A lightweight humanoid robot flexible joint actuator mechanism
By designing a lightweight humanoid robot flexible joint actuator mechanism that uses a single driver to control multiple joints, the weight increase problem caused by multiple drivers in the prior art is solved, flexible motion and balance stability are achieved, and the grasping range and use effect are improved.
Patent Information
- Application Number
- CN202421182078.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-28
- Publication Date
- 2025-04-11
- Estimated Expiration
- 2034-05-28
AI Technical Summary
The hand joints of existing humanoid robots require multiple drives to achieve flexible grasping, resulting in increased weight in the hands and arms, affecting the robot's body balance.
A lightweight humanoid robot flexible joint actuator mechanism is designed to control the flexible movement of each joint of the hand through a single driver, and to achieve the coordinated movement of multiple joints using a combined structure of connecting rods and jaws.
It realizes flexible movement of each joint of the hand, reduces the weight of the robot's hands, avoids the impact on the robot's body balance, and at the same time, adjusts the length of the knuckles and controls the grasping range, improving the use effect.
Smart Images
Figure CN222741463U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of humanoid robots, and specifically relates to a lightweight humanoid robot flexible joint actuator mechanism. Background Art
[0002] The humanoid robot flexible joint actuator is a key component for humanoid robots. It can make the robot's joints more flexible, thereby achieving more natural and smooth movements. By adopting a lightweight design, the overall weight of the robot is reduced. It also has high reliability and stability and can work for a long time in harsh environments.
[0003] Among them, humanoid robots have the most joints in their hands, and some robot hands need to be equipped with multiple drivers or actuators to achieve flexible grasping of the robot hands, which easily increases the weight of the robot hands and arms. If a slightly heavier object is grasped, the body is easily affected by the weight and becomes unbalanced. Utility Model Content
[0004] The purpose of this utility model is to provide a lightweight humanoid robot flexible joint actuator mechanism, which can control the flexible movement of each joint of the hand with a single driver, without setting a driver at each joint.
[0005] The technical solutions adopted in this utility are as follows:
[0006] A lightweight humanoid robot flexible joint actuator mechanism comprises a mounting seat, a connecting frame fixedly connected to the mounting seat, three first connecting rods evenly mounted on the top surface of the connecting frame, second connecting rods and third connecting rods are movably connected to the side walls of the first connecting rods respectively, the other ends of the second connecting rods and the third connecting rods are movably connected to the same movable rod, the movable rod is arranged in an L shape, fourth connecting rods and fifth connecting rods are movably connected to the two ends of the movable rod respectively, the other ends of the fourth connecting rods and the fifth connecting rods are movably connected to clamps, and a driving assembly is arranged at the center of the top of the mounting seat.
[0007] The top of the connecting frame is evenly equipped with three supports, and the center of the side wall of the first connecting rod and the third connecting rod are movably connected to the supports.
[0008] The driving assembly includes a driver fixedly mounted on the top of the mounting seat, a screw rod fixedly connected to the output shaft of the driver, a screw sleeve threadedly connected to the side wall of the screw rod, three adapter plates evenly and movably connected to the side wall of the screw sleeve, and the other end of the adapter plate is movably connected to one end of the first connecting rod.
[0009] The side walls of the screw are located on both sides of the screw sleeve and are fixedly connected with two limiting plates.
[0010] The side wall of the limiting plate close to one side of the screw sleeve is respectively provided with a limiter.
[0011] The third connecting rod, the fourth connecting rod and the side wall of the clamping jaw are respectively fixedly connected with rubber pads.
