A joint structure of a humanoid robot

Abstract

The present application discloses a joint structure of a humanoid robot, and relates to the field of robot technology; the present application comprises: a thigh section, one end of which is constructed with a groove, a first rotating shaft is rotatably arranged on the opposite side of the inner wall of the groove, a transmission circular gear is fixedly arranged on the first rotating shaft, and a driving part for driving the first rotating shaft to rotate is arranged on the thigh section; a calf section, one end of which is constructed with a connecting seat, a second rotating shaft is fixedly arranged on the connecting seat, a driven circular gear meshing with the teeth of the transmission circular gear is fixedly arranged on the second rotating shaft, and a first mounting groove is passed through the thigh section; the arrangement of the first rotating shaft and the second rotating shaft of the present application enables the thigh section and the calf section to each have a rotating shaft, and the two are connected by the meshing transmission of the teeth of the transmission circular gear and the driven circular gear, ensuring that the calf section can imitate the rotation of the human body, and the second rotating shaft is connected to the thigh section by plug-in cooperation with the mounting hole, so that installation and disassembly are convenient, thereby improving practicality.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a joint structure of a humanoid robot. Background Art

[0002] A robot is an automated machine. The difference is that it has some intelligent capabilities similar to humans or creatures, such as perception, planning, movement and coordination. It is a highly flexible automated machine that can assist or even replace humans in completing dangerous, heavy and complex tasks, improve work efficiency and quality, serve human life, and expand the scope of human activities and capabilities.

[0003] A humanoid robot is a type of robot. A bipedal humanoid robot needs to perform human-like leg movements, so the design of the leg joints of the humanoid robot is particularly important. Usually, the robot's legs also include a thigh joint and a calf joint, and the thigh joint and the calf joint are connected by a rotating shaft. Through a transmission member, the calf joint can rotate along the rotating shaft, thereby imitating human walking. Since the thigh joint and the calf joint are connected by a transmission, the installation or disassembly process of the two is relatively cumbersome. Therefore, the present application proposes a joint structure of a humanoid robot. Utility Model Content

[0004] The purpose of the present application is to solve the problem that the connection joints between the thigh and the calf of existing humanoid robots are inconvenient to install and disassemble, and the present application provides a joint structure of a humanoid robot.

[0005] In order to achieve the above-mentioned purpose, this application specifically adopts the following technical solutions:

[0006] A joint structure of a humanoid robot, comprising:

[0007] A thigh section, one end of which is configured with a groove, a first rotating shaft is rotatably arranged on the opposite side of the inner wall of the groove, a transmission circular gear is fixedly arranged on the first rotating shaft, and a driving part for driving the first rotating shaft to rotate is arranged on the thigh section;

[0008] The calf joint has a connecting seat at one end, a second rotating shaft is fixedly provided on the connecting seat, a driven circular gear meshing with the teeth of the transmission circular gear is fixedly provided on the second rotating shaft, a first mounting groove is passed through the thigh joint, a sliding rod is connected to the opposite side of the inner wall of the first mounting groove, two sliding blocks are slidably sleeved on the sliding rod, the opposite sides of the two sliding blocks are connected to movable plates, and mounting holes are passed through the two movable plates, the two ends of the second rotating shaft are respectively plugged into the two mounting holes, and an adjusting member for adjusting the synchronous reverse sliding of the two sliding blocks is provided in the first mounting groove.

[0009] Furthermore, the adjusting member includes a bidirectional screw rod, which rotates and passes through opposite sides of the inner wall of the first mounting groove. Two sliders are respectively threadedly sleeved on the two ends of the bidirectional screw rod. A driven bevel gear is fixed on the bidirectional screw rod. A first motor is provided on the inner wall of the first mounting groove. A transmission bevel gear meshing with the teeth of the driven bevel gear is fixed on the output shaft of the first motor.

[0010] Furthermore, guide grooves connected to the grooves are provided on both sides of one end of the thigh section, and the two ends of the second rotating shaft are respectively plugged into and matched with the two guide grooves.

[0011] Furthermore, bearing sleeves are sleeved on both ends of the second rotating shaft, and the bearing sleeves are plug-fitted with the guide grooves and the mounting holes.

[0012] Furthermore, the ends of the two bearing sleeves close to each other are both constructed with limit stop rings, and the two limit stop rings are overlapped with the opposite sides of the inner wall of the groove respectively.

[0013] Furthermore, arc-shaped supporting plates are constructed on opposite sides of the two movable plates, and the two arc-shaped supporting plates are respectively plugged and matched with the two guide grooves.

