Servo motor rotation actuator for humanoid robot

Abstract

The invention relates to the technical field of rotary actuators, in particular to a servo motor rotary actuator for a humanoid robot, which comprises a rotary actuator body, a mounting sleeve is fixedly connected to the bottom of the outer wall of the rotary actuator body, a base is inserted into the bottom of the outer wall of the mounting sleeve, and a clamping mechanism is movably mounted at the bottom of the inner cavity of the base. An ejection mechanism is movably installed in the position, below the clamping mechanism, of an inner cavity of the base. The rotary actuator body is fixed in the inner cavity of the mounting sleeve, the mounting sleeve is inserted into the inner cavity of the base, the insertion rod of the clamping mechanism is matched with the sliding block for clamping, and the first spring abuts against the sliding block and does not move, so that the mounting sleeve can be stably mounted in the base, and the rotary actuator body can be conveniently and stably mounted; the effect of improving installation convenience of the rotary actuator body is achieved, and the problem that installation is not convenient enough due to the fact that the rotary actuator body is fixedly installed through bolts is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of rotary actuators, and more particularly to a servo motor rotary actuator for humanoid robots. Background Art

[0002] Actuators, also widely known as joint modules, are an essential part of robotics technology. They are mainly responsible for driving and controlling the movement of various joints and components of robots. Among various types of actuators, rotary actuators play a crucial role. They are specifically designed to enable precise rotational movement of robot joints. The working principle of this type of actuator is to convert the high-speed low-torque output of the motor into low-speed high-torque movement, thereby ensuring that the robot joints can rotate with appropriate force and speed. Rotary actuators have a very wide range of applications. They are mainly used in key parts of robots such as the shoulders, hips, wrists, and heads. The flexible movement of these parts is crucial for the overall performance and task execution ability of the robot.

[0003] In the field of robotics technology, the precise control of actuators is crucial for achieving complex action sequences. As one of them, rotary actuators can achieve fine operation of robot joints through a precise gear system and motor control. The design and manufacture of this type of actuator require extremely high precision and reliability because any tiny error may lead to inaccurate robot actions, thereby affecting the working efficiency and safety of the robot.

[0004] In current practice, rotary actuators are usually installed by fixing the four corners with bolts. When maintenance of the rotary actuator is required, workers must remove the bolts at the four corners one by one before they can remove the rotary actuator for necessary maintenance work. This maintenance process is quite cumbersome and inefficient. In view of this, there is an urgent need to develop a servo motor rotary actuator for humanoid robots, which is particularly suitable for the application of humanoid robots and aims to simplify the maintenance process and improve maintenance efficiency. Summary of the Invention

[0005] To make up for the deficiencies of the prior art, since the rotary actuator fixed by bolts at the four corners is prone to the problem of inconvenient disassembly and maintenance, the present invention proposes a servo motor rotary actuator for humanoid robots.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows: A servo motor rotary actuator for a humanoid robot, including a rotary actuator body. The bottom of the outer wall of the rotary actuator body is fixedly connected with a mounting sleeve. The bottom of the outer wall of the mounting sleeve is inserted with a base. A clamping mechanism is movably installed at the bottom of the inner cavity of the base. A jacking mechanism is movably installed at the bottom of the inner cavity of the base. The jacking mechanism contacts the bottom of one end of the clamping mechanism; The clamping mechanism includes a plug rod, the plug rod is fixedly connected to the bottom of the mounting sleeve, a slider is slidably installed at the end of the plug rod, the slider cooperates with the plug rod for clamping, one end of the slider is fixedly installed with a first spring, the jacking mechanism includes a jacking rod, the jacking rod is slidably installed at the bottom of the plug rod, and the bottom of the jacking rod is fixedly connected with a second spring.

[0007] Preferably, a slot is opened at the bottom of the inner cavity of the mounting sleeve, the plug rod is inserted into the inside of the slot, sliding grooves are opened on both sides of the inner cavity of the slot, and the slider is slidably connected to the inside of the sliding groove.

