Multi-dimensional rotational bionic shoulder joint and bionic robot thereof
By designing a multi-dimensional rotation of bionic shoulder joint, the rotation of the spherical spindle and countershaft and the driving of a linear actuator, the problem of inflexible movement of the existing humanoid robot is solved, and efficient multi-dimensional movement is achieved, which is in line with the movement trajectory of the human shoulder.
Patent Information
- Application Number
- CN202421367463.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-14
- Publication Date
- 2025-04-04
- Estimated Expiration
- 2034-06-14
AI Technical Summary
Existing humanoid robots cannot achieve flexible and efficient movements such as human muscles and joints, and the shoulder joints can only undergo simple rotational movements, and cannot be as free and smooth as the human body.
A multi-dimensional rotation bionic shoulder joint is designed, including the main seat, base, spindle, countershaft and linear actuator. Through the rotation of the spherical spindle and countershaft and the driving of the linear actuator, multi-dimensional movement of the human joint is simulated.
It realizes flexible and efficient movements such as human muscles and joints, and can perform complex rotational movements. During movement and movement, the movement and course trajectory are as smooth as the human body.
Smart Images
Figure CN222712185U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of bionic robots, and in particular to a multi-dimensional rotating bionic shoulder joint and a bionic robot thereof. Background Art
[0002] Humanoid robots adopt the external shape and external motion characteristics of human-like head, neck, shoulder and shoulder joint, arm, hip joint and leg. In order to realize the human walking function and arm grasping and other functions, the research and development of the external motion function of humanoid robots is mainly focused on the engineering realization and motion control of the joints related to the arms and legs, which include shoulder joints, elbow joints, wrist joints, hip joints, knee joints and ankle joints, among which the shoulder joint is more important and complex. Taking the human shoulder joint as an example, it can control the arm to swing forward or backward, left (or right) sideways, and the range of motion can reach 90 degrees or more. In addition, the arm can swing forward or backward in any direction with the shoulder joint as the axis point, and can also make a small angle rotation around the axis of the upper arm bone.
[0003] However, the existing humanoid robots only imitate the human appearance, but lack the extremely important component structure and function mode of the main joints of humans. This does not conform to the principles and purposes of bionics. Humanoid robots that use rotating parts on the shoulder joints cannot achieve flexible and efficient movements like human muscles and joints. The shoulder joints can only perform simple rotational movements. When exercising and moving, their movements and route trajectories cannot be as smooth and free as those of the human body. Utility Model Content
[0004] In view of this, the present application proposes a multi-dimensional rotating bionic shoulder joint and a bionic robot thereof, which are more in line with the movement trajectory of the human arm.
[0005] According to one aspect of the present application, a multi-dimensional rotating bionic shoulder joint and a bionic robot thereof are provided, comprising: a main seat, the main seat being a plate-like structure with a preset thickness, a main axis rotating groove being provided at the center position of the side surface of the bottom end, and a plurality of secondary axis rotating grooves being provided along the circumferential direction of the main axis rotating groove, and the interval angles of two adjacent secondary axis rotating grooves being equal;
[0006] A base, the base is a plate-like structure, a main shaft fixing hole is provided at the center, a plurality of rotating parts are provided along the circumferential direction of the main shaft fixing hole, and the interval angles of two adjacent rotating parts are equal;
[0007] A spindle, one end of which in the longitudinal direction is embedded in the spindle rotating groove and rotates around the opening direction of the spindle rotating groove, and the other end is detachably connected to the spindle fixing hole;
[0008] A secondary shaft and a linear actuator, wherein one end of the secondary shaft in the longitudinal direction is embedded in the secondary shaft rotation groove and rotates around the opening direction of the secondary shaft rotation groove, and the other end is connected to the linear actuator, and the linear actuator is rotationally connected to the rotating member on the base, and the linear actuator drives the secondary shaft to extend and retract relative to the linear actuator, thereby driving the secondary shaft and the main shaft to rotate in the circumferential direction;
[0009] A rotating shaft and a steering gear, wherein the rotating shaft is fixed to the top side surface of the main seat, and its length direction is parallel to the plate surface of the main seat, and one end of the rotating shaft in the length direction extends to be connected to the output end of the steering gear, driving the main seat to rotate around the rotating shaft.
