 13, the pin 16 can be inserted into the surface of the pin slot 9, so as to lock and limit the rotation direction of the fixing rod 8, the pin 16, the rotating disc 11, the annular frame 20 and the guide plate 25, to prevent the guide plate 25 from rotating due to force and causing the latch 18 to become loose from the card slot 17, ensuring the stability of the installation operation. Through the settings of the limit block 10 and the limit slot 12, the limit between the pin 16 and the receiving hole 14 can be carried out to prevent the pin 16 from becoming loose from the inside of the receiving hole 14. Through the settings of the operating disc 5 and the anti-slip pattern, during the installation or disassembly operation, the personnel can sleeved the jacks corresponding to the three fixing rods 8 on the right side of the operating disc 5 on the surface of the fixing rod 8, so that the personnel can rotate or press and push the three fixing rods 8 by operating the operating disc 5 at the same time, which brings great convenience to the work of the personnel.

[0033] Embodiment 3:

[0034] On the basis of Embodiment 1, as shown in the present invention Figures 2-6 shows that a guide groove 21 is opened in the middle end of the latch 18, a guide block 23 is fixedly connected to the surface of the through hole 24, the surface of the guide block 23 is movably connected to the surface of the guide groove 21, a second spring 22 is fixedly connected between the surface of the guide block 23 and the surface of the guide groove 21, a guide ball 15 is movably connected between the surface of the rotating disc 11 and the inner cavity of the fixed seat 3, a reinforcing plate 26 is fixedly connected between the inner cavity of the annular frame 20 and the right side of the rotating disc 11, the shape of the reinforcing plate 26 is triangular, the number of the card slots 17, the through holes 24, the latches 18 and the guide plates 25 is eight, positioning grooves 7 are opened on the periphery of the left side of the mounting seat 2, positioning blocks 6 are fixedly connected to the periphery of the left end of the outer surface of the fixed seat 3, and the surface of the positioning block 6 is movably connected to the surface of the positioning groove 7.

[0035] In this technical solution, through the settings of the guiding groove 21, the guiding block 23, and the second spring 22, the purpose of guiding between the clamping rod 18 and the through hole 24 is achieved. While preventing the clamping rod 18 from disengaging from the inside of the through hole 24, the clamping rod 18 can be elastically supported, so that during the disassembly process, under the pre-compressed tension of the second spring 22, the clamping rod 18 can be separated from the clamping groove 17. Through the setting of the guiding ball 15, the purpose of guiding between the rotating disc 11 and the fixed seat 3 is achieved, reducing the friction force during the rotation of the rotating disc 11 and preventing the rotating disc 11 from shifting during rotation. Through the setting of the reinforcing plate 26, the connection strength between the annular frame 20 and the rotating disc 11 is effectively improved. Through the settings of the positioning groove 7 and the positioning block 6, the purpose of positioning between the fixed seat 3 and the mounting seat 2 is achieved, ensuring that the clamping rod 18 and the clamping groove 17 do not become misaligned during the connection between the fixed seat 3 and the mounting seat 2.