[0008] Preferably, a positioning groove is opened on one side of the sliding groove, a positioning rod is slidably connected to the inner wall of the positioning groove, the positioning is fixedly connected to one side of the slider, one end of the first spring is fixedly connected to one side of the inner wall of the positioning groove, and the other end of the first spring is fixedly connected to one end of the positioning rod.

[0009] Preferably, a through groove is opened at the bottom of the slider sliding groove, the through groove penetrates through the sliding groove to the bottom of the base, a push rod is slidably connected to the inside of the through groove, and the push rod is fixedly connected to the bottom of the slider.

[0010] Preferably, a jacking groove is opened at the bottom of the sliding groove, the jacking rod is slidably connected to the inside of the jacking groove, the jacking rod contacts the bottom of the plug block, the bottom of the jacking rod is fixedly connected with a second spring, and one end of the second spring is fixedly connected to the bottom of the jacking groove.

[0011] Preferably, limiting grooves are opened on both sides of the jacking groove, limiting blocks are slidably connected to the limiting grooves, and the limiting blocks are fixedly connected to the outer wall of the jacking rod.

[0012] Preferably, a guiding groove is opened on the side wall of the inner cavity of the base, a guiding rod is slidably connected to the guiding groove, and the guiding rod is fixedly connected to the outer wall of the mounting sleeve.

[0013] The beneficial effects of the present invention are as follows: 1. In the present invention, the rotating actuator body is fixed inside the inner cavity of the mounting sleeve, the mounting sleeve is inserted into the inner cavity of the base, the insertion rod of the positioning mechanism cooperates with the slider for positioning, and the first spring holds the slider stationary, enabling the mounting sleeve to be stably installed inside the base. As a result, the rotating actuator body can be conveniently and stably installed, achieving the effect of improving the installation convenience of the rotating actuator body and solving the problem of inconvenient installation caused by fixing the rotating actuator body with bolts.

[0014] 2. When the positioning of the insertion rod by the slider is cancelled in the present invention, the resilience of the second spring of the ejecting mechanism pushes the ejecting rod upward in the ejecting groove, and the ejecting rod pushes the mounting sleeve to move out of the inner cavity of the base, thereby improving the convenience of the disassembly operation of the rotating actuator body and solving the problem of inconvenient disassembly and maintenance caused by fixing the rotating actuator body with bolts. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a schematic structural diagram of the present invention in a top view; Figure 2 It is a schematic structural diagram of the present invention in a bottom view; Figure 3 It is a schematic structural diagram of a bottom cross-section of the present invention; Figure 4 It is a schematic enlarged structural diagram of part A of the present invention; Figure 5 It is a schematic enlarged structural diagram of part B of the present invention.

[0017] In the figure: 1, rotating actuator body; 2, mounting sleeve; 3, base; 31, guiding groove; 32, guiding rod; 4, positioning mechanism; 41, insertion slot; 42, insertion rod; 43, sliding groove; 44, slider; 45, first spring; 46, positioning groove; 47, positioning rod; 48, through groove; 49, push rod; 5, ejecting mechanism; 51, ejecting groove; 52, ejecting rod; 53, second spring; 54, limiting groove; 55, limiting block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Referring to Figures 1-5 , the servo motor rotary actuator for a humanoid robot includes a rotary actuator body 1. A mounting sleeve 2 is fixedly connected to the bottom of the outer wall of the rotary actuator body 1. A base 3 is inserted into the bottom of the outer wall of the mounting sleeve 2. A clamping mechanism 4 is movably installed at the bottom of the inner cavity of the base 3. A jacking mechanism 5 is movably installed at the bottom of the inner cavity of the base 3. The jacking mechanism 5 contacts the bottom of one end of the clamping mechanism 4. By fixedly installing the rotary actuator body 1 in the inner cavity of the mounting sleeve 2, when installing, the mounting sleeve 2 is inserted into the inner cavity of the base 3. The clamping mechanism 4 enables the mounting sleeve 2 to be conveniently and stably inserted into the inner cavity of the base 3. When disassembling, pushing the push rod 49 cancels the limit of the clamping mechanism 4, and the jacking mechanism 5 jacks the mounting sleeve 2 out of the inner cavity of the base 3, thereby improving the convenience of disassembling the rotary actuator body 1; the clamping mechanism 4 includes a plug rod 42. The plug rod 42 is fixedly connected to the bottom of the mounting sleeve 2. A slider 44 is slidably installed at the end of the plug rod 42. The slider 44 cooperates with the plug rod 42 for clamping. A first spring 45 is fixedly installed at one end of the slider 44. The jacking mechanism 5 includes a jacking rod 52. The jacking rod 52 is slidably installed at the bottom of the plug rod 42. A second spring 53 is fixedly connected to the bottom of the jacking rod 52. The mounting sleeve 2 drives the plug rod 42 to insert into the inside of the slot 41. The slider 44 cooperates with the plug rod 42 for clamping. The first spring 45 stably abuts against the slider 44 to abut against the plug rod 42 so that the plug rod 42 cannot move, thereby improving the convenience of installing the rotary actuator body 1. When disassembling, compressing the first spring 45 drives the slider 44 to slide and cancels the limit on the plug rod 42. The plug rod 42 can be removed from the slot 41. At the same time, the second spring 53 pushes the jacking rod 52 to push up the plug rod 42, thereby improving the convenience of removing the plug rod 42.

