Flexible joint mechatronics mechanism of humanoid robot

Abstract

The utility model discloses a flexible joint mechatronics mechanism of a humanoid robot, which relates to the technical field of robots and is provided with a motor protecting sleeve, a first rotating wheel, a second rotating wheel, a first mechanical arm and a second mechanical arm. A first motor and a second motor in a motor protecting sleeve can drive a first rotating wheel and a second rotating wheel to rotate correspondingly, so that a rotating support is driven to rotate, the rotating support rotates to drive a first mechanical arm to rotate, the first mechanical arm can rotate normally, an adjusting support can rotate on a fixed support, and the inclination angle of a second mechanical arm is changed; the second mechanical arm not only can rotate, but also can incline at will, so that human joints can be better simulated, adjustment is more flexible, in addition, telescopic protective sleeves are arranged on the outer sides of the protective sleeves and the rotary supports, joint mechanical parts can be shielded, dust or impurities are prevented from being clamped on rotating parts, and the robot is more clean, tidy and attractive.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mechatronic mechanism of a flexible joint of a humanoid robot. Background Art

[0002] At present, with the continuous development of science and technology, the joint structure design of humanoid robots is becoming more and more flexible, which can well simulate the braking of human joints and realize mechanized operation. However, the existing flexible joint electromechanical structure cannot achieve an integrated design, and the structure is exposed and not beautiful enough.

[0003] For example, the utility model with patent number CN202322775595.5 discloses a joint structure of a humanoid robot and a humanoid robot, including a support frame and a rotating shaft connected to a driving motor structure, the support frame shaft core has a receiving space, the rotating shaft is placed in the receiving space of the support frame, and the rotating shaft and the support frame are rotatably connected so that the two can rotate relative to each other under the drive of the driving motor structure; the support frame is provided with a first connecting section along the radial outer wall for connecting to a first servo, and the rotating shaft is provided with a second connecting section along the radial outer wall for connecting to a second servo. The utility model adopts an integrated design of servo and joint, and achieves the purpose of improving the movement strength of the humanoid robot joints, simplifying the installation process of the joints, and realizing the overall lightweight of the humanoid robot joints through a simple and reliable structural method, and has good feasibility and practicality;

[0004] Although the joint structure in this patent adopts an integrated design of servo and joint, there are still certain limitations in the adjustment of the joints. It cannot simulate the arbitrary rotation and tilt of human joints, and the adjustment is not flexible enough. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a mechatronic mechanism for a flexible joint of a humanoid robot, which solves the problem that the joint structure cannot simulate the arbitrary rotation and tilt of human joints and is not flexible enough in adjustment.

[0006] To achieve the above objectives, the utility model is implemented through the following technical solutions: a humanoid robot flexible joint mechatronic mechanism, including a motor protective cover, a first motor is arranged inside the motor protective cover, a second motor is arranged on the lower side of the first motor, a first rotating wheel is arranged at the output end of the first motor, a second rotating wheel is arranged at the output end of the second motor, a rotating bracket is fixedly installed on the first rotating wheel and the second rotating wheel, a first mechanical arm is fixedly installed on the rotating bracket, a fixed bracket is installed inside the first mechanical arm, an adjusting bracket is installed inside the fixed bracket, a motor box is fixedly installed inside the adjusting bracket, a second mechanical arm is fixedly installed outside the adjusting bracket, a protective sleeve is fixedly installed outside the second mechanical arm, and a telescopic protective cover is fixedly connected to the protective sleeve and the outer side of the rotating bracket.

[0007] Preferably, a connecting shaft is fixedly mounted on the outer side of the rotating bracket, and connecting grooves corresponding to the connecting shaft are formed on the surfaces of the first rotating wheel and the second rotating wheel.

[0008] Preferably, a third motor is fixedly installed inside the motor box, a rotating shaft is provided at the output end of the third motor, and a fixed shaft corresponding to the rotating shaft is fixedly installed on the other side of the adjustment bracket.

[0009] Furthermore, a third rotating wheel is installed on the fixed bracket, and a surface of the third rotating wheel is provided with a slot corresponding to the rotating shaft and the fixed shaft.

