Robot hip joint damping device
By designing a robotic hip shock absorbing device including a waist connection seat, a cushioning part and a leg connection seat, the problem that the hip joint cannot effectively cushion when facing impact force in the prior art is solved, and effective cushioning and power output of the hip joint are achieved.
Patent Information
- Application Number
- CN202421408557.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-19
- Publication Date
- 2025-03-21
- Estimated Expiration
- 2034-06-19
AI Technical Summary
When the existing robot hip joint faces a large reverse impact force, external impact or its own impact, the buffer device cannot effectively buffer, resulting in damage to the mechanical connection points and power output mechanism of the hip joint, destroying the normal power output curve.
A robotic hip shock absorber is designed, including a waist coupling seat, two buffers and two leg coupling seats. The buffer portion can be deformed and provides a buffering effect through cooperation with the waist coupling seat and the leg coupling seat.
Effectively buffer the stress of the hip joint, avoid damage to the mechanical connection points and power output mechanism, ensure the normal power output curve, and adapt to the transmission of various impact forces.
Smart Images
Figure CN222646163U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a robot hip joint shock absorbing device. Background Art
[0002] The bipedal humanoid robot is mainly composed of the head, upper body and lower body. When the bipedal humanoid robot walks, the weight of the head and upper body is transmitted to the ground through the two hip joints and legs, and the reverse impact force of the ground borne by the soles of the feet is transmitted to the upper body through the legs and hip joints. In the process of the head and upper body gravity being transmitted to the ground and the reverse impact force of the ground being transmitted upward through the soles of the feet, the hip joint becomes the key force point connecting the upper and lower parts.
[0003] Usually, a buffer device is installed at the bottom of the sole. When the reverse impact force from the ground is large, the buffer device has limited buffering effect on the hip joint. When the impact force comes from other external directions or the impact force comes from the robot itself, the buffer device cannot buffer the hip joint, and thus cannot effectively prevent the mechanical connection points and power output mechanism of the hip joint from being damaged, thus destroying the normal power output curve.
[0004] Therefore, how to effectively prevent the mechanical connection points and power output mechanism of the hip joint from being damaged becomes a technical problem that needs to be urgently solved by technical personnel in this field. Utility Model Content
[0005] The utility model provides a robot hip joint shock absorbing device, which is used to solve the problem of how to effectively prevent the mechanical connection points and power output mechanism of the hip joint from being damaged.
[0006] The utility model provides a robot hip joint shock absorbing device, comprising:
[0007] A waist connection seat, suitable for connecting with the waist of the robot;
[0008] There are two buffer parts, which are respectively installed on the bottom surface of the waist connecting seat and can be deformed respectively;
[0009] There are two leg connecting seats, which are installed on the bottom surface of the buffer part in a one-to-one correspondence with the two buffer parts, and are suitable for being connected with the two legs of the robot in a one-to-one correspondence.
[0010] In some of the embodiments, each buffer portion is a buffer cylinder with a vertical axis.
[0011] In some embodiments, each buffer portion includes:
[0012] Multiple springs have vertically arranged axes and are distributed in a circular array in their top-down projections. The top ends are respectively connected to the waist connecting seats, and the bottom ends are respectively connected to the leg connecting seats.
[0013] In some of the embodiments, each buffer portion is detachably connected to the waist connection seat and the leg connection seat.
[0014] In some of the embodiments, a connecting ring is formed on the top of each leg connecting seat; and a first mounting hole is respectively provided on the connecting ring, the buffer portion and the waist connecting seat.
[0015] In some embodiments, it also includes:
[0016] There are two buffer washers, which are attached to the bottom surface of the connecting ring in one-to-one correspondence with the two leg connecting seats; each buffer washers is also provided with a first mounting hole.
[0017] In some of the embodiments, two exhaust holes are provided on the waist connecting seat; the two exhaust holes are arranged vertically opposite to the two buffer parts one by one.
[0018] In some of the embodiments, a second mounting hole is formed in the middle of the waist connecting seat.
[0019] In some of the embodiments, a third mounting hole is formed in the middle portion of each leg connecting seat.
