Portable disassembly and assembly flexible joint actuator for humanoid robot

Abstract

The utility model belongs to the technical field of humanoid robots, and particularly relates to a humanoid robot portable disassembly and assembly flexible joint actuator which comprises a large mechanical arm and a small mechanical arm, a driver is installed in the small mechanical arm, an output shaft is installed on the driver, a mounting plate is arranged at the other end of the output shaft, and the mounting plate is connected with the large mechanical arm and the small mechanical arm. The side wall of the mounting plate is in threaded connection with a bolt, the bolt is in threaded connection with an output shaft, the output shaft is sleeved with a sleeve, the side wall of the sleeve is fixedly connected with a circular plate, the side wall of the side, away from the driver, of the circular plate is fixedly connected with a plurality of screws, a connecting plate is arranged on the outer side of the mounting plate, and the connecting plate is connected with a large mechanical arm. The screw penetrates through the connecting plate, the side wall of the screw is in threaded connection with a nut, and a lubricating assembly is arranged on the side wall of the sleeve. The connecting position of the actuator can be conveniently disassembled and assembled, later maintenance is facilitated, meanwhile, oil injection lubrication can be conducted, and the service life of the actuator is prolonged.

Description

Technical Field

[0001] The utility model belongs to the technical field of humanoid robots, and particularly relates to a portable disassembly and assembly flexible joint actuator of a humanoid robot. Background Art

[0002] The humanoid robot joint actuator is a key link in the innovation and optimization iteration of robot hardware, and is the core component for achieving motion. Its cost and weight account for a high proportion, which determines the output capacity and upper limit of the dynamic performance of the robot joint. Many large-angle rotation joints usually use reduction motors as the main drive, and the motor output shaft provides power and rotation angle to the joint connection plates on both sides.

[0003] Many existing connection methods for joints use pins or bolts to connect the joint connecting plate to the actuator output shaft. Although the connection effect can be achieved, the traditional connection method is not convenient enough. The bolts need to be assembled in the appropriate position and tightened one by one. If the gap between the screw holes is too large, the remaining bolts are prone to offset and misalignment during installation. In addition, the actuator output shaft needs to rotate continuously, and the lubricating oil at the output shaft position will consume a lot under long-term operation. If the lubricating oil is not added in time, it will inevitably affect the joint movement accuracy and actuator life. Utility Model Content

[0004] The purpose of this utility model is to provide a portable disassembly and assembly flexible joint actuator for a humanoid robot, which can conveniently disassemble and assemble the actuator connection to facilitate later maintenance, and can also be lubricated with oil to increase its service life.

[0005] The technical solutions adopted in this utility are as follows:

[0006] A portable detachable flexible joint actuator for a humanoid robot comprises a mechanical arm and a mechanical forearm, a driver is installed inside the mechanical forearm, an output shaft is installed on the driver, a mounting plate is provided at the other end of the output shaft, a bolt is threadedly connected to the side wall of the mounting plate, the bolt is threadedly connected to the output shaft, a sleeve is sleeved on the output shaft, a circular plate is fixedly connected to the side wall of the sleeve, a plurality of screws are fixedly connected to the side wall of the circular plate away from the driver, a connecting plate is provided on the outer side of the mounting plate, the connecting plate is connected to the mechanical arm, the screw passes through the connecting plate, a nut is threadedly connected to the side wall of the screw, and a lubrication assembly is provided on the side wall of the sleeve.

[0007] The lubrication assembly comprises a through hole formed on the end face of the screw, the through hole extends to the inner cavity of the sleeve, the inner wall of the sleeve is provided with a lubrication groove, the lubrication groove is annular, and a sealing ring is mounted on the bottom of the sleeve.

[0008] A one-way valve is arranged in the through hole.

[0009] A rubber ring is fixedly connected to the bottom surface of the mounting plate, and an annular groove is formed on the top end surface of the sleeve, and the rubber ring is matched with the annular groove.

[0010] A circular groove is provided on the top surface of the mounting plate, and the bolt is located in the circular groove.

