Fixing structure of humanoid robot joint motor

Abstract

The utility model discloses a fixing structure of a humanoid robot joint motor, and relates to the technical field of bionics. The device comprises an upper limb and a lower limb movably connected to the bottom end in the upper limb, limiting grooves are evenly formed in the bottom of the end face of the front end of the upper limb at intervals in the circumferential direction, moving grooves are formed in the centers in the limiting grooves, limiting plates are slidably connected into the limiting grooves, and adjusting assemblies are arranged in the moving grooves; a limiting assembly is arranged in the center of the front end face of the limiting plate, and a conveniently-disassembled assembly is arranged on the outer side of the limiting assembly. According to the utility model, through the limiting assembly and the convenient-to-disassemble assembly, the joint motor body can be quickly disassembled and replaced by a worker, time and labor are saved, the working efficiency is high, the adjusting assembly can be used for making corresponding adjustment according to the size and size of the joint motor body and the position of the mounting hole, and the application range is enlarged.

Description

Technical Field

[0001] The utility model belongs to the technical field of bionics, and particularly relates to a fixing structure of a joint motor of a humanoid robot. Background Art

[0002] Robot is the common name for automatic control and its functions. It has all the mechanical functions that simulate human behaviors or thoughts and other organisms. It is the product of advanced integrated cybernetics, mechanical electronics, computers, materials and bionics. It has important uses in industry, medicine, agriculture, construction and other fields. In order to make the humanoid robot have flexible movements, motors are generally installed at its joints with fixed structures to achieve a high degree of anthropomorphism and improve the robot's movement and working accuracy.

[0003] After searching, the publication number CN218462197U, application date 2022.11.01 discloses a multi-joint robot direct-drive motor installation structure, including a multi-joint robot body, a mounting frame, a direct-drive motor body and a mounting mechanism. The mounting frame is fixedly installed on one side of the multi-joint robot body close to the top, and the direct-drive motor body is detachably connected to the multi-joint robot body through the mounting mechanism.

[0004] However, it still has the following disadvantages in actual use:

[0005] The above-mentioned multi-joint robot direct drive motor installation structure realizes the rapid installation of the direct drive motor through the reciprocating screw rod, installation block and other structures in the installation mechanism when in use. However, this method is relatively complicated and time-consuming and labor-intensive during the operation of the staff, and cannot achieve rapid disassembly and assembly, resulting in low work efficiency;

[0006] 2. The above-mentioned multi-joint robot direct drive motor installation structure is limited by installing the direct drive motor inside the installation slot during use, but this method cannot replace motors of different models and sizes according to actual needs, resulting in a small scope of application. To this end, we provide a fixing structure for a humanoid robot joint motor to solve the above problems. Utility Model Content

[0007] The purpose of the utility model is to provide a fixing structure of a joint motor of a humanoid robot, which is convenient for workers to quickly disassemble and replace the joint motor body by setting a limit component and a convenient disassembly component, saving time and effort and improving work efficiency. The adjustment component can be used to make corresponding adjustments according to the size and size of the joint motor body and the position of the installation hole, thereby increasing the scope of application.

[0008] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0009] The utility model is a fixing structure of a joint motor of a humanoid robot, comprising an upper limb and a lower limb movably connected to the bottom end thereof, wherein the bottom of the front end surface of the upper limb is evenly spaced with limiting grooves along the circumferential direction, a moving groove is arranged at the inner center of the limiting groove, a limiting plate is slidably connected to the inner part of the limiting groove, an adjusting component is arranged inside the moving groove, a limiting component is arranged at the inner center of the front end surface of the limiting plate, and a convenient disassembly component is arranged outside the limiting component;

[0010] The adjustment assembly includes a turntable and a threaded rod mounted at the center of the inner wall thereof;

[0011] The limiting assembly includes an insert rod and a receiving groove arranged at the outer end of an outer wall of one side of the insert rod, and a limiting block is installed inside and outside the receiving groove;

[0012] The conveniently disassembled assembly comprises a sleeve frame and telescopic rods installed on two adjacent outer walls thereof, and the telescopic ends of the telescopic rods are connected to the outer walls of the adjacent sleeve frames.

[0013] The utility model is further configured such that a joint motor body is installed on the outer side of the front end surface of the upper limb, mounting holes are opened at four corners of the surface of the joint motor body, and a moving block is fixedly connected to the center position of the rear end surface of the limiting plate.

[0014] The utility model is further configured such that a sealing gasket is bonded to the front end surface of the limiting plate, and the other end of the threaded rod penetrates the bearing on the outer wall of the moving groove and the threaded hole on one end surface of the moving block and is connected to the bearing on the inner wall of the moving groove.