[0012] The technical effects achieved by this utility model are:
[0013] The practical lightweight humanoid robot flexible joint actuator mechanism can control the flexible movement of each joint of the hand by a single driver through the interaction between the mounting seat, the first connecting rod, the clamping claw and the driving assembly, without setting a driver at each joint. On the one hand, the weight of the robot hand is reduced to achieve the purpose of lightweight without affecting the balance of the robot body. On the other hand, the grasping range of the hand can be controlled by setting the length of the finger joints of the hand, thereby improving its use effect. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a structural schematic diagram of this practical embodiment;
[0015] Figure 2 It is a partial structural schematic diagram of this practical embodiment;
[0016] Figure 3 It is a schematic diagram of the structure of the drive assembly of this practical embodiment.
[0017] In the accompanying drawings, the components represented by the reference numerals are listed as follows:
[0018] 1. Mounting seat; 2. Connecting frame; 3. First connecting rod; 4. Second connecting rod; 5. Third connecting rod; 6. Movable rod; 7. Fourth connecting rod; 8. Fifth connecting rod; 9. Clamping jaw; 10. Support; 11. Driver; 12. Screw rod; 13. Screw sleeve; 14. Adapter plate; 15. Limit plate; 16. Limiter; 17. Rubber pad. DETAILED DESCRIPTION
[0019] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with the embodiments. It should be understood that the following text is only used to describe one or several specific implementations of the present invention, and does not strictly limit the scope of protection specifically requested by the present invention.
[0020] like Figure 1-Figure 3As shown, a lightweight humanoid robot flexible joint actuator mechanism includes a mounting base 1, a connecting frame 2 is fixedly connected to the mounting base 1, three first connecting rods 3 are evenly mounted on the top surface of the connecting frame 2, the side walls of the first connecting rod 3 are respectively movably connected to the second connecting rod 4 and the third connecting rod 5, the other ends of the second connecting rod 4 and the third connecting rod 5 are movably connected to the same movable rod 6, the movable rod 6 is L-shaped, the two ends of the movable rod 6 are respectively movably connected to the fourth connecting rod 7 and the fifth connecting rod 8, the other ends of the fourth connecting rod 7 and the fifth connecting rod 8 are movably connected to the clamping claw 9, and a driving assembly is arranged at the top center of the mounting base 1.
[0021] Among them, the movable connection relationship between the first connecting rod 3 to the fifth connecting rod 8 can adopt other connection methods such as axial connection or hinge connection, as long as the connection can be rotated; in addition, the length and shape of the clamp 9 can be limited according to actual needs and adjusted according to different objects to be grasped.
[0022] like Figure 1 and Figure 2 As shown, three supports 10 are evenly mounted on the top of the connecting frame 2, and the center of the side wall of the first connecting rod 3 and the third connecting rod 5 are movably connected to the supports 10. The cross-sectional shape of the support 10 is U-shaped, and the middle position of the first connecting rod 3 is connected to the support 10, so that when the first connecting rod 3 is subjected to the force of the adapter plate 14, its other end can move in the opposite direction.
[0023] like Figure 2 and Figure 3 As shown, the driving assembly includes a driver 11 fixedly mounted on the top of the mounting base 1, a screw 12 is fixedly connected to the output shaft of the driver 11, a screw sleeve 13 is threadedly connected to the side wall of the screw 12, three adapter plates 14 are evenly and movably connected to the side wall of the screw sleeve 13, and the other end of the adapter plate 14 is movably connected to one end of the first connecting rod 3.
[0024] Among them, the driver 11 can adopt other types of motors such as servo motors and stepper motors, so as to control the operation of the driver 11 through control programs and sensing components; the control method of using a single driver 11 at the position of the robot hand can not only reduce production costs, but also reduce the weight of the hand, making the hand lightweight, and will not affect the overall balance of the robot when grabbing objects.
[0025] like Figure 3 As shown, the side walls of the screw rod 12 are located at both sides of the screw sleeve 13 and are fixedly connected with two limit plates 15. The limit plates 15 are close to the side walls of the screw sleeve 13 and are respectively provided with limiters 16.
