Conical fan-shaped output joint of robot

Abstract

The invention provides a humanoid robot joint with a conical sector-shaped torque at a 120-degree free output angle. According to the principle, a semicircular strip-shaped outer gear sleeve with the roundness of 240 degrees and openings in the center and the interior is arranged, an outer driving gear with the roundness of 120 degrees is installed in the outer gear sleeve, and the outer gear sleeve and the outer driving gear are connected through sliding steel balls and semicircular tracks on the two sides of the outer driving gear through semicircular tracks in the outer gear sleeve. A steel ball rotation track is arranged below an outer driving gear with the roundness of 120 degrees, a set of rotation driving device composed of an outer servo motor and an outer driving worm is additionally arranged at the upper end of an outer gear outer sleeve, the outer servo motor drives the outer driving worm, then the outer driving gear is driven by rotating force generated by the outer driving worm, and the outer driving gear is driven by rotating force generated by the outer driving worm. Therefore, the outer driving gear can move back and forth in the outer gear sleeve within the roundness range of 120 degrees. A group of inner movement gear modules which move back and forth at the roundness of 120 degrees in a manner that the movement trails of the inner movement gear modules are staggered in a crossed manner on the outer driving outer sleeve are additionally arranged in the outer driving outer sleeve, and the inner movement gear modules are smaller than the outer driving gear modules and are positioned right below outer driving gears in the outer driving gear modules in a regular crossed manner; an inner driving outer sleeve of the inner gear module is connected with the inner sides of two forked structures, forked downwards, of an outer driving gear of the outer driving gear module, and the inner driving outer sleeve and the outer driving gear are fixed into a whole through screws in driving gear connecting limiting seats on the two sides of the inner gear outer sleeve.

Description

[0001] The present invention relates to a humanoid robot joint, in particular to a humanoid robot joint whose output torque is in a conical sector with a 120-degree free output angle. Background Art

[0002] Existing humanoid robot joints typically consist of a linear 360-degree rotation reducer, or a 360-degree rotation reducer installed in a cross-shaped position on the extension or back of the joint, forming a combination of two or three cross-shaped 360-degree rotation joints to simulate the joint freedom of humanoids. However, the length of the human limbs and torso is limited. Adding too many 360-degree rotation reducer joints to simulate the rotational freedom of human limb joints will not only cause the torque generation points of the multiple rotational joints to differ from the force generation points of humanoid joints, but also increase the number of rotational joints, resulting in a visibly inhuman appearance to the limbs or torso of the humanoid robot. Summary of the Invention

[0003] The present invention provides a humanoid robot joint with a conical sector-shaped torque output angle of 120 degrees. The joint's principle involves providing a semicircular, 240-degree central, internally open outer gear housing, within which an external drive gear with a 120-degree circularity is mounted. The outer gear housing and the external drive gear are connected by sliding steel balls along a semicircular track within the outer gear housing and connected to the semicircular tracks on either side of the external drive gear. A steel ball rotary track is positioned beneath the 120-degree circular external drive gear. A rotary drive device consisting of an external servo motor and an external drive worm is attached to the upper end of the external gear housing. The external servo motor drives the external drive worm, which in turn is driven by the rotational force generated by the external drive worm, thereby enabling the external drive gear to move back and forth within the outer gear housing within a 120-degree circularity.

[0004] Thus, a remote gear module is obtained, which uses a semicircular track inside the outer drive housing, and the semicircular tracks on both sides of the outer drive gear are connected to the outer drive housing using sliding steel balls, and a steel ball rotating track installed under the outer drive gear, forming an outer drive gear that can move back and forth 120 degrees outside the circle within the outer drive housing with a circularity of 240 degrees.

[0005] A set of internal motion gear modules are installed inside the outer drive jacket, and the motion trajectory is cross-staggered with the outer drive jacket, and the internal gear module moves back and forth at a circle of 120 degrees. The internal gear module is smaller than the outer drive gear module and is located directly below the outer drive gear in the outer drive gear module in a right cross manner. The inner drive jacket of the internal gear module is connected to the inner side of the two forked structures of the outer drive gear of the outer drive gear module, and the drive gears on both sides of the inner gear jacket are connected to the screws in the limit seat to fix it to the outer drive gear as a whole.