[0014] Furthermore, both sides of the thigh section are provided with insertion holes, and the two movable plates are provided with insertion rods which are respectively plugged into and matched with the two insertion holes.

[0015] Furthermore, the driving part includes a worm wheel fixed on the first rotating shaft, a second mounting groove is opened on the thigh section, a second motor is arranged in the second mounting groove, and a worm gear meshing with the worm wheel is fixed on the output shaft of the second motor.

[0016] The beneficial effects of the present application are as follows: In the present application, the setting of the first rotating shaft and the second rotating shaft enables the thigh section and the calf section to each have a rotating shaft, and the two are connected through the tooth meshing transmission of the driving circular gear and the driven circular gear, ensuring that the calf section can imitate the rotation of the human body, and the second rotating shaft is connected to the thigh section by plug-in cooperation with the mounting hole, which makes installation and disassembly convenient, thereby improving practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural diagram of this application;

[0018] Figure 2 This is another perspective three-dimensional structure diagram of this application;

[0019] Figure 3 It is an exploded view of the three-dimensional structure of this application;

[0020] Figure 4 It is a sectional view of the three-dimensional structure of the present application;

[0021] Figure 5 This application Figure 2 Enlarged view of point A in the middle;

[0022] Figure 6 This application Figure 4 Enlarged view of point B in the middle;

[0023] : 1. thigh section; 2. groove; 3. first rotating shaft; 4. transmission circular gear; 5. driving part; 6. calf section; 7. second rotating shaft; 8. driven circular gear; 9. first mounting groove; 10. slide rod; 11. slider; 12. movable plate; 13. mounting hole; 14. adjusting member; 15. guide groove; 16. bearing sleeve; 17. limit stop ring; 18. socket; 19. plug rod; 20. arc support plate; 501. worm gear; 502. second mounting groove; 503. second motor; 504. worm; 1401. bidirectional screw; 1402. driven bevel gear; 1403. first motor; 1404. transmission bevel gear. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0025] like Figure 1-Figure 6 As shown, a joint structure of a humanoid robot proposed in one embodiment of the present application includes:

[0026] The thigh section 1 has a groove 2 at one end, a first rotating shaft 3 is rotatably arranged on the opposite side of the inner wall of the groove 2, a transmission circular gear 4 is fixedly arranged on the first rotating shaft 3, and a driving part 5 for driving the first rotating shaft 3 to rotate is arranged on the thigh section 1, and the first rotating shaft 3 is rotated by the driving part 5, so that the transmission circular gear 4 can be driven to rotate;

[0027] The calf section 6 has a connecting seat at one end, a second rotating shaft 7 is fixedly provided on the connecting seat, a driven circular gear 8 meshing with the teeth of the transmission circular gear 4 is fixedly provided on the second rotating shaft 7, the connecting seat is constructed as a U-shaped seat, the driven circular gear 8 is located in the notch of the U-shaped seat, a first mounting groove 9 is penetrated through the thigh section 1, a slide bar 10 is connected to the opposite side of the inner wall of the first mounting groove 9, two sliders 11 are slidably sleeved on the slide bar 10, and the opposite sides of the two sliders 11 are connected to movable plates 12, and the two movable The plate 12 is provided with mounting holes 13. Preferably, the movable plate 12 is constructed as an L-shaped plate, the lateral end of which slides through the inner wall of the first mounting groove 9 and is connected to the slider 11. The mounting hole 13 is provided on the vertical end. The two ends of the second rotating shaft 7 are respectively plugged into the two mounting holes 13. The first mounting groove 9 is provided with an adjusting member 14 for adjusting the synchronous reverse sliding of the two sliders 11. When installing the thigh section 1 and the calf section 6, the connecting seat of the calf section 6 is placed in the concave part of the thigh section 1. The first and second rotating shafts 3 are connected to each other by the first and second rotating shafts 3, 3 and 4, respectively, and the first and second rotating shafts 3 are connected to each other by the second and second rotating shafts 3. The first and second rotating shafts 3 are connected to each other by the first and second rotating shafts 3, 3 and 4, respectively, and the second and second rotating shafts 3 are connected to each other by the second and second rotating shafts 3.

