A 360° rotation device for a humanoid robot joint

Abstract

The application discloses a 360-degree rotating device of a humanoid robot joint and particularly relates to the technical field of humanoid robots, which comprises a base, a rotating assembly arranged on the base, a sliding cylinder arranged on one side of the top of the base, a servo motor fixedly installed at the end of the sliding cylinder away from the base, a first connecting arm in transmission connection with the output end of the servo motor, an angle-adjustable second connecting arm hingedly connected to the bottom of the first connecting arm away from the servo motor, and an angle-adjustable third connecting arm hingedly connected to the bottom end of the second connecting arm away from the first connecting arm. Through the transmission cooperation of the servo motor and the center column and the guiding and limiting of the sliding rod, the 360-degree continuous rotation of the rotating assembly around the center column axis is realized, the end operation space of the humanoid robot is effectively expanded, the humanoid robot can complete complex actions such as rear grabbing and limb winding, and the flexibility of limb movement is improved.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and more specifically, to a 360° rotating joint device for a humanoid robot. Background Technology

[0002] Humanoid robots, as humanoid intelligent equipment, can perform collaborative work, tool operation, and natural interaction in human environments. The mobility and positioning stability of their limb joints directly determine their operational capabilities. Key joints such as the shoulder, hip, wrist, and waist typically require rotation devices to enable limb rotation and angle adjustment. As a core module of humanoid robots, the 360° joint rotation device must meet the requirements of unrestricted continuous rotation, adjustable angle, and reliable positioning. However, existing humanoid robot joint rotation devices still have many technical defects. Most rotation devices have obvious limitations in their rotation range, making it impossible to achieve 360° continuous rotation without dead angles. This greatly reduces the robot's end-effector operation space, making it difficult to complete complex actions such as grasping and limb circling. The angle adjustment structure of the connecting arm lacks reliable self-locking capability. After adjustment, it is easily affected by external forces, causing angle deviation, resulting in loss of control of the working posture and affecting the accuracy of operation. The slewing component is fixed as a whole, which cannot achieve horizontal fine adjustment of the working position and has poor adaptability to different working distances. Some devices lack a precise rotation angle sensing structure, making it impossible to provide real-time feedback and precise control of the rotation angle, which further reduces operational stability. To address this, a 360° rotation device for humanoid robot joints is provided. Summary of the Invention

[0003] In order to overcome the above-mentioned defects of the prior art, the present invention provides a 360° rotating joint device for humanoid robots, which aims to solve the problems mentioned in the background art.

[0004] The present invention provides the following technical solution: a 360° rotating joint device for a humanoid robot, comprising a base on which a rotating component is disposed; The rotary assembly includes a slide cylinder disposed on one side of the top of the base. A servo motor is fixedly installed at the end of the slide cylinder away from the base. A first connecting arm is driven to the output end of the servo motor. An angle-adjustable second connecting arm is hinged to the bottom of the first connecting arm away from the servo motor. An angle-adjustable third connecting arm is hinged to the bottom end of the second connecting arm away from the first connecting arm. A self-locking component is provided at the connection between the first connecting arm and the second connecting arm, and at the connection between the second connecting arm and the third connecting arm. The self-locking component is used to lock the position of the first connecting arm and the second connecting arm, and the second connecting arm and the third connecting arm after the angle is adjusted.

[0005] Furthermore, a central column is fixedly installed in the middle of the first connecting arm, and several sliding rods are evenly arranged on the outer circumference of the central column. The output end of the servo motor is fixedly connected to the central column through a coupling. The servo motor drives the central column to rotate, thereby causing the first connecting arm, the second connecting arm, and the third connecting arm to rotate synchronously around the axis of the central column. The ends of the multiple sliding rods away from the first connecting arm extend into the housing of the servo motor and slide in cooperation with the servo motor. A sensor is fixedly installed on the outer wall of the servo motor. The sensor is used to sense the real-time rotation angle of the rotary assembly.