[0006] When the servo motor installed above the outer drive jacket rotates to drive the outer drive worm to drive the outer drive gear to make a circular back and forth movement of 120 degrees in the outer drive jacket, the inner drive jacket connected to the outer drive gear will be driven by the outer drive gear to make a horizontal circular back and forth movement of 120 degrees.

[0007] The outer drive gear of the external gear module has two forked connection structures that fork downwards in the middle part, and a semicircular upward protrusion is provided. The interior of the protrusion is used to install the inner drive worm in the middle of the inner drive outer sleeve. The inner drive worm is driven by the inner drive servo motor to drive the inner drive gear to move back and forth in a circular range of 120 degrees.

[0008] Two semicircular tracks are also set inside the inner drive jacket, and two semicircular tracks and a steel ball rotating track are also set on both sides of the inner drive gear inside it, forming a running track within a circle of 120 degrees that crosses the outer drive jacket.

[0009] In this way, the inner and outer drive gear sets with a circularity of 120 degrees running back and forth in the two cross-intersecting circular outer sleeves with a circularity of 240 degrees form a cross-intersecting free-running component with a circularity of 120 degrees and a torque in a conical sector shape of 120 degrees.

[0010] The inner drive gear outer sleeve is provided with two cylindrical raised center track shafts at balanced positions on both sides of its 180-degree center cross section. The centers of the center track shafts on both sides are in a straight line with the center point of the fisheye bearing in the outer large sleeve. The inner drive gear outer sleeve is connected to the center track shaft connecting shaft seat in the outer large sleeve by bearings at the center track shafts on both sides, so that the running trajectory of the inner drive combination drive module is always in the linear track of the center track shafts of the circle 180 on both sides of the outer side of the inner drive gear outer sleeve and moves back and forth.

[0011] Finally, a cylindrical output rod is installed at the lower part of the inner drive gear, which is connected to the center position of the fisheye bearing set in the middle of the inner shrinkage seat that shrinks inward 120 degrees at the bottom of the outer large outer jacket.

[0012] During operation, the center of motion of the outer drive jacket and the inner drive jacket is always at the center of the fisheye bearing, and the running tracks of the outer drive jacket and the inner drive jacket are always outside the center of the fisheye bearing.

[0013] Four connections are provided on the outside of the outer driving jacket, and the four connections are used to connect to four connection positions on the inner wall of the outer large jacket. The outer large jacket and the outer driving jacket are connected into a whole by the connection structures on the four connection positions.

[0014] When in use, the outer drive jacket drives the outer drive worm through the servo motor. The torque generated by the rotation of the outer drive worm pushes the outer drive gear while driving the inner drive jacket. The inner drive worm is then driven by the inner servo motor. The inner drive worm rotates to drive the inner drive gear to run in a cross direction with the outer drive jacket.

[0015] At this point, the output shaft below the inner drive gear transmits the 120-degree conical output torque generated by the inner and outer drive gears inside the inner and outer drive outer sleeves through the inner drive gear output shaft at the center of the fisheye bearing below the inner drive gear. The torque is output from the center of the fisheye bearing, forming an output joint structure in which the outer drive outer sleeve gear and the inner drive outer sleeve gear cross-intersect and output the torque as a 120-degree conical fan-shaped torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and examples.

[0017] Figure 1 It is a schematic diagram of the various components of the outer drive jacket.

[0018] Figure 2 This is a schematic diagram of the semicircular track inside the drive jacket, the drive gear, and the sliding steel ball shaft.

[0019] Figure 3 It is a schematic diagram of the various components of the inner drive jacket.

[0020] Figure 4 It is a schematic diagram of the inner driving gear and the inner sliding steel ball shaft.

[0021] Figure 5 It is a schematic diagram of the inner and outer sleeve drive combination combined together.

[0022] Figure 6 This is a schematic diagram of the structure of the outer coat.

[0023] Figure 7 It is a schematic diagram of the overall structure of the joint.

[0024] exist Figure 1 Among them, 101 is the outer drive jacket, 102 is the outer drive gear, 103 is the servo motor, 104 is the outer drive worm, 105 is the outer worm bearing, 106 is the outer servo motor seat, 107 is the outer worm bearing seat, and 108 is the outer large jacket connecting seat.

[0025] exist Figure 2 101 is an outer drive jacket, 102 is an outer drive gear, 109 is a sliding steel ball pipe, and 110 is a semicircular track.