[0010] In a possible implementation, a rotation shaft fixing hole is provided on the top side of the main seat, and the opening direction of the rotation shaft fixing hole is perpendicular to the plate surface of the main seat;
[0011] The rotating shaft matches the rotating shaft fixing hole, is embedded in the rotating shaft fixing hole and fixedly connected thereto, and one end in the length direction extends to the outside of the rotating shaft fixing hole.
[0012] In a possible implementation, the rotation angle of the main seat is in the range of 80 degrees to 120 degrees.
[0013] In a possible implementation, the number of the secondary shaft rotation grooves is 4, which are arranged at intervals along the circumferential direction of the primary shaft rotation groove on the bottom end side of the primary seat;
[0014] The rotating parts on the base correspond one to one with the secondary shaft rotating grooves on the main seat;
[0015] The spacing distance between the rotating member and the main shaft fixing hole is equal to the spacing distance between the secondary shaft rotation groove and the main shaft rotation groove.
[0016] In a possible implementation, the main shaft rotation groove and the secondary shaft rotation groove are both spherical groove structures;
[0017] One end of the spindle in the longitudinal direction is a spindle rolling end, and the other end is a spindle fixed end. The spindle rolling end of the spindle is a spherical structure, embedded in the spindle rotating groove and rotated, and the spindle fixed end of the spindle is connected to the spindle fixing hole on the base;
[0018] One end of the secondary shaft in the length direction is the secondary shaft rolling end, and the other end is the secondary shaft rotating end. The secondary shaft rolling end of the secondary shaft is a spherical structure, embedded in the internal rotation groove of the secondary shaft and rotates. The secondary shaft rotating end of the secondary shaft is rotationally connected to the rotating part on the base through a linear actuator.
[0019] In a possible implementation, the rotating end of the secondary shaft is connected to a push rod of the linear actuator, and the push rod drives the secondary shaft to reciprocate along the length direction of the secondary shaft.
[0020] In a possible implementation, the main seat baffle is also included: a main seat baffle; the main seat baffle is a plate-shaped structure with a preset thickness, and the plate surface of the main seat baffle is aligned with the bottom end side surface of the main seat, and is fixedly connected to the bottom end side surface of the main seat;
[0021] A main shaft mounting hole is provided at the center of the main seat baffle, and a plurality of secondary shaft mounting holes are provided along the circumferential direction of the main shaft mounting hole. The side wall of the main shaft mounting hole is preset with an arc that matches the rolling end of the main shaft, and the side wall of the secondary shaft mounting hole is preset with an arc that matches the rolling end of the secondary shaft;
[0022] The spacing angles of two adjacent secondary shaft mounting holes are equal, and the primary shaft mounting holes on the main seat baffle plate correspond to the primary shaft rotation grooves on the main seat, and the secondary shaft mounting holes on the main seat baffle plate correspond one to one to the secondary shaft rotation grooves on the main seat.
[0023] In a possible implementation, the thickness of the main seat baffle is in the range of 1 / 9-1 / 10 of the diameter of the rolling end of the main shaft.
[0024] A bionic robot, comprising the above-mentioned multi-dimensional rotating bionic shoulder joint, further comprising: a mounting bracket and a rotating bearing;
[0025] The mounting bracket is an "L"-shaped plate structure, suitable for being connected to the shoulder position of the bionic robot bracket, and one end of the mounting bracket is fixedly connected to the shoulder position of the bionic robot bracket, and the other end is provided with a bearing mounting hole facing the front of the bionic robot bracket;
[0026] The rotating bearing is arranged inside the bearing mounting hole, and the rotating shaft of the multi-dimensional rotating bionic shoulder joint extends at both ends, one end is rotatably connected to the rotating bearing, and the other end is connected to the output end of the steering gear.
