A detachable joint structure of a humanoid robot

Abstract

The utility model relates to the technical field of humanoid robots, in particular to a detachable joint structure of a humanoid robot, which is easy to install and disassemble, improves convenience, is easy to handle tripping in an emergency, and alarms to remind operators to perform maintenance; it includes a main body mechanism; it also includes two fixing mechanisms, two disassembling mechanisms, a driving mechanism, two emergency mechanisms and two auxiliary mechanisms, the two fixing mechanisms are installed in the main body mechanism, the two disassembling mechanisms are installed on the main body mechanism, the driving mechanism is installed on the main body mechanism, the two emergency mechanisms are installed on the main body mechanism, and the two auxiliary mechanisms are installed on the emergency mechanisms, the main body mechanism is easy to install and disassemble through the fixing mechanism, the disassembling mechanism disassembles the main body mechanism, the driving mechanism drives the main body mechanism, and the auxiliary mechanism assists the emergency mechanism in performing emergency handling when the main body mechanism is tripped.

Description

Technical Field

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

[0002] A humanoid robot, also known as a humanoid robot or a bionic man, is a robot designed to mimic human appearance and behavior. A "bionic robot" refers to a robot that imitates biological organisms and performs biological work. The development of "humanoid robots" will make up for the serious shortage of young labor, solve social problems such as family services and medical care in an aging society, and open up new industries and create new employment opportunities.

[0003] Existing humanoid robot joints, such as the prior art with application number CN201811510048.1, include a first connecting rod, an elbow drive device, a second connecting rod, a connecting piece, a connecting hole, a sliding mouth, a connecting plate, a rotating sleeve, a rotating rod, a slot, a handle, a stretching fixing sleeve and a pull rod, etc. When disassembling the robot elbow joint, the operation is to pull the two handles and then pull the two pull plates. At this time, the elbow drive device can be disengaged from the first connecting rod and the second connecting rod respectively.

[0004] However, when the robot arm is disengaged from the joint due to improper connection, the prior art is not convenient for emergency handling and reminding the operator to perform maintenance, which reduces its practicality. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a detachable joint structure of a humanoid robot which is easy to install and disassemble, improves convenience, facilitates emergency treatment of tripping, and alarms to remind operators to perform maintenance.

[0006] The utility model discloses a detachable joint structure of a humanoid robot, comprising a main body; also comprising two fixing mechanisms, two disassembling mechanisms, a driving mechanism, two emergency mechanisms and two auxiliary mechanisms, wherein the two fixing mechanisms are installed in the main body, the two disassembling mechanisms are installed on the main body, the driving mechanism is installed on the main body, the two emergency mechanisms are installed on the main body, and the two auxiliary mechanisms are installed on the emergency mechanisms, the main body is conveniently installed and disassembled through the fixing mechanisms, the disassembling mechanism disassembles the main body, the driving mechanism drives the main body, and the auxiliary mechanisms assist the emergency mechanisms to perform emergency treatment when the main body is tripped; the main body is conveniently installed and disassembled through the fixing mechanisms, and the convenience is improved, the disassembling mechanism disassembles the main body, the driving mechanism drives the main body, and the auxiliary mechanisms assist the emergency mechanisms to perform emergency treatment when the main body is tripped, and the operator is reminded to come for maintenance.

[0007] Preferably, the main body mechanism includes a first articulated arm, a second articulated arm, a first arm and a second arm, the first articulated arm is rotatably connected to the second articulated arm, the first arm is slidably installed in the first articulated arm, and the second arm is slidably installed in the second articulated arm; by opening the driving mechanism to drive the first articulated arm and the second articulated arm to rotate, the joint work of the bionic robot is facilitated.