[0006] Furthermore, the self-locking assembly includes connecting covers fixedly installed at the connection points of the first and second connecting arms and the second and third connecting arms, respectively. A connecting shaft is rotatably connected to the inner side of each connecting cover. One end of the connecting shaft between the first and second connecting arms is fixedly connected to the end of the second connecting arm, and one end of the connecting shaft between the second and third connecting arms is fixedly connected to the end of the third connecting arm. A turntable is fixedly sleeved on one end of the connecting shaft inside the connecting cover. A worm gear is fixedly installed on the outer peripheral wall of the turntable. The worm gear is coaxial with the turntable, and a worm is meshed on one side of the worm gear. The center of the worm gear is fixed... A rotating shaft is inserted, which is horizontally placed inside the connecting cover, and both ends of the rotating shaft are rotatably connected to the inner sidewall of the connecting cover. When the worm rotates with the rotating shaft, it drives the worm wheel, the turntable and the connecting shaft to rotate synchronously, thereby realizing the angle adjustment of the connecting arm. The meshing structure of the worm and the worm wheel forms a self-locking mechanism to prevent the connecting arm from shifting angle due to external force. A drive motor is embedded and fixed on the outer sidewall of the connecting cover. The output end of the drive motor is fixedly connected to one end of the rotating shaft to drive the rotating shaft to rotate. The connecting cover between the first connecting arm and the second connecting arm is fixed on the first connecting arm, and the connecting cover between the second connecting arm and the third connecting arm is fixed on the second connecting arm.

[0007] Furthermore, a simulated hand is fixedly mounted on the end of the third connecting arm away from the second connecting arm. A camera is fixedly mounted on the outer wall of the simulated hand for scanning and positioning the working environment. The simulated hand includes a palm and several fingers, and a miniature electric push rod is respectively provided between each finger and the palm. The miniature electric push rod drives the fingers to deflect on the palm for grasping objects. A mounting hole is provided on the base, which is coaxial with the slide cylinder. A hydraulic rod is embedded and fixed inside the mounting hole. The output end of the hydraulic rod is fixedly connected to the bottom of the slide cylinder for driving the slide cylinder to move laterally along the axial direction.

[0008] The technical effects and advantages of this invention are as follows: 1. This invention achieves 360° continuous rotation of the rotary component around the axis of the central column without dead angles by the transmission cooperation between the servo motor and the central column, combined with the guide and limit of the slide rod. This effectively expands the end-effector operation space of the humanoid robot, enabling it to perform complex actions such as grasping and limb circling, and improving the flexibility of limb movement.

[0009] 2. The present invention sets a worm gear self-locking component at the connection of each connecting arm. By utilizing the transmission backstop characteristics of the worm gear, reliable mechanical self-locking is achieved after the angle of the connecting arm is adjusted, which effectively prevents the connecting arm from shifting angle due to external force, ensures the stability of the robot's working posture, and solves the problem of unreliable angle positioning in existing devices.

[0010] 3. This invention, by setting a hydraulic rod on the base and cooperating with the slide cylinder, achieves horizontal lateral movement of the rotating component along the axial direction. The working position of the rotating component can be finely adjusted according to operational needs, improving the device's adaptability to different working distances and further expanding the working range. It can sense the rotation angle of the rotating component in real time and feed the signal back to the robot control system, achieving precise detection and control of the rotation angle, solving the problem of inaccurate angle control in existing devices, and improving operational precision.

[0011] 4. The present invention adopts a multi-segment hinged connecting arm structure, which, together with the self-locking component, allows for flexible adjustment of the relative angle of each connecting arm, adapting to various working postures. At the same time, the camera at the end of the third connecting arm can scan and locate the working environment, providing accurate positional basis for the operation of the simulated hand, further improving the working accuracy of the device. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in some embodiments will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. involved in the embodiments of this disclosure.

[0013] Figure 1 This is a front view of the overall structure of the present invention.

[0014] Figure 2 This is a side view of the overall structure of the present invention.

[0015] Figure 3 This is a schematic diagram of the first connecting arm, second connecting arm, third connecting arm, central column, slide bar, simulated hand, and camera of the present invention.

[0016] Figure 4This is a schematic diagram of the base, mounting holes, hydraulic rod, slide cylinder, servo motor, and sensor of the present invention.

[0017] Figure 5 This is a schematic diagram of the connecting cover, worm gear, turntable, connecting shaft, rotating shaft, worm, and drive motor of the present invention.

[0018] Figure 6 This is a schematic diagram showing the first connecting arm, the second connecting arm worm gear, the turntable, the connecting shaft, the rotating shaft, and the worm gear of the present invention installed together.

[0019] Figure 7 This is a schematic diagram of the simulated hand of the present invention.