[0011] The side wall of the screw rod is provided with a gasket at the lower side of the nut.

[0012] The technical effects achieved by this utility model are:

[0013] The practical portable disassembly and assembly of a humanoid robot flexible joint actuator adopts the mutual cooperation among a mechanical arm, a mechanical arm, a sleeve, a mounting plate, a screw and a lubrication component, and adopts a prefabricated screw method, which can be simultaneously inserted into multiple screw holes during assembly. On the one hand, it can play a positioning role and reduce the displacement and misalignment of the screw hole positions. On the other hand, it solves the problem of traditional installation that requires installation one by one. This solution only needs to tighten the nut, and the steps of assembling the bolts one by one are omitted. Secondly, during use, lubricating oil can be added to the output shaft of the actuator through the screw as needed to reduce the hard friction of the output shaft and extend its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a stereogram of this practical embodiment;

[0015] Figure 2 It is a partial structural schematic diagram of this practical embodiment;

[0016] Figure 3 It is a partial cross-sectional structural schematic diagram of this practical embodiment;

[0017] Figure 4 It is a structural schematic diagram of the mounting plate of the practical embodiment;

[0018] Figure 5 Schematic diagram of the screw distribution of this practical embodiment;

[0019] Figure 6 It is a schematic diagram of the structure of the lubrication assembly of this practical embodiment.

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0021] 1. Mechanical arm; 2. Mechanical arm; 3. Driver; 4. Output shaft; 5. Bolt; 6. Sleeve; 7. Round plate; 8. Screw; 9. Nut; 10. Connecting plate; 11. Mounting plate; 12. Through hole; 13. Lubrication groove; 14. Sealing ring; 15. One-way valve; 16. Rubber ring; 17. Annular groove; 18. Circular groove; 19. Gasket. DETAILED DESCRIPTION

[0022] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with the embodiments. It should be understood that the following text is only used to describe one or several specific implementations of the present invention, and does not strictly limit the scope of protection specifically requested by the present invention.

[0023] like Figure 1-Figure 6 As shown, a portable detachable flexible joint actuator of a humanoid robot includes a mechanical arm 1 and a mechanical arm 2, a driver 3 is installed inside the mechanical arm 2, an output shaft 4 is installed on the driver 3, a mounting plate 11 is arranged at the other end of the output shaft 4, a bolt 5 is threadedly connected to the side wall of the mounting plate 11, the bolt 5 is threadedly connected to the output shaft 4, a sleeve 6 is sleeved on the output shaft 4, a circular plate 7 is fixedly connected to the side wall of the sleeve 6, a plurality of screws 8 are fixedly connected to the side wall of the circular plate 7 away from the driver 3, a connecting plate 10 is arranged on the outside of the mounting plate 11, the connecting plate 10 is connected to the mechanical arm 1, the screw 8 passes through the connecting plate 10, a nut 9 is threadedly connected to the side wall of the screw 8, and a lubrication component is arranged on the side wall of the sleeve 6.

[0024] The side walls of the connecting plate 10 and the mounting plate 11 are respectively provided with holes corresponding to the screw rods 8 , and gaskets 19 are arranged on both sides of the holes during assembly to increase the force-bearing surface and reduce the probability of the nut 9 loosening.

[0025] like Figure 6 As shown, the lubrication assembly includes a through hole 12 opened on the end face of the screw 8, the through hole 12 extends to the inner cavity of the sleeve 6, the inner wall of the sleeve 6 is provided with a lubrication groove 13, the lubrication groove 13 is annular, and a sealing ring 14 is installed at the bottom of the sleeve 6; a one-way valve 15 is installed in the through hole 12.

[0026] Specifically, when lubricating oil or grease is injected through an external injection device, the impact force generated during the injection is used to push open the one-way valve 15 so that it enters the lubrication groove 13 to lubricate the output shaft 4 on the driver 3 and reduce the hard friction of the output shaft 4.