[0026] Among them, the limit plate 15 is mainly used to block the screw sleeve 13 to prevent the screw sleeve 13 from being separated from the screw rod 12; secondly, the limiter 16 can adopt other forms of limiters 16 with limiting functions such as sensors, distance sensors, proximity switches, etc., and can also be replaced according to actual needs, so that the system can monitor the position of the screw sleeve 13 in real time.
[0027] like Figure 1 As shown, the third connecting rod 5, the fourth connecting rod 7 and the side wall of the clamping claw 9 are respectively fixedly connected with rubber pads 17. They are used to increase the friction between the robot hand and the object, and at the same time, they can also play a certain protective role on the object when applying force to grasp the object.
[0028] The working principle of the utility model is as follows: when it is necessary to drive the clamping jaws 9 to move, the driver 11 is first started to drive the screw 12 to rotate, the screw 12 drives the screw sleeve 13 to move upward, and at the same time, the distal end of the first connecting rod 3 is driven downward through the adapter plate 14, so that the second connecting rod 4 moves downward, and the top end of the third connecting rod 5 tilts outward, and the second connecting rod 4 pulls down the movable rod 6 to drive the fifth connecting rod 8 and the clamping jaws 9 to open outward. When the clamping jaws 9 grab the object, the driver 11 reverses and drives the screw sleeve 13 to move downward, thereby driving the clamping jaws 9 to contract inwardly, so as to apply a clamping force to the object and achieve the purpose of grabbing. A single driver 11 is used to drive multiple clamping jaws 9 to operate, so that the force between the clamping jaws 9 can be kept consistent.
[0029] The above is only a preferred embodiment of the present invention. It should be noted that, for ordinary technicians in the field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the field unless otherwise specified and limited.
Claims
1. A lightweight humanoid robot flexible joint actuator mechanism, characterized in that: The invention comprises a mounting seat (1), a connecting frame (2) being fixedly connected to the mounting seat (1), three first connecting rods (3) being evenly mounted on the top surface of the connecting frame (2), the side walls of the first connecting rod (3) being movably connected to the second connecting rod (4) and the third connecting rod (5), the other ends of the second connecting rod (4) and the third connecting rod (5) being movably connected to the same movable rod (6), the movable rod (6) being arranged in an L shape, the two ends of the movable rod (6) being movably connected to the fourth connecting rod (7) and the fifth connecting rod (8), the other ends of the fourth connecting rod (7) and the fifth connecting rod (8) being movably connected to the clamping claw (9), and a driving assembly being arranged at the top center of the mounting seat (1).
2. The lightweight humanoid robot flexible joint actuator mechanism according to claim 1, characterized in that: The top of the connecting frame (2) is evenly equipped with three supports (10), and the center of the side wall of the first connecting rod (3) and the third connecting rod (5) are both movably connected to the supports (10).
3. The lightweight humanoid robot flexible joint actuator mechanism according to claim 1, characterized in that: The driving assembly comprises a driver (11) fixedly mounted on the top of the mounting seat (1); a screw rod (12) is fixedly connected to the output shaft of the driver (11); a screw sleeve (13) is threadedly connected to the side wall of the screw rod (12); three adapter plates (14) are evenly and movably connected to the side wall of the screw sleeve (13); and the other ends of the adapter plates (14) are movably connected to one end of the first connecting rod (3).
4. The lightweight humanoid robot flexible joint actuator mechanism according to claim 3, characterized in that: The side walls of the screw rod (12) are located on both sides of the screw sleeve (13) and are fixedly connected to two limit plates (15).
5. The lightweight humanoid robot flexible joint actuator mechanism according to claim 4, characterized in that: The side walls of the limiting plate (15) close to the screw sleeve (13) are respectively provided with limiters (16).
6. The lightweight humanoid robot flexible joint actuator mechanism according to claim 1, characterized in that: The third connecting rod (5), the fourth connecting rod (7) and the side wall of the clamping jaw (9) are respectively fixedly connected with rubber pads (17).