[0020] A slot 41 is provided at the bottom of the inner cavity of the installation sleeve 2, and an insertion rod 42 is inserted into the inside of the slot 41. Slide grooves 43 are provided on both sides of the inner cavity of the slot 41. A slider 44 is slidably connected to the inside of the slide groove 43. A positioning slot 46 is provided on one side of the slide groove 43. A positioning rod 47 is slidably connected to the inner wall of the positioning slot 46 and is fixedly connected to one side of the slider 44. One end of a first spring 45 is fixedly connected to one side of the inner wall of the positioning slot 46, and the other end of the first spring 45 is fixedly connected to one end of the positioning rod 47. A through slot 48 is provided at the bottom of the slide slot 43 of block 44, and the through slot 48 passes through the slide slot 43 to the bottom of the base 3. A push rod 49 is slidably connected inside the through slot 48, and the push rod 49 is fixedly connected to the bottom of the slider 44. When disassembling, the push rod 49 in the through slot 48 is pushed outward to slide, and the push rod 49 drives the slider 44 to slide in the slide slot 43. The positioning rod 47 in the positioning slot 46 will slide with the slider 44 and compress the first spring 45, so that the slider 44 cancels the limit on the insertion rod 42.

[0021] The bottom of the slide slot 43 is provided with an ejection slot 51, and the ejection rod 52 is slidably connected to the inside of the ejection slot 51, and the ejection rod 52 contacts the bottom of the insertion block. The bottom of the ejection rod 52 is fixedly connected with a second spring 53, and one end of the second spring 53 is fixedly connected to the bottom of the ejection slot 51. Limiting slots 54 are provided on both sides of the ejection slot 51, and limiting blocks 55 are slidably connected in the limiting slots 54. The limiting blocks 55 are fixedly connected to the outer wall of the ejection rod 52. After the slider 44 cancels the limit on the insertion rod 42, the rebound force of the second spring 53 pushes the ejection rod 52 to move upward in the ejection slot 51, and the ejection rod 52 pushes the insertion rod 42 to move above the slot 41. The limiting blocks 55 and the limiting slots 54 cooperate with the movement of the ejection rod 52, so that the ejection rod 52 will not separate from the ejection slot 51, so that the insertion rod 42 can be easily moved out of the slot 41.

[0022] A guide groove 31 is provided on the side wall of the inner cavity of the base 3, and a guide rod 32 is slidably connected in the guide groove 31. The guide rod 32 is fixedly connected to the outer wall of the mounting sleeve 2. The mounting sleeve 2 is inserted into the inner cavity of the base 3 to drive the guide rod 32 to be inserted into the guide groove 31. The guide grooves 31 at the four corners limit the reverse force of the rotary actuator body 1 during operation, thereby improving the installation stability of the rotary actuator body 1.