[0027] like Figure 4 and Figure 5 As shown, a rubber ring 16 is fixedly connected to the bottom surface of the mounting plate 11, and an annular groove 17 is formed on the top end surface of the sleeve 6, and the rubber ring 16 is adapted to the annular groove 17. When the nut 9 is tightened, the downward pressure of the nut 9 is used to make the mounting plate 11 and the top of the sleeve 6 closely contact, thereby increasing the sealing between the two and preventing the leakage of lubricating oil.

[0028] like Figure 4 As shown, a circular groove 18 is provided on the top surface of the mounting plate 11, and the bolt 5 is located in the circular groove 18. The circular groove 18 is used to receive the bolt 5 so that the mounting plate 11 is flush with the sleeve 6.

[0029] like Figure 5As shown, a gasket 19 is provided on the side wall of the screw 8 under the nut 9. It can provide additional sealing to prevent leakage of liquid or gas. Secondly, the gasket 19 can evenly distribute the pressure of the bolt 5, reduce stress concentration, and thus reduce the risk of loosening and corrosion.

[0030] The working principle of the utility model is as follows: when the connecting plate 10 needs to be disassembled, the connecting plate 10 can be removed after the nut 9 is loosened, and then the bolt 5 is loosened to remove the mounting plate 11, so that the output shaft 4 of the driver 3 is exposed, which is convenient for maintenance. When it is necessary to assemble it, the sleeve 6 can be assembled on the output shaft 4 to reserve a lubrication position, and then the mounting plate 11 and the connecting plate 10 are aligned with the screw 8 and are sleeved on the screw 8, and then the nut 9 is tightened to complete the fixation;

[0031] When the output shaft 4 needs to be lubricated, lubricating oil can be injected into the through hole 12 through an external injection device, so that the lubricating oil enters the lubrication groove 13 to lubricate the output shaft 4 and extend the service life of the driver 3.

[0032] The above is only a preferred embodiment of the present invention. It should be noted that, for ordinary technicians in the field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A portable detachable flexible joint actuator for a humanoid robot, characterized in that: The invention comprises a mechanical arm (1) and a mechanical arm (2), wherein a driver (3) is installed inside the mechanical arm (2), an output shaft (4) is installed on the driver (3), a mounting plate (11) is arranged at the other end of the output shaft (4), a bolt (5) is threadedly connected to the side wall of the mounting plate (11), the bolt (5) is threadedly connected to the output shaft (4), a sleeve (6) is sleeved on the output shaft (4), a round plate (7) is fixedly connected to the side wall of the sleeve (6), a plurality of screw rods (8) are fixedly connected to the side wall of the round plate (7) away from the driver (3), a connecting plate (10) is arranged outside the mounting plate (11), the connecting plate (10) is connected to the mechanical arm (1), the screw rod (8) passes through the connecting plate (10), a nut (9) is threadedly connected to the side wall of the screw rod (8), and a lubrication component is arranged on the side wall of the sleeve (6).

2. The portable detachable flexible joint actuator of a humanoid robot according to claim 1, characterized in that: The lubrication assembly comprises a through hole (12) formed on the end face of the screw (8), the through hole (12) extending to the inner cavity of the sleeve (6), the inner wall of the sleeve (6) being provided with a lubrication groove (13), the lubrication groove (13) being annular, and a sealing ring (14) being mounted on the bottom of the sleeve (6).

3. The portable detachable flexible joint actuator of a humanoid robot according to claim 2, characterized in that: A one-way valve (15) is installed in the through hole (12).

4. The portable detachable flexible joint actuator of a humanoid robot according to claim 1, characterized in that: A rubber ring (16) is fixedly connected to the bottom surface of the mounting plate (11), and an annular groove (17) is formed on the top end surface of the sleeve (6), and the rubber ring (16) is matched with the annular groove (17).

5. The portable detachable flexible joint actuator of a humanoid robot according to claim 1, characterized in that: A circular groove (18) is provided on the top surface of the mounting plate (11), and the bolt (5) is located in the circular groove (18).

6. The portable detachable flexible joint actuator of a humanoid robot according to claim 1, characterized in that: A gasket (19) is provided on the side wall of the screw rod (8) and located at the lower side of the nut (9).

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