[0027] In a possible implementation, there are two multi-dimensional rotating bionic shoulder joints, which are respectively arranged at two shoulder positions of the bionic robot support.
[0028] The beneficial effects of the multi-dimensional rotating bionic shoulder joint and the bionic robot of the embodiment of the present application are: it can realize flexible and efficient movement like human muscles and joints, and perform complex rotational movement. When performing movement and action, its movement and route trajectory are as smooth and free as the human body, and the overall structure is simple, replacing the traditional bionic shoulder joint that requires at least two selection actuators. Specifically, the convex bone and concave bone groove of the human joint are composed of a main shaft rolling end with a spherical structure and a main shaft rotation groove with a ball seat structure. The reliable connection of the joint is achieved through the convex main shaft rolling end and the concave main shaft rotation groove seat. The muscles around the human joint are simulated by 4 secondary shafts and 4 linear actuators. The push-pull movement of the 4 linear actuators simulates the tension generated by the expansion and contraction of the human joint muscles to control the multi-dimensional movement of the joint. In order to increase the forward and upward swing angle of the shoulder joint, a servo is configured on the outside of the inward position of the horizontal line of the main seat. It is directly connected to the main seat through a bearing. The rotation of the servo drives the main seat to rotate, thereby increasing the forward and upward swing angle of the shoulder joint, making the multi-dimensional rotating bionic shoulder joint more flexible and in line with the movement trajectory of the human shoulder.
[0029] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0030] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present application and, together with the description, serve to explain the principles of the present application.
[0031] Figure 1 A schematic diagram showing the rotation of the base of the multi-dimensional rotating bionic shoulder joint according to an embodiment of the present application;
[0032] Figure 2 A schematic side view of a multi-dimensional rotating bionic shoulder joint according to an embodiment of the present application is shown;
[0033] Figure 3 A schematic diagram showing the rotation of the main seat of the multi-dimensional rotating bionic shoulder joint according to an embodiment of the present application;
[0034] Figure 4 A bottom view schematic diagram showing a main seat of a multi-dimensional rotating bionic shoulder joint according to an embodiment of the present application;
[0035] Figure 5 A schematic top view of a multi-dimensional rotating bionic shoulder joint according to an embodiment of the present application is shown;
[0036] Figure 6 A schematic top view of a main seat baffle of a multi-dimensional rotating bionic shoulder joint according to an embodiment of the present application is shown;
[0037] Figure 7A bottom view schematic diagram showing a main seat baffle of a multi-dimensional rotating bionic shoulder joint according to an embodiment of the present application;
[0038] Figure 8 A schematic diagram showing a base of a multi-dimensional rotating bionic shoulder joint according to an embodiment of the present application;
[0039] Fig. 9 A schematic structural diagram of a multi-dimensional rotating bionic shoulder joint and a bionic robot thereof according to an embodiment of the present application is shown. DETAILED DESCRIPTION
[0040] Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.
[0041] Among them, it needs to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "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 utility model or 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 cannot be understood as a limitation on the utility model.
[0042] 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 one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0043] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.
[0044] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.
[0045] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 The multi-dimensional rotating bionic shoulder joint and the bionic robot of the embodiment of the present application include: the main seat 100 is a plate-like structure with a preset thickness, a main shaft groove 1011 is provided at the center position of the bottom side, and a plurality of secondary shaft grooves 1012 are provided along the circumferential direction of the main shaft groove 1011, and the interval angles of two adjacent secondary shaft grooves 1012 are equal; the base 160 is a plate-like structure, a main shaft 180 fixing hole is provided at the center position, and a plurality of rotating members 170 are provided along the circumferential direction of the main shaft 180 fixing hole, and the interval angles of two adjacent rotating members 170 are equal; one end of the main shaft 180 in the length direction is embedded in the inside of the main shaft groove 1011, and the opening around the main shaft groove 1011 The secondary shaft 100 is connected to the main seat 100 and the main seat 100 is provided with a rotation shaft 120 disposed on the main seat 100. The secondary shaft 100 is connected to the main seat 100 and the rotation shaft 120 is connected to the main seat 100. The rotation shaft 120 is connected to the main seat 100 and the rotation shaft 120 is connected to the main seat 100. The rotation shaft 120 is connected to the main seat 100 and the main seat 100 is provided with a rotation shaft 120 disposed on ...