[0015] The utility model is further configured that sliding grooves are arranged on the outer sides of the front and rear end surfaces of the storage groove, and sliding blocks are fixedly connected to the inner edges of the front and rear end surfaces of the limiting block.

[0016] The utility model is further configured that the sliding block is located inside the sliding groove, and a guide rod is installed at the center position of the inner wall of the limiting block.

[0017] The utility model is further configured that a spring is sleeved on the outer side of the outer wall of the guide rod, and the guide rod and the spring are both located between the inner wall of the receiving groove and the inner wall of the limiting block.

[0018] The utility model is further configured that a clamping groove is arranged on the inner side of the sleeve frame, the cross section of the clamping groove is L-shaped, and a pressing plate is arranged on the outer side of the sleeve frame.

[0019] The utility model is further configured that a connecting rod is fixedly connected to the center position of the inner wall of the pressing plate, and the other end of the connecting rod passes through a through hole on the outer wall of the sleeve frame and is connected to the extrusion block.

[0020] The utility model has the following beneficial effects:

[0021] The utility model sets a limit assembly and a convenient disassembly assembly, and the push plate can push the extrusion block to apply force to the limit block under the action of the connecting rod, and can apply force to the limit blocks on all sides at the same time, and can drive the limit block to move under the action of the elastic performance of the spring, so as to facilitate the staff to quickly disassemble and replace the joint motor body, save time and effort, and have high work efficiency. It solves the problem that the above-mentioned multi-joint robot direct-drive motor installation structure realizes the rapid installation of the direct-drive motor through the reciprocating screw rod, installation block and other structures in the installation mechanism during use, while this method has complicated steps during the operation of the staff, is time-consuming and labor-intensive, and cannot achieve rapid disassembly and assembly, resulting in low work efficiency.

[0022] The utility model provides an adjustment component to apply force to the turntable to drive the threaded rod to rotate, and then the position of the moving block can be adjusted under the action of the thread, so that the position of the upper limit plate and the limit component on the outer wall can be adjusted, and then corresponding adjustments can be made according to the size and size of the joint motor body and the position of the mounting hole, thereby increasing the scope of application and solving the problem that the above-mentioned multi-joint robot direct-drive motor mounting structure is limited after the direct-drive motor is installed in the mounting groove during use, but this method cannot replace motors of different models and sizes according to actual needs, resulting in a small scope of application.

[0023] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 The figure is a schematic diagram of the structure of a fixed structure of a humanoid robot joint motor.

[0026] Figure 2 This is a structural diagram of the upper limbs.

[0027] Figure 3 This is the structural diagram of the joint motor body.

[0028] Figure 4 This is a structural diagram of the adjustment component and the limit plate.

[0029] Figure 5 This is a disassembled diagram of the limit assembly.

[0030] Figure 6 The disassembly diagram is for easy removal of components.

[0031] Figure 7 This is a cross-sectional view of the frame.

[0032] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0033] 1-upper limb, 101-lower limb, 102-limiting groove, 102a-moving groove, 103-joint motor body, 103a-mounting hole, 104-limiting plate, 104a-moving block, 104b-sealing pad, 2-adjusting component, 201-turntable, 202-threaded rod, 3-limiting component, 301-insertion rod, 301a-storage groove, 301b-slide groove, 302-limiting block, 302a-slider, 303-guide rod, 304-spring, 4-easy-to-disassemble component, 401-frame, 401a-card slot, 402-telescopic rod, 403-pressing plate, 403a-connecting rod, 404-extrusion block. DETAILED DESCRIPTION

[0034] 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 of 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.

[0035] For specific embodiment 1, please refer to Figures 1 to 4 The utility model is a fixed structure of a joint motor of a humanoid robot, comprising an upper limb 1 and a lower limb 101 movably connected to the bottom end thereof, limiting grooves 102 are evenly spaced along the circumferential direction at the bottom of the front end surface of the upper limb 1, a moving groove 102a is arranged at the inner center position of the limiting groove 102, a limiting plate 104 is slidably connected to the inner part of the limiting groove 102, an adjusting component 2 is arranged inside the moving groove 102a; the adjusting component 2 comprises a turntable 201 and a threaded rod 202 installed at the center position of its inner wall.

[0036] Specifically, a joint motor body 103 is installed on the outer side of the front end face of the upper limb 1, and mounting holes 103a are opened at the four corners of the surface of the joint motor body 103. A moving block 104a is fixedly connected to the center position of the rear end face of the limiting plate 104, and a sealing gasket 104b is bonded to the front end face of the limiting plate 104. The other end of the threaded rod 202 passes through the bearing on the outer wall of the moving groove 102a and the threaded hole on one side end face of the moving block 104a, and is connected to the bearing on the inner wall of the moving groove 102a.