[0020] The attached figures are labeled as follows: 1. Base; 2. Slide cylinder; 3. Servo motor; 4. First connecting arm; 5. Second connecting arm; 6. Third connecting arm; 7. Central column; 8. Slide rod; 9. Sensor; 10. Mounting hole; 11. Hydraulic rod; 12. Simulated hand; 13. Camera; 14. Connecting cover; 15. Worm gear; 16. Turntable; 17. Connecting shaft; 18. Rotating shaft; 19. Worm gear; 20. Drive motor; 21. Palm part; 22. Finger part; 23. Miniature electric push rod. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0022] Example 1 This embodiment discloses a 360° rotating joint device for humanoid robots, which is applied to key joints such as the shoulder, hip, and wrist of humanoid robots. It enables 360° rotation of the joints without dead angles, and at the same time, it can flexibly adjust the angle of the connecting arm and achieve self-locking. It effectively expands the end-effector operation space of humanoid robots, improves their movement flexibility and operational stability, and solves the technical problems of limited joint movement range and easy deviation after angle adjustment in existing humanoid robots.

[0023] The overall structure of the 360° rotating joint device of the humanoid robot in this embodiment is shown in the attached figure. Figure 1 Appendix Figure 2 As shown, the device includes a base 1 and a rotating assembly mounted on the base 1. The base 1 serves as the mounting foundation for the device and can be fixed to the corresponding position of the torso or limbs of the humanoid robot by bolts. The rotating assembly is the core moving component of the device, enabling 360° rotation and angle adjustment of the multi-segment connecting arms.

[0024] As attached Figure 1 Appendix Figure 4As shown, the rotary assembly includes a slide cylinder 2 fixed to one side of the top of the base 1. The slide cylinder 2 is a hollow columnar structure. A servo motor 3 is fixedly installed at the end away from the base 1 through a flange. The base 1 has a mounting hole 10 coaxial with the slide cylinder 2. A hydraulic rod 11 is embedded and fixed inside the mounting hole 10. The output end of the hydraulic rod 11 is welded and fixed to the bottom of the slide cylinder 2. When the hydraulic rod 11 extends or retracts, it can drive the slide cylinder 2 to move laterally along its axis, thereby driving the entire rotary assembly to make horizontal lateral movement, so as to realize the adjustment of the working position of the rotary assembly.

[0025] As attached Figure 2 Appendix Figure 3 As shown, the output end of the servo motor 3 is fixedly connected to the central column 7 in the middle of the first connecting arm 4 via a coupling. The central column 7 is vertically fixed in the middle of the first connecting arm 4, and several sliding rods 8 are evenly arranged on its outer circumference. One end of the sliding rod 8 is fixedly connected to the first connecting arm 4, and the other end extends into the housing of the servo motor 3 and slides with the servo motor 3. The sliding rod 8 cooperates with the central column 7 to guide and limit the rotation of the first connecting arm 4, ensuring the stability of the rotation process. After the servo motor 3 starts, it drives the central column 7 to rotate around its own axis, thereby driving the first connecting arm 4, the second connecting arm 5, and the third connecting arm 6 to synchronously rotate around the axis of the central column 7 to achieve 360° rotation without dead angles. A sensor 9 is also fixedly installed on the outer wall of the servo motor 3. The sensor 9 is electrically connected to the servo motor 3 and can sense the rotation angle of the rotating components in real time and feed the angle signal back to the humanoid robot's control system to achieve precise control of the rotation angle.

[0026] The first connecting arm 4 is hinged to the bottom of the servo motor 3 with the second connecting arm 5 at the bottom, and the second connecting arm 5 is hinged to the bottom of the first connecting arm 4 with the third connecting arm 6 at the bottom. Both can be adjusted around the hinge to adapt to different working postures. Self-locking components are provided at the connection between the first connecting arm 4 and the second connecting arm 5, and at the connection between the second connecting arm 5 and the third connecting arm 6. Example 2 Based on Example 1, this embodiment is illustrated in the appendix. Figure 5 As shown, the self-locking assembly includes a connecting cover 14, a connecting shaft 17, a turntable 16, a worm gear 15, a rotating shaft 18, a worm 19, and a drive motor 20. The connecting cover 14 is a sealed housing structure, which is welded and fixed to the connection points of the first connecting arm 4 and the second connecting arm 5, and the second connecting arm 5 and the third connecting arm 6, respectively, and plays a protective role for the internal transmission structure.