[0046] In this embodiment, the multi-dimensional rotating bionic shoulder joint 1 of the present application can achieve flexible and efficient movement like human muscles and joints, and perform complex rotational movement. When performing movement and action, its movement and route trajectory are as smooth and free as the human body, and the overall structure is simple, replacing the traditional bionic shoulder joint that requires at least two selection actuators. Specifically, the convex bone and concave bone groove of the human joint are formed by a main shaft 180 rolling end with a spherical structure and a main shaft rotation groove 1011 with a ball seat structure. The reliable connection of the joint is achieved through the convex main shaft 180 rolling end and the concave main shaft rotation groove 1011 seat. The muscles around the human joint are simulated by 4 secondary shafts and 4 linear actuators 150. The push-pull movement of the 4 linear actuators 150 simulates the tension generated by the expansion and contraction of the human joint muscles to control the multi-dimensional movement of the joint. In order to increase the forward and upward swing angle of the shoulder joint, a servo is arranged outside the inward position of the horizontal line of the main seat 100, which is directly connected to the main seat 100 through a bearing. The rotation of the servo drives the main seat 100 to rotate, thereby increasing the forward and upward swing angle of the shoulder joint, making the multi-dimensional rotating bionic shoulder joint 1 more flexible and in line with the movement trajectory of the human shoulder.
[0047] It should be noted that the linear actuator 150 is a device that realizes linear motion through motor drive, and its structure generally includes components such as a motor, a reduction mechanism, and a guide rail. As an important driving device, the linear actuator 150 plays an important role in various fields of modern society. Therefore, the linear actuator 150 can be realized through existing technology and will not be elaborated here.
[0048] In a specific embodiment, a through-hole for fixing the rotating shaft 12 is provided on the top side of the main seat 100, and the opening direction of the hole for fixing the rotating shaft 12 is perpendicular to the plate surface of the main seat 100, and the rotating shaft 12 matches the hole for fixing the rotating shaft 12, and is embedded in the inside of the hole for fixing the rotating shaft 12 and fixedly connected, and one end of the rotating shaft 12 in the length direction extends to the outside of the hole for fixing the rotating shaft 12 and is connected to the steering gear. The rotation direction of the main seat 100 is relative to the direction of the left and right swing of the human arm.
[0049] In this embodiment, the rotation angle of the main seat 100 is in the range of 80 degrees to 120 degrees, of which the unilateral swing direction is 50 degrees, and the unilateral swing direction of the base 160 relative to the main seat 100 is 40 degrees, which is consistent with the left and right unilateral swing of the human arm within a range of 90 degrees.
[0050] In a specific embodiment, there are four secondary shaft grooves 1012, which are arranged at intervals along the circumferential direction of the main shaft groove 1011 on the bottom side of the main seat 100, and one main shaft groove 1011 is arranged around the center position, and the rotating member 170 on the base 160 corresponds to the secondary shaft groove 1012 on the main seat 100 one by one, and the spacing distance between the rotating member 170 and the fixing hole of the main shaft 180 is equal to the spacing distance between the secondary shaft groove 1012 and the main shaft groove 1011, which is used to simulate the bones and muscles of the arm. Specifically, the main shaft 180 simulates the humeral head of the human shoulder joint, which is mainly used to bear the downward gravity of the arm and support the free movement of the arm. The four secondary shafts and the corresponding four linear actuators 150 are connected to provide a force in a push-pull manner, so that the arm or the center of the spherical coordinates moves outward in a 360-degree direction around the center point.