[0037] Furthermore, the joint motor body 103 is connected to the rotating part of the lower limb 101. This is the prior art and will not be elaborated on here. The moving block 104a is located inside the moving groove 102a. The sealing gasket 104b can improve the stability after installation with the joint motor body 103 to avoid shaking. The external thread on the outer wall of the threaded rod 202 is meshed with the internal thread in the wall of the threaded hole on one end face of the moving block 104a to play a transmission role.

[0038] The operation process of this embodiment is as follows: when replacing the joint motor body 103, if the replaced joint motor body 103 is different from the previous device model, size, etc., the position of the mounting hole 103a thereon may also be different. At this time, first rotate the turntable 201 on all sides, and the turntable 201 is driven by force to drive the threaded rod 202 to rotate, and the external thread on the outer wall of the threaded rod 202 is meshed with the internal thread in the threaded hole wall on one side end face of the moving block 104a. Therefore, when the threaded rod 202 rotates, it will drive the moving block 104a to move in the moving groove 102a, so that the position of the upper limit plate 104 and the limit assembly 3 on its outer wall can be adjusted, and then corresponding adjustments can be made according to the size and size of the joint motor body 103 and the position of the mounting hole 103a to increase the scope of application.

[0039] For specific embodiment 2, please refer to Figure 2 , Figure 4 , Figure 5 , Figure 6 and Figure 7 On the basis of the specific embodiment 1, what is different from the first embodiment is that: a limit component 3 and a convenient disassembly component 4 are provided, the limit component 3 includes an insertion rod 301 and a storage groove 301a arranged at the outer end of the outer wall on one side thereof, and a limit block 302 is installed on the inner and outer sides of the storage groove 301a; the convenient disassembly component 4 includes a sleeve frame 401 and a telescopic rod 402 installed on the outer walls on both adjacent sides thereof, and the telescopic end of the telescopic rod 402 is connected to the outer wall of the adjacent sleeve frame 401, which solves the problem that the existing multi-joint robot direct-drive motor installation structure realizes the rapid installation of the direct-drive motor through the reciprocating screw rod, installation block and other structures in the installation mechanism when in use, while this method is relatively cumbersome in the operation process of the staff, time-consuming and labor-intensive, and cannot achieve rapid disassembly and assembly, resulting in low work efficiency.

[0040] Specifically, sliding grooves 301b are provided on the outer sides of the front and rear end surfaces of the storage groove 301a, and sliding blocks 302a are fixedly connected to the inner edges of the front and rear end surfaces of the limit block 302, and the sliding block 302a is located inside the sliding groove 301b. A guide rod 303 is installed at the center of the inner wall of the limit block 302, and a spring 304 is sleeved on the outer side of the outer wall of the guide rod 303. The guide rod 303 and the spring 304 are both located between the inner wall of the storage groove 301a and the inner wall of the limit block 302. A card slot 401a is provided on the inner side of the sleeve 401, and the cross-section of the card slot 401a is L-shaped. A pressing plate 403 is provided on the outer side of the sleeve 401, and a connecting rod 403a is fixedly connected to the center of the inner wall of the pressing plate 403. The other end of the connecting rod 403a passes through the through hole on the outer wall of the sleeve 401 and is connected with the extrusion block 404.

[0041] Furthermore, the size of the insertion rod 301 is smaller than the size of the mounting hole 103a, the cross section of the limit block 302 is trapezoidal, the sleeve frame 401 and the telescopic rod 402 are provided with four groups to achieve mutual connection, and the position of the sleeve frame 401 can be expanded inwardly or outwardly under the action of the telescopic rod 402, and the limit block 302 can be assisted in movement under the action of the slider 302a and the slide groove 301b, and play a role in limiting. The guide rod 303 is retractable and plays a role in limiting the spring 304. The elastic properties can drive the limit block 302 to move. Four groups of pressure plates 403 are arranged according to the number of sleeve frames 401. In order to facilitate the extrusion of the pressure plates 403 on all sides, the adjacent pressure plates 403 can also be connected using a telescopic structure to achieve synchronous movement. The pressure plate 403 and the extrusion block 404 are connected by a connecting rod 403a to play a role in connecting transmission. An inclined surface is arranged on one side of the extrusion block 404, which can apply force to the limit block 302 when it moves, so that the limit block 302 moves to the inside of the storage groove 301a.