[0027] A connecting shaft 17 is rotatably connected to the inner side of the connecting cover 14. One end of the connecting shaft 17 between the first connecting arm 4 and the second connecting arm 5 is welded and fixed to the end of the second connecting arm 5. One end of the connecting shaft 17 between the second connecting arm 5 and the third connecting arm 6 is welded and fixed to the end of the third connecting arm 6. A turntable 16 is fixedly sleeved on one end of the connecting shaft 17 inside the connecting cover 14. A worm wheel 15 is integrally formed on the outer peripheral wall of the turntable 16. A worm 19 is meshed on one side of the worm wheel 15. The worm 19 is fixedly inserted on a horizontally placed rotating shaft 18. Both ends of the rotating shaft 18 are rotatably connected to the inner side wall of the connecting cover 14 through bearings. A drive motor 20 is embedded and fixed on the outer side wall of the connecting cover 14. The output end of the drive motor 20 is fixedly connected to one end of the rotating shaft 18 through a coupling.

[0028] After the drive motor 20 starts, it drives the rotating shaft 18 to rotate, which in turn drives the worm 19 to rotate synchronously. The worm 19 meshes with the worm wheel 15, which drives the worm wheel 15, the turntable 16 and the connecting shaft 17 to rotate. This, in turn, drives the second connecting arm 5 relative to the first connecting arm 4 and the third connecting arm 6 relative to the second connecting arm 5 to achieve angle adjustment. When the drive motor 20 stops working, the meshing structure of the worm 19 and the worm wheel 15 forms a mechanical self-lock. By utilizing the reverse transmission characteristics of the worm wheel and worm, the second connecting arm 5 and the third connecting arm 6 are prevented from shifting in angle under the action of external force, thus ensuring the positional stability of the connecting arm after angle adjustment.

[0029] As attached Figure 2 Appendix Figure 3 As shown and attached Figure 7 As shown, a simulated hand 12 is fixedly mounted on the end of the third connecting arm 6 away from the second connecting arm 5 by bolts. The simulated hand 12 adopts a humanoid structure design, including a palm part 21 and several finger parts 22. Each finger part 22 and the palm part 21 is respectively provided with a miniature electric push rod 23. The miniature electric push rod 23 drives the finger part 22 to deflect on the palm part 21 for grasping objects. The mounting end of the miniature electric push rod 23 is hinged to the palm part 21, and the output end of the palm part 21 is hinged to the finger part 22, which can realize grasping, clamping and other operation actions. A camera 13 is fixedly mounted on the outer wall of the simulated hand 12 by a bracket. The camera 13 is electrically connected to the human robot's control system, which can scan and locate the working environment in real time, and feed back the environmental image signal to the control system to provide positioning basis for the operation action of the simulated hand 12 and improve the operation accuracy of the device.

[0030] The specific working principle is as follows: 360° rotation of the rotating component: The base 1 is fixed at the corresponding joint position of the humanoid robot. The control system starts the servo motor 3. The servo motor 3 drives the central column 7 to rotate around its own axis. Under the guidance and limiting action of the slide bar 8, the first connecting arm 4 drives the second connecting arm 5 and the third connecting arm 6 to rotate around the axis of the central column 7 in 360° without dead angle. The sensor 9 senses the rotation angle in real time and feeds it back to the control system to achieve precise control of the rotation angle. When the working posture needs to be adjusted, the control system starts the drive motor 20 at the corresponding position. The drive motor 20 drives the rotating shaft 18 and the worm 19 to rotate. Through the meshing transmission of the worm 19 and the worm wheel 15, the connecting shaft 17 is driven to rotate, thereby realizing the angle adjustment of the second connecting arm 5 relative to the first connecting arm 4 and the third connecting arm 6 relative to the second connecting arm 5. After adjusting to the target angle, the drive motor 20 is turned off, and the worm 19 and the worm wheel 15 form a self-locking mechanism to lock the position of the connecting arm. The control system starts the hydraulic rod 11, which extends and retracts to drive the slide cylinder 2 to move laterally along its axis, thereby driving the entire rotary assembly to move horizontally, thus achieving fine adjustment of the working position of the rotary assembly; The camera 13 scans and locates the working environment and feeds the image signal back to the control system. The control system controls the simulated hand 12 to perform grasping, clamping and other operations based on the signal. With the 360° rotation of the rotary component and the angle adjustment of the connecting arm, it can achieve operation without blind spots.

[0031] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A 360° rotating joint device for a humanoid robot, comprising a base (1), characterized in that: A rotary assembly is provided on the base (1); The rotary assembly includes a slide cylinder (2) disposed on one side of the top of the base (1). A servo motor (3) is fixedly installed at one end of the slide cylinder (2) away from the base (1). A first connecting arm (4) is driven to the output end of the servo motor (3). An angle-adjustable second connecting arm (5) is hinged to the bottom of the first connecting arm (4) away from the servo motor (3). An angle-adjustable third connecting arm (6) is hinged to the bottom end of the second connecting arm (5) away from the first connecting arm (4). A self-locking component is provided at the connection between the first connecting arm (4) and the second connecting arm (5), and at the connection between the second connecting arm (5) and the third connecting arm (6). The self-locking component is used to lock the position of the first connecting arm (4) and the second connecting arm (5), and the second connecting arm (5) and the third connecting arm (6) after the angle is adjusted.