[0051] In a specific embodiment, the main shaft groove 1011 and the secondary shaft groove 1012 are both spherical groove structures, and one end of the main shaft 180 in the length direction is the main shaft 180 rolling end, and the other end is the main shaft 180 fixed end. The main shaft 180 rolling end of the main shaft 180 is a spherical structure, embedded in the internal rotation of the main shaft groove 1011, and the main shaft 180 fixed end of the main shaft 180 is connected to the main shaft 180 fixing hole on the base 160, one end of the secondary shaft in the length direction is the secondary shaft rolling end, and the other end is the secondary shaft rotating end. The secondary shaft rolling end of the secondary shaft is a spherical structure, embedded in the internal rotation of the secondary shaft groove 1012, and the secondary shaft rotating end of the secondary shaft is rotatably connected to the rotating member 170 on the base 160 through the linear actuator 150. Among them, the secondary shaft controls the base 160 to rotate relative to the main seat 100 by connecting the linear actuator 150, and the main shaft 180 is a fixed length that limits the arm to only move 360 degrees outward with the rolling end of the main shaft 180 as the center under the action of the four linear actuators 150.
[0052] The main shaft 180 includes a rod body and a sphere. The rod body is detachably connected to the sphere through the threaded hole by extending on the sphere of the main shaft 180 and providing a threaded hole.
[0053] The threaded hole at the bottom end of the secondary shaft can be detachably connected to the push rod of the linear actuator 150 .
[0054] In a specific embodiment, the rotating end of the secondary shaft is connected to the push rod of the linear actuator 150, and the push rod drives the secondary shaft to reciprocate along the length direction of the secondary shaft. By driving different secondary shafts to move, the secondary shaft and the base 160 can rotate relative to the main seat 100.
[0055] In a specific embodiment, it also includes: a main seat 100 baffle; the main seat 100 baffle is a plate-like structure with a preset thickness, and the plate surface of the main seat 100 baffle is aligned with the bottom end side of the main seat 100, and is fixedly connected to the bottom end side of the main seat 100; a main shaft mounting hole 1013 is opened at the center of the main seat 100 baffle, and a plurality of secondary shaft mounting holes 1014 are arranged along the circumferential direction of the main shaft mounting hole 1013; the side wall of the main shaft mounting hole 1013 is preset with an arc that matches the rolling end of the main shaft 180; the side wall of the secondary shaft mounting hole 1014 is preset with an arc that matches the rolling end of the secondary shaft; the interval angles of two adjacent secondary shaft mounting holes 1014 are equal, and the main shaft mounting hole 1013 on the baffle of the main seat 100 corresponds to the main shaft rotating groove 1011 on the main seat 100, and the secondary shaft mounting hole 1014 on the baffle of the main seat 100 corresponds one-to-one to the secondary shaft rotating groove 1012 on the main seat 100. Specifically, the baffle of the main seat 100 is provided with one main shaft mounting hole 1013 corresponding to the rolling end of the main shaft 180 and four secondary shaft mounting holes 1014 corresponding to the rolling ends of the secondary shafts.
[0056] In this embodiment, the cross-sectional diameter of the rolling groove of the spindle 180 is slightly smaller than the diameter of the rolling end of the spindle 180 of the spherical structure, and the diameter of the spindle mounting hole 1013 provided on the plate surface of the spindle 180 baffle is slightly smaller than the diameter of the rolling end of the spindle 180 of the spherical structure, and the end face diameter of the spindle mounting hole 1013 is equal to the end face diameter of the rolling groove of the spindle 180 and the diameter of the rolling end of the spindle 180. In order to limit the rolling end of the spindle 180 of the spindle 180 between the main seat 100 and the baffle of the main seat 100. Among them, the inner circle and the outer circle of the two end faces of the upper spindle mounting hole 1013 of the spindle 180 baffle transition according to the curvature of the sphere surface, forming an arc surface identical to the placed sphere.