[0042] The operation process of this embodiment is as follows: when the joint of the humanoid robot needs to rotate, the joint motor body 103 can be used to realize the rotation of the lower limb 101 relative to the upper limb 1, and when the joint motor body 103 needs to be disassembled or replaced, the surrounding pressure plates 403 are first pushed inward, and the pressure plates 403 are moved by force and approach the outer wall of the sleeve frame 401, and the inner wall of the pressure plate 403 is connected to the extrusion block 404 through the connecting rod 403a, so when the pressure plate 403 moves, it will be The extrusion block 404 is driven downward to move inside the card slot 401a, and the extrusion block 404 squeezes the limit block 302 located on the inner side of the sleeve frame 401, and the limit block 302 is forced to move into the storage slot 301a under the limiting and guiding action of the slide slot 301b and the slider 302a, and squeeze the guide rod 303 and the spring 304. After the limit block 302 is completely received in the storage slot 301a, at this time, the limit block 302 can no longer affect the card slot 401a and the mounting hole 103a. The limiting effect is achieved, and then the joint motor body 103 and the sleeve frame 401 are removed as a whole, and then the joint motor body 103 can be replaced. Similarly, the installation is to first align the mounting hole 103a on the joint motor body 103 with the surrounding insertion rods 301 and insert them. At this time, the limiting block 302 is forced to move into the receiving groove 301a under the action of the slider 302a and the slide groove 301b, and squeeze the guide rod 303 and the spring 304. After the limiting block 302 is completely entered into the receiving groove 301a , the joint motor body 103 can be installed on the inner side of the insertion rod 301. At this time, the force on the limit block 302 disappears, and the limit block 302 is popped out under the elastic performance of the spring 304. In summary, the sleeve frame 401 is similarly sleeved on the outer side of the insertion rod 301, so that the limit block 302 can be used to limit and fix the sleeve frame 401 and the joint motor body 103, thereby facilitating the staff to quickly disassemble and replace the joint motor body 103, saving time and effort and improving work efficiency.

[0043] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0044] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A fixed structure of a joint motor of a humanoid robot, comprising an upper limb (1) and a lower limb (101) movably connected to the bottom end thereof, wherein the bottom end surface of the front end of the upper limb (1) is provided with limiting grooves (102) at even intervals along the circumferential direction, a movable groove (102a) is provided at the inner center position of the limiting groove (102), and a limiting plate (104) is slidably connected to the inner part of the limiting groove (102), characterized in that: An adjustment component (2) is arranged inside the movable groove (102a), a limit component (3) is arranged at the center of the front end surface of the limit plate (104), and a convenient disassembly component (4) is arranged outside the limit component (3); The adjustment assembly (2) comprises a rotating disk (201) and a threaded rod (202) installed at the center of the inner wall thereof; The limiting assembly (3) comprises an insertion rod (301) and a receiving groove (301a) arranged at the outer end of an outer wall of one side thereof, and a limiting block (302) is installed inside and outside the receiving groove (301a); The easily disassembled assembly (4) comprises a sleeve frame (401) and telescopic rods (402) mounted on two adjacent outer walls thereof, wherein the telescopic ends of the telescopic rods (402) are connected to the outer walls adjacent to the sleeve frame (401).

2. The fixing structure of the joint motor of a humanoid robot according to claim 1, characterized in that: A joint motor body (103) is installed on the outer side of the front end face of the upper limb (1), mounting holes (103a) are provided at four corners of the surface of the joint motor body (103), and a moving block (104a) is fixedly connected to the center position of the rear end face of the limiting plate (104).

3. The fixing structure of the joint motor of a humanoid robot according to claim 2, characterized in that: A sealing gasket (104b) is bonded to the front end surface of the limiting plate (104), and the other end of the threaded rod (202) passes through the bearing on the outer wall of the movable groove (102a) and the threaded hole on one end surface of the movable block (104a) to be connected to the bearing on the inner wall of the movable groove (102a).

4. The fixing structure of the joint motor of a humanoid robot according to claim 1, characterized in that: Slide grooves (301b) are provided on the outer sides of the front and rear end surfaces of the storage groove (301a), and sliding blocks (302a) are fixedly connected to the inner edges of the front and rear end surfaces of the limit block (302).

5. The fixing structure of the joint motor of a humanoid robot according to claim 4, characterized in that: The sliding block (302a) is located inside the sliding groove (301b), and a guide rod (303) is installed at the center of the inner wall of the limiting block (302).

6. The fixing structure of the joint motor of a humanoid robot according to claim 5, characterized in that: A spring (304) is sleeved on the outer side of the outer wall of the guide rod (303), and the guide rod (303) and the spring (304) are both located between the inner wall of the storage groove (301a) and the inner wall of the limit block (302).

7. The fixing structure of the joint motor of a humanoid robot according to claim 1, characterized in that: A card slot (401a) is provided on the inner side of the sleeve frame (401), the cross section of the card slot (401a) is L-shaped, and a pressing plate (403) is provided on the outer side of the sleeve frame (401).

8. The fixing structure of the joint motor of a humanoid robot according to claim 7, characterized in that: A connecting rod (403a) is fixedly connected to the center of the inner wall of the pressing plate (403), and the other end of the connecting rod (403a) passes through a through hole on the outer wall of the sleeve frame (401) and is connected to the extrusion block (404).

Images