[0008] Preferably, the fixing mechanism includes a fixing hole, two sliding plates, two locking blocks and a first spring, the two sets of fixing mechanisms are respectively installed on the first joint arm and the first arm and the second joint arm and the second arm, the fixing holes of the two fixing mechanisms are respectively installed on the first arm and the second arm, the first joint arm and the second joint arm are provided with chambers, the two sliding plates are slidably installed in the chambers, the two locking blocks are respectively installed on the two sliding plates, the first spring connects the two sliding plates, and the two locking blocks are slidably installed on the side walls of the chambers; when the first arm is to be installed on the first joint arm and the second arm is to be installed on the second joint arm, the first arm is slid on the first joint arm, and when the locking block is aligned with the fixing hole, the locking block is pushed into the fixing hole by the elasticity of the first spring, thereby completing the fixation and installation of the first joint arm and the first arm, and the second arm is installed on the second joint arm in the same way.

[0009] Preferably, the disassembly mechanism includes a fixed plate, a sliding rod, a first limiting plate, a second spring and a push plate, the fixed plate is installed in the fixing hole, the sliding rod is slidably installed on the fixed plate, the first limiting plate is installed on the outer end of the sliding rod, the second spring connects the first limiting plate and the fixed plate, and the push plate is installed on the inner end of the sliding rod; when the first arm and the second arm are to be disassembled, the first limiting plate is pressed to make the sliding rod slide on the fixed plate, thereby compressing the second spring, so that the push plate pushes the locking block into the cavity of the first joint arm and the second joint arm, and then the first arm and the second arm can be disassembled by sliding the first arm and the second arm.

[0010] Preferably, the driving mechanism includes a pull rod and a cylinder, the pull rod is installed on the first joint arm, one end of the cylinder is rotatably installed on the outer wall of the second joint arm, and the other end of the cylinder is rotatably installed on the pull rod; the pull rod is driven to rotate by driving the cylinder, and then the first joint arm is driven to rotate, thereby completing the driving of the joint.

[0011] Preferably, the emergency mechanism includes a sliding box, a slider, an auxiliary plate, a tension sensor and a fourth spring, two groups of emergency mechanisms are installed on the first arm and the second arm, the sliding box of one group of emergency mechanisms is installed on the first arm, the slider is slidably installed in the sliding box, the auxiliary plate is installed on the slider, the auxiliary plate is slidably installed on the side wall of the sliding box, the tension sensor is installed on the inner wall of the sliding box, the fourth spring connects the tension sensor and the slider, and a buzzer is provided on the side wall of the sliding box; when the connection between the first arm and the first joint arm or the second joint arm and the second arm is disengaged, the slider is driven to slide in the sliding box with the assistance of the auxiliary mechanism, thereby completing the emergency treatment, and then the fourth spring generates tension on the tension sensor, the tension is detected by the tension sensor, and then the tension sensor sends an electrical signal to control the buzzer alarm to remind the operator to come for maintenance.

[0012] Preferably, the auxiliary mechanism includes a through slot, a fixed slot, an auxiliary rod, a top plate, a fifth spring and a locking plate, a through slot of an auxiliary mechanism being installed on the first joint arm, the fixed slot being arranged on the first joint arm, the through slot being connected to the fixed slot, the through slot passing through the first joint arm, the auxiliary rod being slidably installed on the auxiliary plate, the top plate being installed on the top end of the auxiliary rod, the fifth spring connecting the top plate and the auxiliary plate, and the locking plate being installed on the bottom end of the auxiliary rod; by pressing the top plate, the auxiliary rod slides on the auxiliary plate until the locking plate passes through the through slot, and then the top plate is rotated until the locking plate is aligned with the fixed slot, the top plate is released, and the locking plate is clamped into the fixed slot for fixing by the elasticity of the locking plate, and when the connection between the first arm and the first joint arm or the second joint arm and the second arm is disengaged, the slider is driven to slide in the sliding box with the assistance of the auxiliary rod being clamped in the through slot, thereby completing the emergency treatment, and then the fourth spring generates a pulling force on the tension sensor, and the tension is detected by the tension sensor, and then the tension sensor sends an electrical signal to control the buzzer alarm to remind the operator to come for maintenance.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows: the fixing mechanism facilitates the installation and disassembly of the main mechanism, thereby improving convenience; the disassembly mechanism disassembles the main mechanism, the driving mechanism drives the main mechanism, the auxiliary mechanism assists the emergency mechanism to perform emergency processing when the main mechanism is tripped, and reminds the operator to come for maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a first axonometric structural schematic diagram of the utility model;