[0057] The thickness of the baffle of the main seat 100 is within the range of 1 / 9-1 / 10 of the diameter of the rolling end of the main shaft 180, so as to avoid the baffle of the main seat 100 excessively restricting the rotation of the main shaft 180 and the secondary shaft.
[0058] Example 1
[0059] There are four secondary shafts, including: a first secondary shaft 110, a second secondary shaft 120, a third secondary shaft 130 and a fourth secondary shaft 140. The first secondary shaft 110, the second secondary shaft 120, the third secondary shaft 130 and the fourth secondary shaft 140 are arranged in sequence in the circumferential direction of the main shaft 180, and the distance between two adjacent first secondary shafts 110, the second secondary shaft 120, the third secondary shaft 130 and the fourth secondary shaft 140 is equal, and the connecting lines form a square. Among them, the first secondary shaft 110 is located in front of the main shaft 180, the second secondary shaft 120 and the fourth secondary shaft 140 are respectively on the left and right sides of the main shaft 180, and the third secondary shaft 130 is located behind the main shaft 180.
[0060] Specifically, for the right arm of the bionic robot, 1. when the arm is swung forward, the lengths of the second sub-shaft 120 and the fourth sub-shaft 140 remain unchanged, and the linear actuator 150 on the first sub-shaft 110 moves toward the main seat 100, shortening the length of the first sub-shaft 110, so that the length of the first sub-shaft 110 is less than the length of the main shaft 180, and the linear actuator 150 on the third sub-shaft 130 moves away from the main seat 100, extending the length of the third sub-shaft 130, so that the length of the third sub-shaft 130 is greater than the length of the main shaft 180, thereby driving the base 160 to swing toward the front of the bionic robot. 2. When the arm is swung backward, the lengths of the second sub-shaft 120 and the fourth sub-shaft 140 remain unchanged, and the linear actuator 150 on the third sub-shaft 130 moves toward the main seat 100, shortening the length of the third sub-shaft 130 so that the length of the third sub-shaft 130 is less than the length of the main shaft 180, and the linear actuator 150 on the first sub-shaft 110 moves away from the main seat 100, extending the length of the first sub-shaft 110 so that the length of the first sub-shaft 110 is greater than the length of the main shaft 180, thereby driving the base 160 to swing toward the rear of the bionic robot. 3. When the arm is swung toward the right side, the lengths of the first sub-shaft 110 and the third sub-shaft 130 remain unchanged, and the linear actuator 150 on the second sub-shaft 120 moves toward the main seat 100, shortening the length of the second sub-shaft 120 so that the length of the second sub-shaft 120 is less than the length of the main shaft 180, and the linear actuator 150 on the fourth sub-shaft 140 moves away from the main seat 100, extending the length of the fourth sub-shaft 140 so that the length of the fourth sub-shaft 140 is greater than the length of the main shaft 180, thereby driving the base 160 to swing toward the right side of the bionic robot. 4. When the arm is swung toward the right front, the linear actuator 150 on the first sub-shaft 110 and the fourth sub-shaft 140 moves toward the main seat 100, shortening the length of the first sub-shaft 110 and the fourth sub-shaft 140, and the length of the first sub-shaft 110 and the length of the fourth sub-shaft 140 are less than the length of the main shaft 180, and the length of the first sub-shaft 110 is equal to the length of the fourth sub-shaft 140, and the linear actuator 150 on the second sub-shaft 120 and the third sub-shaft 130 moves away from the main seat 100, extending the length of the second sub-shaft 120 and the third sub-shaft 130, so that the length of the second sub-shaft 120 and the third sub-shaft 130 are greater than the length of the main shaft 180, and the length of the second sub-shaft 120 is equal to the length of the third sub-shaft 130, thereby driving the base 160 to swing toward the right front of the bionic robot.