[0020] The beneficial effects of the utility model are as follows: the robot hip joint shock absorbing device of the utility model is provided with a waist connection seat, two buffer parts and two leg connection seats. When the bipedal humanoid robot is walking, the two buffer parts are deformed during the process of transmitting the gravity of the head and upper body to the ground and the reverse impact force of the ground is transmitted upward through the soles of the feet. The two buffer parts cooperate with the waist connection seat and the leg connection seat to buffer the force on the robot's hip joint. Even when the reverse impact force from the ground is large, the impact force comes from other external directions or the impact force comes from the robot itself, the robot hip joint shock absorbing device can still effectively buffer the force on the hip joint, thereby effectively avoiding damage to the mechanical connection points and power output mechanism of the hip joint, and ensuring a normal power output curve. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 It is a schematic structural diagram of some specific embodiments of a robot hip joint shock absorbing device of the utility model;
[0022] Figure 2 yes Figure 1 The schematic structural diagrams of some specific embodiments of the waist connecting seat in the robot hip joint shock absorbing device shown;
[0023] Figure 3 yes Figure 1 The schematic structural diagrams of some specific embodiments of the buffer part in the robot hip joint shock absorbing device are shown;
[0024] Figure 4 yes Figure 1 The schematic structural diagrams of some specific embodiments of the leg connecting seat in the robot hip joint shock absorbing device shown;
[0025] Figure 5 yes Figure 1 The schematic structural diagrams of some specific embodiments of the buffer washers in the robot hip joint shock absorbing device are shown;
[0026] Figure 6 yes Figure 1 The schematic diagram of the robot hip joint shock absorbing device in working state is shown.
[0027] In the accompanying drawings, 110, waist connecting seat; 111, first mounting hole; 112, exhaust hole; 113, second mounting hole; 120, buffer part; 130, leg connecting seat; 131, connecting ring; 132, third mounting hole; 140, buffer gasket; 200, waist of the robot; 300, leg of the robot. DETAILED DESCRIPTION
[0028] The technical solution of the utility model will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are 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.
[0029] As described in the background technology, a buffer device is usually installed at the bottom of the sole of the foot. When the reverse impact force from the ground is large, the buffer device has limited buffering effect on the hip joint. When the impact force comes from other external directions or the impact force comes from the robot itself, the buffer device cannot buffer the hip joint, and thus cannot effectively prevent the mechanical connection points and power output mechanism of the hip joint from being damaged, thereby destroying the normal power output curve. Therefore, how to effectively prevent the mechanical connection points and power output mechanism of the hip joint from being damaged has become a technical problem that needs to be solved urgently by technicians in this field.
[0030] To improve the above problems, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6The utility model provides a robot hip joint shock absorbing device, including a waist connection seat 110, two buffer parts 120 and two leg connection seats 130. The waist connection seat 110 is suitable for connecting with the waist 200 of the robot. The two buffer parts 120 are respectively installed on the bottom surfaces of the opposite ends of the waist connection seat 110, and can be deformed respectively. The two leg connection seats 130 are installed on the bottom surfaces of the buffer parts 120 in a one-to-one correspondence with the two buffer parts 120. The leg connection seat 130 is suitable for connecting with the legs 300 of the robot. In this way, when the bipedal humanoid robot is walking, the two buffer parts 120 are deformed in the process of transmitting the gravity of the head and upper body to the ground and the reverse impact force of the ground is transmitted upward through the soles of the feet, and cooperate with the waist connection seat 110 and the leg connection seat 130 to buffer the force on the hip joint of the robot. Even when the reverse impact force from the ground is large, the impact force comes from other external directions, or the impact force comes from the robot itself, the robot hip joint shock absorber can still effectively buffer the force on the hip joint, thereby effectively avoiding damage to the mechanical connection points and power output mechanism of the hip joint, and ensuring a normal power output curve.
[0031] Preferably, the waist connection seat 110 is an overall structure with arc-shaped ends and straight lines on two sides.
[0032] In some embodiments, each buffer portion 120 is a buffer cylinder with a vertical axis, and is made of a deformable material such as rubber or silicone. Since each buffer portion 120 is a hollow structure, it is easier to deform than a solid structure to achieve the purpose of buffering. Compared with other shapes, the stress points during the buffering process are relatively balanced. In addition, the side wall of the buffer cylinder may have wrinkles to facilitate better directional deformation of the buffer cylinder.
[0033] In other embodiments, each buffer part 120 includes a plurality of springs. The axes of the plurality of springs are vertically arranged, and the orthographic projection from top to bottom is distributed in a circular array, and the top ends are respectively connected to the waist connection seat 110, and the bottom ends are respectively connected to the leg connection seat 130, so as to buffer the forces in multiple directions and meet certain rigidity requirements.