[0026] exist Figure 3Among them, 201 is the inner drive outer sleeve, 202 is the inner drive gear, 203 is the inner servo motor, 204 is the inner drive worm, 205 is the bearing, 206 is the inner servo motor seat, 207 is the inner drive worm seat, 208 and 209 are the center track shafts, and 210 is the outer drive gear connection limit seat.

[0027] exist Figure 4 202 is the inner driving gear, and 211 is the inner sliding steel ball pipe.

[0028] exist Figure 5 The figure below shows the combined drive schematic.

[0029] exist Figure 6 301 is the outer large jacket, 302 is the fisheye bearing seat, 303 is the drive jacket connecting seat, and 304 and 305 are the center track shaft connecting seats.

[0030] exist Figure 7 Among them, 101 is the outer drive jacket, 103 is the servo motor, 104 is the outer drive worm, 201 is the inner drive jacket, 203 is the inner servo motor, 303 is the drive jacket connecting seat, 304 is the center track shaft connecting seat, and 306 is the fisheye bearing. Specific embodiments

[0031] exist Figure 7 In the embodiment shown, the outer large outer jacket 301 is connected to the outer drive jacket 101 through four 303 drive jacket connection seats inside the body, and then the 304 and 305 center track shafts are connected to the 208 and 209 center track shafts on both sides of the center of the 201 inner drive jacket using the 205 bearings.

[0032] During use, after the external signal is input, the servo motor 103 drives the external drive worm 104 to rotate and drive the external drive gear 102, and the external drive gear 102 drives the internal drive jacket 201 to perform a 120-degree back and forth movement inside the external drive jacket 101. During operation, the internal servo motor 203 set on the internal drive jacket 201 can also drive the internal drive worm 204 to operate the internal drive gear 202 to perform another circular cross track.

[0033] The center positions of the 101 outer drive jacket and the 201 inner drive jacket are all located at the outer diameter of the center position of the 306 fisheye bearing. Therefore, the running paths of the 120-degree inner and outer drive gears arranged inside the 101 outer drive jacket and the 201 inner drive jacket are all running on the outer diameter routes of the circles intersecting the center position of the 306 fisheye bearing.

[0034] Thus, on a circular cross track formed by the center point of the fisheye bearing 306, the two servo motors 103 and 203 mounted on the inner and outer drive sleeves 101 and 201 are arranged crosswise to simultaneously or in a time-sharing manner to drive the inner and outer drive worms 104 and 204, driving the inner and outer drive gears 102 and 202. The output torque can be output from the output rod below the inner drive gear 202. After passing through the center of the fisheye bearing 306, the output torque is a humanoid robot joint with a conical sector circularity of 120 degrees.

Claims

1. A conical sector output joint of a robot, characterized by: The joint consists of an external drive assembly that crosses and intersects with the internal drive assembly to form a cross-torque output with a 120-degree conical sector. The external drive jacket and the internal drive jacket are also in the shape of a 240-degree circular bar, and the external drive gear and the internal drive gear are 120 degrees apart.

2. The robotic conical sector output joint according to claim 1, characterized in that: the outer drive housing utilizes two semicircular tracks on its interior, and the semicircular tracks on both sides of the outer drive gear housed therein, with sliding steel balls housed within the two semicircular tracks, to form a unit in which the outer drive gear can slide smoothly through 120 degrees within the outer drive housing. The inner drive housing similarly utilizes two semicircular tracks on its interior, and the semicircular tracks on both sides of the inner drive gear housed therein, to form another intersecting 120-degree unit.

3. The conical sector output joint of a robot according to claim 1, characterized in that: The inner driving outer sleeve located below the outer driving gear is connected to the bottom of the outer driving gear into a whole by utilizing the outer driving gear connecting seat.

4. The conical sector output joint of a robot according to claim 1, characterized in that: A fisheye bearing seat is set at the center of the outer large outer sleeve that is retracted into a 120-degree cone shape. The center of the fisheye bearing installed in it is connected to the output shaft at the lower end of the inner drive gear. The center of the fisheye bearing is at the center of the outer drive gear and also at the center of the inner drive gear. The centers of the two running tracks of the cross-movement directions of the inner and outer drive gears are all at the center of the fisheye bearing.

5. The conical sector output joint of a robot according to claim 1, characterized in that: The center track shafts arranged on both sides of the inner driving outer sleeve have their axis positions parallel to both sides of the center of the inner driving gear at 180 degrees.

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