[0061] A bionic robot comprises the above-mentioned multi-dimensional rotating bionic shoulder joint 1, a mounting bracket 10 and a rotating bearing 11. The mounting bracket 10 is an "L"-shaped plate structure, connected to the shoulder position of the bionic robot bracket 3, and one end of the mounting bracket 10 is fixedly connected to the shoulder position of the bionic robot bracket 3, and the other end is provided with a bearing mounting hole facing the front of the bionic robot bracket 3. The rotating bearing 11 is arranged inside the bearing mounting hole. The rotating shaft 12 of the multi-dimensional rotating bionic shoulder joint 1 extends at both ends, one end is rotatably connected to the rotating bearing 11, and the other end is connected to the output end of the servo, so that the multi-dimensional rotating bionic shoulder joint 1 can be driven to swing left and right, and cooperate with the swing angle of the base 160 relative to the main seat 100 to achieve the position of the bionic arm parallel to the shoulder after being raised.
[0062] Example 2
[0063] One end of the mounting bracket 10 is fixed relative to the shoulder position of the bionic robot, and the plate surface of this end is perpendicular to the height direction of the bionic robot, while the other end of the mounting bracket 10 faces the bottom of the bionic robot, so the plate surface of this end is parallel to the height direction of the bionic robot, and the bearing mounting hole opened corresponds to the front-back direction of the bionic robot. A rotating bearing 11 is provided inside the bearing mounting hole, and a rotating shaft 12 provided on the top of the main seat 100 is respectively connected to the output end of the rotating bearing 11 and the steering gear, and the steering gear drives the rotating shaft 12, thereby driving the main seat 100 to rotate in a direction away from the torso of the bionic robot, and the mounting bracket 10 and the rotating bearing 11 are used to cooperate with the steering gear to drive the main seat 100 to rotate, and the mounting bracket 10 is connected to the shoulder position of the bionic robot, which can bear the weight of the dimensional rotating bionic shoulder joint.
[0064] In this embodiment, there are two multi-dimensional rotating bionic shoulder joints 1, which are respectively arranged at two shoulder positions of the bionic robot support 3, corresponding to the left and right arms of the human body.
[0065] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.
Claims
1. A multi-dimensional rotating bionic shoulder joint, characterized in that: include: The main seat is a plate-like structure with a preset thickness, a main shaft groove is provided at the center of the bottom side, and a plurality of secondary shaft grooves are provided along the circumferential direction of the main shaft groove, and the interval angles of two adjacent secondary shaft grooves are equal; A base, the base is a plate-like structure, a main shaft fixing hole is provided at the center, a plurality of rotating parts are provided along the circumferential direction of the main shaft fixing hole, and the interval angles of two adjacent rotating parts are equal; A spindle, one end of which in the longitudinal direction is embedded in the spindle rotating groove and rotates around the opening direction of the spindle rotating groove, and the other end is detachably connected to the spindle fixing hole; A secondary shaft and a linear actuator, wherein one end of the secondary shaft in the longitudinal direction is embedded in the secondary shaft rotation groove and rotates around the opening direction of the secondary shaft rotation groove, and the other end is connected to the linear actuator, and the linear actuator is rotationally connected to the rotating member on the base, and the linear actuator drives the secondary shaft to extend and retract relative to the linear actuator, thereby driving the secondary shaft and the main shaft to rotate; A rotating shaft and a steering gear, wherein the rotating shaft is fixed to the top side surface of the main seat, and its length direction is parallel to the plate surface of the main seat, and one end of the rotating shaft in the length direction extends to be connected to the output end of the steering gear, driving the main seat to rotate around the circumferential direction of the rotating shaft.
2. The multi-dimensional rotation bionic shoulder joint according to claim 1, characterized in that: A rotation shaft fixing hole is provided on the top side of the main seat, and the opening direction of the rotation shaft fixing hole is perpendicular to the plate surface of the main seat; The rotating shaft matches the rotating shaft fixing hole, is embedded in the rotating shaft fixing hole and fixedly connected thereto, and one end in the length direction extends to the outside of the rotating shaft fixing hole.