[0010] Preferably, a mounting groove is provided on the outer surface of the first mechanical arm, and the fixing bracket is fixedly installed inside the mounting groove.

[0011] Preferably, the outer diameter of the protective sleeve is the same as the outer diameter of the rotating bracket, and a distance is left between the rotating bracket and the first rotating wheel and the second rotating wheel.

[0012] Beneficial Effects

[0013] The utility model provides a mechatronic mechanism for a flexible joint of a humanoid robot. Compared with the prior art, it has the following beneficial effects:

[0014] The humanoid robot flexible joint mechatronic mechanism is provided with a motor protective cover, a first rotating wheel, a second rotating wheel, a first mechanical arm and a second mechanical arm. The first motor and the second motor in the motor protective cover can respectively drive the first rotating wheel and the second rotating wheel to rotate, thereby driving the rotating bracket to rotate. The rotation of the rotating bracket drives the first mechanical arm to rotate, so that the first mechanical arm can rotate normally. The adjustment bracket can rotate on the fixed bracket to change the inclination angle of the second mechanical arm, so that the second mechanical arm can not only rotate but also tilt arbitrarily, thereby better simulating the human body joints and being more flexible to adjust. In addition, a telescopic protective cover is provided on the outer side of the protective sleeve and the rotating bracket, which can cover the mechanical parts of the joint, thereby preventing dust or impurities from being stuck in the rotating parts, making it more neat and beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the motor protective cover in the utility model;

[0017] Figure 3 This is a schematic diagram of the installation structure of the rotating bracket in the utility model;

[0018] Figure 4 It is a schematic diagram of the installation structure of the adjusting bracket in the utility model.

[0019] In the figure: 1. Motor protection cover; 2. First rotating wheel; 201. Connecting slot; 3. Rotating bracket; 4. First mechanical arm; 401. Mounting slot; 5. Fixed bracket; 6. Second mechanical arm; 7. Motor box; 8. Protective sleeve; 9. Second rotating wheel; 10. Connecting shaft; 11. Telescopic protective cover; 12. Adjusting bracket; 13. Rotating shaft; 14. Third rotating wheel; 15. Card slot. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] See also Figure 1-4The utility model provides a technical solution: a humanoid robot flexible joint mechatronic mechanism, including a motor protection cover 1, a first motor is arranged inside the motor protection cover 1, a second motor is arranged on the lower side of the first motor, a first rotating wheel 2 is arranged at the output end of the first motor, a second rotating wheel 9 is arranged at the output end of the second motor, a rotating bracket 3 is fixedly installed on the first rotating wheel 2 and the second rotating wheel 9, a first mechanical arm 4 is fixedly installed on the rotating bracket 3, a fixed bracket 5 is installed inside the first mechanical arm 4, an adjusting bracket 12 is installed inside the fixed bracket 5, a motor box 7 is fixedly installed inside the adjusting bracket 12, a second mechanical arm 6 is fixedly installed outside the adjusting bracket 12, a protective sleeve 8 is fixedly installed outside the second mechanical arm 6, and the protective sleeve 8 is fixedly connected to the outer side of the rotating bracket 3 with a telescopic protective cover 11. By providing the telescopic protective cover 11, the mechanical part of the joint can be shielded, thereby preventing dust or impurities from being stuck in the rotating part, which is more neat and beautiful.