[0034] Preferably, each buffer portion 120 is detachably connected to the waist connecting seat 110 and the leg connecting seat 130, respectively, so as to facilitate the disassembly, replacement and assembly of the robot hip joint shock absorbing device.
[0035] Preferably, a connection ring 131 is formed on the top of each leg connection seat 130, and the connection ring 131 can increase the contact area when the leg connection seat 130 is connected to the buffer portion 120, thereby improving the force condition and the stability of the connection. Figure 4As shown, 4, 5, 6, 7 or 8 first mounting holes 111 are arranged circumferentially on each connecting ring 131. Figure 3 As shown, 4, 5, 6, 7 or 8 first mounting holes 111 are also provided along the circumferential direction on each buffer portion 120. Figure 2 As shown, 4, 5, 6, 7 or 8 first mounting holes 111 are respectively provided at opposite ends of the waist connection seat 110. Bolts and nuts can be used to fix the connection ring 131, the buffer portion 120 and the waist connection seat 110 through the first mounting holes 111.
[0036] Preferably, the robot hip joint shock absorbing device further comprises two buffer washers 140. The two buffer washers 140 are attached to the bottom surface of the connecting ring 131 in a one-to-one correspondence with the two leg connecting seats 130. A first mounting hole 111 is also provided on each buffer washer 140 so that the buffer washer 140 can be fixedly mounted on the connecting ring 131 of the leg connecting seat 130. The buffer washers 140 can effectively reduce the wear between the nut and the connecting ring 131, thereby extending the service life of the leg connecting seat 130.
[0037] In order to facilitate the deformation of the buffer tube, an exhaust hole 112 is respectively opened at the opposite ends of the waist connecting seat 110. The two exhaust holes 112 are arranged vertically opposite to the two buffer parts 120. At the same time, the exhaust holes 112 enable the waist connecting seat 110 to achieve a lightweight design.
[0038] Preferably, a second mounting hole 113 is provided in the middle of the waist connection seat 110, and a fastener is used to fix the waist connection seat 110 and the waist 200 of the robot through the second mounting hole 113. A third mounting hole 132 is formed in the middle of each leg connection seat 130, and a thread is provided in the third mounting hole 132. The legs 300 of the robot are detachably connected to the leg connection seat 130 through the third mounting hole 132.
[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0041] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0042] In the present utility model, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean 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 present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0043] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.
Claims
1. A robot hip joint shock absorbing device, characterized in that: include: A waist connection seat, suitable for connecting with the waist of the robot; There are two buffer parts, which are respectively installed on the bottom surface of the waist connecting seat and can be deformed respectively; There are two leg connecting seats, which are installed on the bottom surface of the buffer part in a one-to-one correspondence with the two buffer parts, and are suitable for being connected to the two legs of the robot in a one-to-one correspondence.
2. The robot hip joint shock absorbing device according to claim 1, characterized in that: Each of the buffer parts is a buffer cylinder with a vertical axis.
3. The robot hip joint shock absorbing device according to claim 1, characterized in that: Each of the buffer portions comprises: A plurality of springs have vertically arranged axes and are distributed in a circular array in their top-down projections, with their top ends respectively connected to the waist connection seats and their bottom ends respectively connected to the leg connection seats.
4. The robot hip joint shock absorbing device according to any one of claims 1 to 3, characterized in that: Each of the buffer parts is detachably connected to the waist connecting seat and the leg connecting seat.
5. The robot hip joint shock absorbing device according to claim 4, characterized in that: A connecting ring is formed on the top of each leg connecting seat; and a first mounting hole is respectively arranged on the connecting ring, the buffer portion and the waist connecting seat.
6. The robot hip joint shock absorbing device according to claim 5, characterized in that: Also includes: There are two buffer washers, which are attached to the bottom surface of the connecting ring in a one-to-one correspondence with the two leg connecting seats; each of the buffer washers is also provided with the first mounting hole.
7. The robot hip joint shock absorbing device according to any one of claims 1 to 3, characterized in that: The waist connecting seat is provided with two exhaust holes; the two exhaust holes are arranged vertically opposite to the two buffer parts one by one.
8. The robot hip joint shock absorbing device according to any one of claims 1 to 3, characterized in that: A second mounting hole is provided in the middle of the waist connecting seat.
9. The robot hip joint shock absorbing device according to any one of claims 1 to 3, characterized in that: A third mounting hole is formed in the middle of each leg connecting seat.