3. The multi-dimensional rotation bionic shoulder joint according to claim 2, characterized in that: The rotation angle of the main seat is within the range of 80 degrees to 120 degrees.
4. The multi-dimensional rotation bionic shoulder joint according to any one of claims 1 to 3, characterized in that: There are four secondary shaft rotation grooves, which are arranged at intervals along the circumferential direction of the primary shaft rotation groove on the bottom end side of the primary seat; The rotating parts on the base correspond one to one with the secondary shaft rotating grooves on the main seat; The spacing distance between the rotating member and the main shaft fixing hole is equal to the spacing distance between the secondary shaft rotation groove and the main shaft rotation groove.
5. The multi-dimensional rotation bionic shoulder joint according to claim 4, characterized in that: The main shaft rotation groove and the secondary shaft rotation groove are both spherical groove structures; One end of the spindle in the longitudinal direction is a spindle rolling end, and the other end is a spindle fixed end. The spindle rolling end of the spindle is a spherical structure, embedded in the spindle rotating groove and rotated, and the spindle fixed end of the spindle is connected to the spindle fixing hole on the base; One end of the secondary shaft in the length direction is the secondary shaft rolling end, and the other end is the secondary shaft rotating end. The secondary shaft rolling end of the secondary shaft is a spherical structure, embedded in the internal rotation groove of the secondary shaft and rotates. The secondary shaft rotating end of the secondary shaft is rotationally connected to the rotating part on the base through a linear actuator.
6. The multi-dimensional rotation bionic shoulder joint according to claim 5, characterized in that: The rotating end of the secondary shaft is connected to the push rod of the linear actuator, and the push rod drives the secondary shaft to reciprocate along the length direction of the secondary shaft.
7. The multi-dimensional rotation bionic shoulder joint according to claim 5, characterized in that: Also includes: Main seat baffle; The main seat baffle is a plate-shaped structure with a preset thickness, and the plate surface of the main seat baffle is aligned with the bottom end side surface of the main seat, and is fixedly connected to the bottom end side surface of the main seat; A main shaft mounting hole is provided at the center of the main seat baffle, and a plurality of secondary shaft mounting holes are provided along the circumferential direction of the main shaft mounting hole. The side wall of the main shaft mounting hole is preset with an arc that matches the rolling end of the main shaft, and the side wall of the secondary shaft mounting hole is preset with an arc that matches the rolling end of the secondary shaft; The spacing angles of two adjacent secondary shaft mounting holes are equal, and the primary shaft mounting holes on the main seat baffle plate correspond to the primary shaft rotation grooves on the main seat, and the secondary shaft mounting holes on the main seat baffle plate correspond one to one to the secondary shaft rotation grooves on the main seat.
8. The multi-dimensional rotational bionic shoulder joint according to claim 7, characterized in that: The thickness of the main seat baffle is within the range of 1 / 9-1 / 10 of the diameter of the rolling end of the main shaft.
9. A bionic robot, comprising the multi-dimensional rotational bionic shoulder joint according to any one of claims 1 to 8, characterized in that: Also includes: Bionic robot brackets, mounting brackets and rotating bearings; The mounting bracket is an "L"-shaped plate structure, connected to the shoulder of the bionic robot bracket, and one end of the mounting bracket is fixedly connected to the shoulder of the bionic robot bracket, and the other end is provided with a bearing mounting hole facing the front of the bionic robot; The rotating bearing is arranged inside the bearing mounting hole, and the rotating shaft of the multi-dimensional rotating bionic shoulder joint extends at both ends, one end is rotatably connected to the rotating bearing, and the other end is connected to the output end of the steering gear.
10. The bionic robot according to claim 9, characterized in that: There are two multi-dimensional rotating bionic shoulder joints, which are respectively arranged at two shoulder positions of the bionic robot support.