2. The 360° rotating joint device for a humanoid robot according to claim 1, characterized in that: A central column (7) is fixedly installed in the middle of the first connecting arm (4). Several sliding rods (8) are evenly arranged on the outer circumference of the central column (7). The output end of the servo motor (3) is fixedly connected to the central column (7) through a coupling. The servo motor (3) drives the central column (7) to rotate, thereby driving the first connecting arm (4), the second connecting arm (5) and the third connecting arm (6) to rotate synchronously around the axis of the central column (7) 360°.

3. The 360° rotating joint device for a humanoid robot according to claim 2, characterized in that: The ends of the multiple slide rods (8) away from the first connecting arm (4) extend into the housing of the servo motor (3) and slide in cooperation with the servo motor (3). A sensor (9) is fixedly installed on the outer side wall of the servo motor (3), and the sensor (9) is used to sense the real-time rotation angle of the rotary assembly.

4. The 360° rotating joint device for a humanoid robot according to claim 1, characterized in that: The self-locking assembly includes connecting covers (14) that are fixedly installed at the connection between the first connecting arm (4) and the second connecting arm (5) and at the connection between the second connecting arm (5) and the third connecting arm (6). Each connecting cover (14) has a connecting shaft (17) rotatably connected to its inner side. One end of the connecting shaft (17) between the first connecting arm (4) and the second connecting arm (5) is fixedly connected to the end of the second connecting arm (5), and one end of the connecting shaft (17) between the second connecting arm (5) and the third connecting arm (6) is fixedly connected to the end of the third connecting arm (6).

5. A 360° rotating joint device for a humanoid robot according to claim 4, characterized in that: The connecting shaft (17) is fixedly fitted with a turntable (16) at one end inside the connecting cover (14). A worm gear (15) is fixedly installed on the outer peripheral wall of the turntable (16). The worm gear (15) and the turntable (16) are coaxially arranged.

6. A 360° rotating joint device for a humanoid robot according to claim 5, characterized in that: The worm gear (15) is engaged with a worm (19) on one side. A rotating shaft (18) is fixedly inserted through the center of the worm (19). The rotating shaft (18) is horizontally placed inside the connecting cover (14), and both ends of the rotating shaft (18) are rotatably connected to the inner wall of the connecting cover (14).

7. A 360° rotating joint device for a humanoid robot according to claim 6, characterized in that: When the worm (19) rotates with the rotating shaft (18), it drives the worm wheel (15), the turntable (16) and the connecting shaft (17) to rotate synchronously, thereby realizing the angle adjustment of the connecting arm. The meshing structure of the worm (19) and the worm wheel (15) forms a self-locking mechanism to prevent the connecting arm from being deflected by external forces.

8. A 360° rotating joint device for a humanoid robot according to claim 7, characterized in that: A drive motor (20) is embedded and fixed on the outer wall of the connecting cover (14). The output end of the drive motor (20) is fixedly connected to one end of the rotating shaft (18) to drive the rotating shaft (18) to rotate. The connecting cover (14) between the first connecting arm (4) and the second connecting arm (5) is fixed on the first connecting arm (4), and the connecting cover (14) between the second connecting arm (5) and the third connecting arm (6) is fixed on the second connecting arm (5).

9. A 360° rotating joint device for a humanoid robot according to claim 1, characterized in that: The third connecting arm (6) is fixedly mounted with a simulated hand (12) at one end away from the second connecting arm (5). A camera (13) is fixedly mounted on the outer side wall of the simulated hand (12). The camera (13) is used to scan and locate the working environment. The simulated hand (12) includes a palm part (21) and several finger parts (22), and each of the finger parts (22) and the palm part (21) is provided with a miniature electric push rod (23). The miniature electric push rod (23) drives the finger part (22) to deflect on the palm part (21) for grasping objects.

10. A 360° rotating joint device for a humanoid robot according to claim 1, characterized in that: The base (1) has an installation hole (10) and the slide (2) are coaxially arranged. A hydraulic rod (11) is embedded and fixed inside the installation hole (10). The output end of the hydraulic rod (11) is fixedly connected to the bottom of the slide (2) and is used to drive the slide (2) to move laterally along the axial direction.

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