[0036] The working principle of the present invention is as follows: When it is necessary to install the joint module body 1 between the humanoid robot joint 4, by inserting the fixed seat 3 at the right end of the joint module body 1 into the mounting seat 2 at the lower end of the humanoid robot joint 4, the mounting seat 2 can effectively limit the periphery of the fixed seat 3, preventing the joint module body 1 and the fixed seat 3 from shifting in the front-back and up-down directions. Subsequently, by manipulating the rotation of the rotating disc 11, the annular frame 20 can be driven to rotate. While the annular frame 20 rotates, the guide plate 25 can be driven to rotate. Under the action of the rotation of the guide plate 25, it can contact the surface of the supporting ball 19 at the bottom of the clamping rod 18, and the guide plate 25 can push the supporting ball 19 and the clamping rod 18 to move through the inclined surface. During the movement of the clamping rod 18, it can gradually protrude to one side of the through hole 24 until the clamping rod 18 can be inserted into the clamping groove 17 on the mounting seat 2, thereby effectively locking and limiting the joint module body 1, the fixed seat 3, the mounting seat 2, and the humanoid robot joint 4, preventing the joint module body 1 and the fixed seat 3 from shifting in the left-right direction, and thus achieving the purpose of quickly installing and fixing the joint module body 1 between the humanoid robot joint 4. The overall operation is convenient and fast, effectively saving the time required for the installation operation, and greatly improving the efficiency of the installation operation.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A humanoid robot integrated joint module, comprising a joint module body (1), characterized in that: The right end of the joint module body (1) is fixedly connected to a fixing seat (3), the outer surface of the fixing seat (3) is movably connected to a mounting seat (2), the right side of the mounting seat (2) is fixedly connected to a humanoid robot joint (4), the right end of the inner cavity of the mounting seat (2) is provided with a card slot (17), the right end of the fixing seat (3) is provided with a through hole (24), the surface of the through hole (24) is movably connected to a card rod (18), the middle end of the inner cavity of the fixing seat (3) is movably connected to a rotating disk (11), the right side of the rotating disk (11) is fixedly connected to an annular frame (20), a support ball (19) is movably connected between the surface of the card rod (18) and the outer surface of the annular frame (20), and the outer surface of the annular frame (20) is fixedly connected to a guide plate (25).

2. The humanoid robot integrated joint module according to claim 1, characterized in that: A pin groove (9) is provided on the left side of the fixing seat (3), a receiving hole (14) is provided on the left side of the rotating disk (11), a pin column (16) is movably connected between the surface of the receiving hole (14) and the left side of the inner cavity of the fixing seat (3), a first spring (13) is fixedly connected between the right side of the pin column (16) and the right side of the receiving hole (14), a fixing rod (8) is fixedly connected to the left side of the pin column (16), and the right end of the fixing rod (8) is movably connected to the surface of the pin groove (9).

3. The humanoid robot integrated joint module according to claim 2, characterized in that: The number of the pin slots (9) and the number of the receiving holes (14) are both three.

4. The humanoid robot integrated joint module according to claim 2, characterized in that: The left ends of both sides of the accommodating hole (14) are fixedly connected to the limiting blocks (10), and both sides of the pin (16) are provided with limiting grooves (12), and the surface of the limiting blocks (10) is movably connected to the surface of the limiting grooves (12).

5. The humanoid robot integrated joint module according to claim 2, characterized in that: The left end of the fixing rod (8) is movably connected to a control plate (5), and the surface of the control plate (5) is provided with anti-slip grooves.

6. The humanoid robot integrated joint module according to claim 1, characterized in that: A guide groove (21) is provided at the middle end of the clamping rod (18); a guide block (23) is fixedly connected to the surface of the through hole (24); the surface of the guide block (23) is movably connected to the surface of the guide groove (21); and a second spring (22) is fixedly connected between the surface of the guide block (23) and the surface of the guide groove (21).

7. The humanoid robot integrated joint module according to claim 1, characterized in that: A guide ball (15) is movably connected between the surface of the rotating disk (11) and the inner cavity of the fixing seat (3).

8. The humanoid robot integrated joint module according to claim 1, characterized in that: A reinforcing plate (26) is fixedly connected between the inner cavity of the annular frame (20) and the right side of the rotating disk (11), and the reinforcing plate (26) is in the shape of a triangle.

9. The humanoid robot integrated joint module according to claim 1, characterized in that: The number of the clamping slot (17), the through hole (24), the clamping rod (18) and the guide plate (25) is eight.

10. The humanoid robot integrated joint module according to claim 1, characterized in that: Positioning grooves (7) are provided around the left side of the mounting seat (2), and positioning blocks (6) are fixedly connected around the left end of the outer surface of the fixing seat (3), and the surface of the positioning block (6) is movably connected to the surface of the positioning groove (7).

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