[0015] Figure 2 It is a second axonometric structural schematic diagram of the utility model;

[0016] Figure 3 It is a third axonometric structural schematic diagram of the utility model;

[0017] Figure 4 It is a front cross-sectional structural schematic diagram of the utility model;

[0018] Figure 5 It is a schematic diagram of the top-view cross-section axonometric structure of the utility model;

[0019] Figure 6 It is a front-view cross-sectional axonometric structural schematic diagram of the utility model;

[0020] Figure 7 The utility model Figure 5 A schematic diagram of the enlarged structure at A in the middle;

[0021] Figure 8 The utility model Figure 6 A schematic diagram of the enlarged structure at B in the middle;

[0022] Markings in the accompanying drawings: 01, main mechanism; 11, first joint arm; 12, second joint arm; 13, first arm; 14, second arm; 02, fixing mechanism; 21, fixing hole; 22, sliding plate; 23, locking block; 24, first spring; 03, disassembly mechanism; 31, fixing plate; 32, sliding rod; 33, first limit plate; 34, second spring; 35, push plate; 04, driving mechanism; 41, pull rod; 42, cylinder; 05, emergency mechanism; 51, sliding box; 52, slider; 53, auxiliary plate; 54, tension sensor; 55, fourth spring; 06, auxiliary mechanism; 61, through groove; 62, fixing groove; 63, auxiliary rod; 64, top plate; 65, fifth spring; 66, locking plate. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively below with reference to the relevant drawings. The utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.

[0024] Example 1

[0025] like Figure 2 and Figures 5 to 8 As shown, a detachable joint structure of a humanoid robot includes a main body mechanism 01, two fixing mechanisms 02, two disassembling mechanisms 03, a driving mechanism 04, two emergency mechanisms 05 and two auxiliary mechanisms 06, wherein the two fixing mechanisms 02 are installed in the main body mechanism 01, the two disassembling mechanisms 03 are installed on the main body mechanism 01, the driving mechanism 04 is installed on the main body mechanism 01, the two emergency mechanisms 05 are installed on the main body mechanism 01, and the two auxiliary mechanisms 06 are installed on the emergency mechanisms 05;

[0026] The fixing mechanism 02 facilitates the installation and disassembly of the main mechanism 01, the disassembly mechanism 03 disassembles the main mechanism 01, the driving mechanism 04 drives the main mechanism 01, and the auxiliary mechanism 06 assists the emergency mechanism 05 to perform emergency treatment when the main mechanism 01 is tripped;

[0027] The main body mechanism 01 includes a first joint arm 11, a second joint arm 12, a first arm 13 and a second arm 14. The first joint arm 11 is rotatably connected to the second joint arm 12. The first arm 13 is slidably installed in the first joint arm 11, and the second arm 14 is slidably installed in the second joint arm 12.

[0028] The fixing mechanism 02 includes a fixing hole 21, two sliding plates 22, two locking blocks 23 and a first spring 24. The two sets of fixing mechanisms 02 are respectively mounted on the first joint arm 11 and the first arm 13 and the second joint arm 12 and the second arm 14. The fixing holes 21 of the two fixing mechanisms 02 are respectively mounted on the first arm 13 and the second arm 14. The first joint arm 11 and the second joint arm 12 are provided with chambers. The two sliding plates 22 are slidably mounted in the chambers. The two locking blocks 23 are respectively mounted on the two sliding plates 22. The first spring 24 connects the two sliding plates 22. The two locking blocks 23 can be slidably mounted on the side walls of the chambers.