[0022] A connecting shaft 10 is fixedly installed on the outer side of the rotating bracket 3, and a connecting groove 201 corresponding to the connecting shaft 10 is opened on the surface of the first rotating wheel 2 and the second rotating wheel 9. Through the mutual cooperation between the connecting shaft 10 and the connecting groove 201, the first rotating wheel 2 and the second rotating wheel 9 can drive the rotating bracket 3 to rotate normally during the rotation process. A third motor is fixedly installed inside the motor box 7, and a rotating shaft 13 is provided at the output end of the third motor. A fixed shaft corresponding to the rotating shaft 13 is fixedly installed on the other side of the adjusting bracket 12, and a third rotating wheel 14 is installed on the fixed bracket 5. The rotation of the motor drives the rotating shaft 13 to rotate, thereby driving the third rotating wheel 14 to rotate on the adjusting bracket 12, thereby changing the inclination angle of the second mechanical arm 6. The surface of the third rotating wheel 14 is provided with a slot 15 corresponding to the rotating shaft 13 and the fixed shaft. The outer surface of the first mechanical arm 4 is provided with a mounting slot 401. The fixed bracket 5 is fixedly installed inside the mounting slot 401. The outer diameter of the protective sleeve 8 is the same as the outer diameter of the rotating bracket 3. A distance is left between the rotating bracket 3 and the first rotating wheel 2 and the second rotating wheel 9, which can reduce the friction between the rotating bracket 3 and the two rotating wheels.

[0023] When working, first fix the second mechanical arm 6 at one end to the humanoid robot, and then install the required structural parts on the second mechanical arm 6 at the other end. The corresponding motors can be turned on as needed during use. After the first motor and the second motor in the motor protection cover 1 are turned on, they can respectively drive the first rotating wheel 2 and the second rotating wheel 9 to rotate, thereby driving the rotating bracket 3 to rotate. The rotation of the rotating bracket 3 drives the first mechanical arm 4 to rotate, so that the first mechanical arm 4 can rotate normally. The adjustment bracket 12 can rotate on the fixed bracket 5 to change the inclination angle of the second mechanical arm 6, so that the second mechanical arm 6 can not only rotate but also tilt arbitrarily, thereby better simulating the human joints and being more flexible to adjust.

[0024] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims

1. A humanoid robot flexible joint mechatronic mechanism, comprising a motor protective cover (1), characterized in that: A first motor is arranged inside the motor protection cover (1), a second motor is arranged at the lower side of the first motor, a first rotating wheel (2) is arranged at the output end of the first motor, a second rotating wheel (9) is arranged at the output end of the second motor, a rotating bracket (3) is fixedly mounted on the first rotating wheel (2) and the second rotating wheel (9), a first mechanical arm (4) is fixedly mounted on the rotating bracket (3), a fixed bracket (5) is installed inside the first mechanical arm (4), an adjusting bracket (12) is installed inside the fixed bracket (5), a motor box (7) is fixedly mounted inside the adjusting bracket (12), a second mechanical arm (6) is fixedly mounted outside the adjusting bracket (12), a protective sleeve (8) is fixedly mounted outside the second mechanical arm (6), and a telescopic protective cover (11) is fixedly connected to the protective sleeve (8) and the outer side of the rotating bracket (3).

2. The humanoid robot flexible joint mechatronic mechanism according to claim 1, characterized in that: A connecting shaft (10) is fixedly mounted on the outer side of the rotating bracket (3), and connecting grooves (201) corresponding to the connecting shaft (10) are formed on the surfaces of the first rotating wheel (2) and the second rotating wheel (9).

3. The humanoid robot flexible joint mechatronic mechanism according to claim 1, characterized in that: A third motor is fixedly installed inside the motor box (7), a rotating shaft (13) is provided at the output end of the third motor, and a fixed shaft corresponding to the rotating shaft (13) is fixedly installed on the other side of the adjustment bracket (12).

4. The humanoid robot flexible joint mechatronic mechanism according to claim 3, characterized in that: A third rotating wheel (14) is mounted on the fixed bracket (5), and a clamping groove (15) corresponding to the rotating shaft (13) and the fixed shaft is provided on the surface of the third rotating wheel (14).

5. The humanoid robot flexible joint mechatronic mechanism according to claim 1, characterized in that: The outer surface of the first mechanical arm (4) is provided with a mounting groove (401), and the fixing bracket (5) is fixedly installed inside the mounting groove (401).

6. The humanoid robot flexible joint mechatronic mechanism according to claim 1, characterized in that: The outer diameter of the protective sleeve (8) is the same as the outer diameter of the rotating bracket (3), and a distance is left between the rotating bracket (3) and the first rotating wheel (2) and the second rotating wheel (9).

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