[0023] Working principle: During installation, the rotary actuator body 1 is first fixed to the inner cavity of the mounting sleeve 2, and then the mounting sleeve 2 is inserted into the inner cavity of the base 3. The four guide rods 32 on the outer wall of the mounting sleeve 2 cooperate with the four guide grooves 31 on the side wall of the inner cavity of the base 3 to limit the displacement of the rotary actuator body 1 caused by the reaction force during operation, thereby improving the stability of the installation of the rotary actuator body 1. The insertion rod 42 of the locking mechanism 4 is inserted into the interior of the slot 41, and the insertion rod 42 cooperates with the slider 44 to lock the position, so that the insertion rod 42 can be stably inserted into the content of the slot 41, thereby achieving the purpose of improving the installation convenience of the rotary actuator body 1. When disassembling, push the push rod 49 in the through slot 48 When the slider 44 is released from the locking cam 46, the locking cam 46 is released from the locking cam 46, and the locking cam 46 is released from the locking cam 46.

[0024] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A servo motor rotary actuator for a humanoid robot, characterized in that: It includes a rotary actuator body (1). A mounting sleeve (2) is fixedly connected to the bottom of the outer wall of the rotary actuator body (1). A base (3) is inserted into the bottom of the outer wall of the mounting sleeve (2). A clamping mechanism (4) is movably installed at the bottom of the inner cavity of the base (3). A jacking mechanism (5) is movably installed at the bottom of the inner cavity of the base (3). The jacking mechanism (5) contacts the bottom of one end of the clamping mechanism (4). The clamping mechanism (4) includes a plug rod (42). The plug rod (42) is fixedly connected to the bottom of the mounting sleeve (2). A slider (44) is slidably installed at the end of the plug rod (42). The slider (44) cooperates with the plug rod (42) for clamping. One end of the slider (44) is fixedly installed with a first spring (45). The jacking mechanism (5) includes a jacking rod (52). The jacking rod (52) is slidably installed at the bottom of the plug rod (42). A second spring (53) is fixedly connected to the bottom of the jacking rod (52).

2. The servo motor rotation actuator for a humanoid robot according to claim 1, characterized in that: A slot (41) is opened at the bottom of the inner cavity of the mounting sleeve (2). The plug rod (42) is inserted into the inside of the slot (41). Sliding grooves (43) are opened on both sides of the inner cavity of the slot (41). The slider (44) is slidably connected to the inside of the sliding grooves (43).

3. The servo motor rotation actuator for a humanoid robot according to claim 2, characterized in that: A positioning groove (46) is opened on one side of the sliding groove (43). A positioning rod (47) is slidably connected to the inner wall of the positioning groove (46). The positioning rod is fixedly connected to one side of the slider (44). One end of the first spring (45) is fixedly connected to one side of the inner wall of the positioning groove (46). The other end of the first spring (45) is fixedly connected to one end of the positioning rod (47).

4. A servo motor rotation actuator for a humanoid robot according to claim 3, characterized in that: A through groove (48) is opened at the bottom of the slider (44) in the sliding groove (43). The through groove (48) penetrates through the sliding groove (43) to the bottom of the base (3). A push rod (49) is slidably connected to the inside of the through groove (48). The push rod (49) is fixedly connected to the bottom of the slider (44).

5. The servo motor rotation actuator for a humanoid robot according to claim 4, characterized in that: A jacking groove (51) is opened at the bottom of the sliding groove (43). The jacking rod (52) is slidably connected to the inside of the jacking groove (51). The jacking rod (52) contacts the bottom of the plug block. A second spring (53) is fixedly connected to the bottom of the jacking rod (52). One end of the second spring (53) is fixedly connected to the bottom of the jacking groove (51).

6. The servo motor rotation actuator for a humanoid robot according to claim 5, characterized in that: Limiting grooves (54) are opened on both sides of the jacking groove (51). Limiting blocks (55) are slidably connected to the inside of the limiting grooves (54). The limiting blocks (55) are fixedly connected to the outer wall of the jacking rod (52).

7. A servo motor rotary actuator for a humanoid robot according to claim 1, characterized in that: A guiding groove (31) is opened on the side wall of the inner cavity of the base (3). A guiding rod (32) is slidably connected to the inside of the guiding groove (31). The guiding rod (32) is fixedly connected to the outer wall of the mounting sleeve (2).

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