[0029] The disassembly mechanism 03 includes a fixed plate 31, a sliding rod 32, a first limit plate 33, a second spring 34 and a push plate 35. The fixed plate 31 is installed in the fixed hole 21, the sliding rod 32 is slidably installed on the fixed plate 31, the first limit plate 33 is installed at the outer end of the sliding rod 32, the second spring 34 connects the first limit plate 33 and the fixed plate 31, and the push plate 35 is installed at the inner end of the sliding rod 32;

[0030] The driving mechanism 04 includes a pull rod 41 and a cylinder 42. The pull rod 41 is mounted on the first articulated arm 11. One end of the cylinder 42 is rotatably mounted on the outer wall of the second articulated arm 12. The other end of the cylinder 42 is rotatably mounted on the pull rod 41.

[0031] The driving cylinder 42 drives the pull rod 41 to rotate, thereby driving the first joint arm 11 to rotate, thereby completing the driving of the joint. When the first arm 13 is to be installed on the first joint arm 11 and the second arm 14 is to be installed on the second joint arm 12, the first arm 13 is slid on the first joint arm 11. When the locking block 23 is aligned with the fixing hole 21, the locking block 23 is pushed into the fixing hole 21 by the elasticity of the first spring 24, thereby completing the fixing and installation of the first joint arm 11 and the first arm 13. The second arm 14 is installed on the second joint arm 12. Similarly, on the articulated arm 12, when the first arm 13 and the second arm 14 need to be disassembled, the first limit plate 33 is pressed to make the sliding rod 32 slide on the fixed plate 31, thereby compressing the second spring 34, so that the push plate 35 pushes the locking block 23 into the chamber of the first articulated arm 11 and the second articulated arm 12, and then the first arm 13 and the second arm 14 can be disassembled by sliding. The auxiliary mechanism 06 assists the emergency mechanism 05 to perform emergency processing when the main mechanism 01 is tripped, and reminds the operator to come for maintenance.

[0032] Example 2

[0033] like Figure 3 and Figure 8 As shown, a detachable joint structure of a humanoid robot includes a main body mechanism 01, two fixing mechanisms 02, two disassembling mechanisms 03, a driving mechanism 04, two emergency mechanisms 05 and two auxiliary mechanisms 06, wherein the two fixing mechanisms 02 are installed in the main body mechanism 01, the two disassembling mechanisms 03 are installed on the main body mechanism 01, the driving mechanism 04 is installed on the main body mechanism 01, the two emergency mechanisms 05 are installed on the main body mechanism 01, and the two auxiliary mechanisms 06 are installed on the emergency mechanisms 05;

[0034] The fixing mechanism 02 facilitates the installation and disassembly of the main mechanism 01, the disassembly mechanism 03 disassembles the main mechanism 01, the driving mechanism 04 drives the main mechanism 01, and the auxiliary mechanism 06 assists the emergency mechanism 05 to perform emergency treatment when the main mechanism 01 is tripped;

[0035] The emergency mechanism 05 includes a sliding box 51, a slider 52, an auxiliary plate 53, a tension sensor 54 and a fourth spring 55. Two groups of emergency mechanisms 05 are installed on the first arm 13 and the second arm 14. The sliding box 51 of one group of emergency mechanisms 05 is installed on the first arm 13, the slider 52 is slidably installed in the sliding box 51, the auxiliary plate 53 is installed on the slider 52, the auxiliary plate 53 is slidably installed on the side wall of the sliding box 51, the tension sensor 54 is installed on the inner wall of the sliding box 51, the fourth spring 55 connects the tension sensor 54 and the slider 52, and a buzzer is provided on the side wall of the sliding box 51;

[0036] The auxiliary mechanism 06 includes a through slot 61, a fixed slot 62, an auxiliary rod 63, a top plate 64, a fifth spring 65 and a locking plate 66. The through slot 61 of an auxiliary mechanism 06 is installed on the first joint arm 11, the fixed slot 62 is arranged on the first joint arm 11, the through slot 61 is communicated with the fixed slot 62, the through slot 61 passes through the first joint arm 11, the auxiliary rod 63 is slidably installed on the auxiliary plate 53, the top plate 64 is installed on the top end of the auxiliary rod 63, the fifth spring 65 connects the top plate 64 and the auxiliary plate 53, and the locking plate 66 is installed on the bottom end of the auxiliary rod 63;

[0037] The fixing mechanism 02 is used to facilitate the installation and disassembly of the main mechanism 01, thereby improving convenience. The disassembly mechanism 03 disassembles the main mechanism 01, and the driving mechanism 04 drives the main mechanism 01. By pressing the top plate 64, the auxiliary rod 63 slides on the auxiliary plate 53 until the lock plate 66 passes through the through slot 61. Then, the top plate 64 is rotated until the lock plate 66 is aligned with the fixing slot 62. The top plate 64 is released, and the lock plate 66 is inserted into the fixing slot 62 for fixing by the elasticity of the lock plate 66. When the connection between the first arm 13 and the first articulated arm 11 or the second articulated arm 12 and the second arm 14 is disengaged, the slider 52 is driven to slide in the sliding box 51 with the assistance of the auxiliary rod 63 stuck in the through slot 61, thereby completing the emergency treatment, and then the fourth spring 55 generates a pulling force on the tension sensor 54, and the tension is detected by the tension sensor 54. Then, the tension sensor 54 sends an electrical signal to control the buzzer alarm to remind the operator to come for maintenance.

[0038] like Figures 1 to 8As shown, a detachable joint structure of a humanoid robot of the utility model is provided. When working, the pull rod 41 is driven to rotate by driving the cylinder 42, and then the first joint arm 11 is driven to rotate, thereby completing the driving of the joint. When the first arm 13 is to be installed on the first joint arm 11 and the second arm 14 is to be installed on the second joint arm 12, the first arm 13 is slid on the first joint arm 11, and when the locking block 23 is aligned with the fixing hole 21, the locking block 23 is pushed into the fixing hole 21 by the elasticity of the first spring 24, thereby completing the fixation and installation of the first joint arm 11 and the first arm 13, and the second arm 14 is installed on the second joint arm 12. Similarly, when the first arm 13 and the second arm 14 are to be disassembled, the first limiting plate 33 is pressed, so that the sliding rod 32 slides on the fixing plate 31, thereby compressing the second spring 34, so that the pushing plate 35 pushes the locking block 23 into the first joint arm 11 and the second The first arm 13 and the second arm 14 can be disassembled by sliding the first arm 13 and the second arm 14, and the auxiliary rod 63 is made to slide on the auxiliary plate 53 by pressing the top plate 64 until the locking plate 66 passes through the through slot 61, and then the top plate 64 is rotated until the locking plate 66 is aligned with the fixing slot 62, and the top plate 64 is released, and the locking plate 66 is inserted into the fixing slot 62 for fixing by the elasticity of the locking plate 66. When the connection between the first arm 13 and the first articulated arm 11 or the second articulated arm 12 and the second arm 14 is disengaged, the slider 52 is driven to slide in the sliding box 51 with the help of the auxiliary rod 63 stuck in the through slot 61, thereby completing the emergency treatment, and then the fourth spring 55 generates a pulling force on the tension sensor 54, and the tension is detected by the tension sensor 54, and then the tension sensor 54 sends an electrical signal to control the buzzer alarm to remind the operator to come for maintenance.

[0039] The pull rod 41 and the tension sensor 54 of the utility model are purchased on the market, and technicians in the industry only need to install and operate them according to the accompanying instruction manuals, without the need for technicians in the field to make creative efforts.

[0040] The main functions achieved by the utility model are: during the working process of the humanoid robot, it is easy to install and disassemble, improves convenience, is easy to handle the tripping in an emergency, and alarms to remind the operator to repair.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A detachable joint structure of a humanoid robot, comprising a main body mechanism (01); characterized in that: It also includes two fixing mechanisms (02), two disassembling mechanisms (03), a driving mechanism (04), two emergency mechanisms (05) and two auxiliary mechanisms (06), wherein the two fixing mechanisms (02) are installed in the main mechanism (01), the two disassembling mechanisms (03) are installed on the main mechanism (01), the driving mechanism (04) is installed on the main mechanism (01), the two emergency mechanisms (05) are installed on the main mechanism (01), and the two auxiliary mechanisms (06) are installed on the emergency mechanisms (05); The fixing mechanism (02) facilitates installation and disassembly of the main mechanism (01); the disassembly mechanism (03) disassembles the main mechanism (01); the driving mechanism (04) drives the main mechanism (01); and the auxiliary mechanism (06) assists the emergency mechanism (05) to perform emergency treatment when the main mechanism (01) is tripped.

2. A detachable joint structure of a humanoid robot as claimed in claim 1, characterized in that: The main body mechanism (01) comprises a first joint arm (11), a second joint arm (12), a first arm (13) and a second arm (14); the first joint arm (11) is rotatably connected to the second joint arm (12); the first arm (13) is slidably installed in the first joint arm (11); and the second arm (14) is slidably installed in the second joint arm (12).

3. A detachable joint structure of a humanoid robot as claimed in claim 2, characterized in that: The fixing mechanism (02) comprises a fixing hole (21), two sliding plates (22), two locking blocks (23) and a first spring (24). The two sets of fixing mechanisms (02) are respectively mounted on the first joint arm (11) and the first arm (13) and the second joint arm (12) and the second arm (14). The fixing holes (21) of the two fixing mechanisms (02) are respectively mounted on the first arm (13) and the second arm (14). A chamber is provided in the first joint arm (11) and the second joint arm (12). The two sliding plates (22) are slidably mounted in the chamber. The two locking blocks (23) are respectively mounted on the two sliding plates (22). The first spring (24) connects the two sliding plates (22). The two locking blocks (23) can be slidably mounted on the side wall of the chamber.

4. A detachable joint structure of a humanoid robot as claimed in claim 3, characterized in that: The disassembly mechanism (03) comprises a fixed plate (31), a sliding rod (32), a first limiting plate (33), a second spring (34) and a push plate (35); the fixed plate (31) is installed in the fixing hole (21); the sliding rod (32) is slidably installed on the fixed plate (31); the first limiting plate (33) is installed on the outer end of the sliding rod (32); the second spring (34) connects the first limiting plate (33) and the fixed plate (31); and the push plate (35) is installed on the inner end of the sliding rod (32).

5. The detachable joint structure of a humanoid robot as claimed in claim 2, characterized in that: The driving mechanism (04) comprises a pull rod (41) and a cylinder (42), wherein the pull rod (41) is mounted on the first joint arm (11), one end of the cylinder (42) is rotatably mounted on the outer wall of the second joint arm (12), and the other end of the cylinder (42) is rotatably mounted on the pull rod (41).

6. The detachable joint structure of a humanoid robot as claimed in claim 2, characterized in that: The emergency mechanism (05) comprises a sliding box (51), a slider (52), an auxiliary plate (53), a tension sensor (54) and a fourth spring (55). Two groups of emergency mechanisms (05) are installed on a first arm (13) and a second arm (14). The sliding box (51) of one group of emergency mechanisms (05) is installed on the first arm (13), the slider (52) is slidably installed in the sliding box (51), the auxiliary plate (53) is installed on the slider (52), the auxiliary plate (53) is slidably installed on the side wall of the sliding box (51), the tension sensor (54) is installed on the inner wall of the sliding box (51), the fourth spring (55) connects the tension sensor (54) and the slider (52), and a buzzer is arranged on the side wall of the sliding box (51).

7. The detachable joint structure of a humanoid robot as claimed in claim 2, characterized in that: The auxiliary mechanism (06) comprises a through slot (61), a fixed slot (62), an auxiliary rod (63), a top plate (64), a fifth spring (65) and a locking plate (66). The through slot (61) of the auxiliary mechanism (06) is installed on the first joint arm (11), the fixed slot (62) is arranged on the first joint arm (11), the through slot (61) is connected with the fixed slot (62), the through slot (61) passes through the first joint arm (11), the auxiliary rod (63) is slidably installed on the auxiliary plate (53), the top plate (64) is installed at the top end of the auxiliary rod (63), the fifth spring (65) connects the top plate (64) and the auxiliary plate (53), and the locking plate (66) is installed at the bottom end of the auxiliary rod (63).

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