[0028] like Figure 5As shown, in some embodiments, the adjusting member 14 includes a bidirectional screw rod 1401, which rotates and passes through the opposite sides of the inner wall of the first mounting groove 9, and the two sliders 11 are respectively threadedly sleeved on the two ends of the bidirectional screw rod 1401, and a driven bevel gear 1402 is fixedly arranged on the bidirectional screw rod 1401. The inner wall of the first mounting groove 9 is provided with a first motor 1403, and the output shaft of the first motor 1403 is fixedly provided with a transmission bevel gear 1404 meshing with the teeth of the driven bevel gear 1402. 03 does work, and its output shaft drives the transmission bevel gear 1404 to rotate, and through the meshing of the teeth of the transmission bevel gear 1404 and the driven bevel gear 1402, it drives the bidirectional screw rod 1401 to rotate. Under the action of the bidirectional thread and the sliding limit of the slide rod 10, it has achieved the effect of driving the two sliders 11 to slide in opposite directions synchronously, making adjustment convenient. At the same time, the cooperation between the slider 11 and the bidirectional screw rod 1401 thread is self-locking to ensure the stability of the connection between the thigh section 1 and the calf section 6.

[0029] like Figure 3 As shown, in some embodiments, both sides of one end of the thigh section 1 begin to have guide grooves 15 connected to the groove 2, and the two ends of the second rotating shaft 7 are respectively plugged into the two guide grooves 15. Preferably, the side of the guide groove 15 away from the port is constructed with an arc-shaped inner top, which is used to guide the installation of the calf section 6. When installing the calf section 6, the two ends of the second rotating shaft 7 are first inserted into the two guide grooves 15 respectively, and then the calf section 6 is moved so that the second rotating shaft 7 fits the arc-shaped inner top of the guide groove 15. In this state, the transmission circular gear 4 and the driven circular gear 8 are just meshed. At the same time, the center of the second rotating shaft 7 and the center of the mounting hole 13 are located on the same axis, so that after the two movable plates 12 are close to each other, the two ends of the second rotating shaft 7 can be smoothly inserted into the two mounting holes 13 respectively, thereby improving the convenience of installation.

[0030] like Figure 3 and Figure 6 As shown, in some embodiments, bearing sleeves 16 are provided at both ends of the second rotating shaft 7, and the bearing sleeves 16 are plugged into and matched with the guide groove 15 and the mounting hole 13. Through the setting of the bearing sleeves 16, when the second rotating shaft 7 is movably inserted into the guide groove 15 and the mounting hole 13, the guide groove 15 and the mounting hole 13 will not cause excessive friction resistance to the rotation of the second rotating shaft 7, thereby ensuring the smoothness of the rotation of the calf section 6.

[0031] like Figure 6As shown, in some embodiments, the ends of the two bearing sleeves 16 that are close to each other are constructed with limit stop rings 17, and the two limit stop rings 17 are respectively overlapped with the opposite sides of the inner wall of the groove 2. When the calf section 6 and the thigh section 1 are connected, the two limit stop rings 17 respectively abut against the opposite sides of the inner wall of the groove 2, which can limit the second rotating shaft 7 to avoid axial movement and displacement, and avoid friction between the connecting seat and the inner wall of the groove 2, thereby improving practicality.

[0032] like Figure 3 As shown, in some embodiments, arc-shaped support plates 20 are constructed on opposite sides of the two movable plates 12, and the two arc-shaped support plates 20 are respectively plugged into and matched with the two guide grooves 15. Through the constructed arc-shaped support plates 20, when the two movable plates 12 are close to each other, the arc-shaped support plates 20 are movably inserted into the guide grooves 15, and the arc-shaped support plates 20 cooperate with the arc-shaped inner tops of the guide grooves 15 to support and limit the second rotating shaft 7, so as to improve the stability of the connection between the thigh section 1 and the calf section 6.

[0033] like Figure 3 As shown, in some embodiments, sockets 18 are provided on both sides of the thigh section 1, and the two movable plates 12 are provided with insertion rods 19 respectively plugged into and mated with the two sockets 18. Through the opened sockets 18, when the two movable plates 12 are close to each other, the insertion rods 19 are movably inserted into the sockets 18 to improve the connection strength between the movable plates 12 and the thigh section 1, and further improve the connection stability between the thigh section 1 and the calf section 6.

[0034] like Figure 5 As shown, in some embodiments, the driving unit 5 includes a worm gear 501 fixedly mounted on the first rotating shaft 3, a second mounting groove 502 is opened on the thigh section 1, a second motor 503 is arranged in the second mounting groove 502, and an output shaft of the second motor 503 is fixedly provided with a worm 504 which is meshed with the worm gear 501. When the second motor 503 does work, its output shaft drives the worm 504 to rotate, and the meshing of the worm 504 and the worm wheel 501 is utilized to drive the first rotating shaft 3 to rotate.

[0035] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A joint structure of a humanoid robot, characterized in that: include: A thigh section (1) is provided with a groove (2) at one end thereof, a first rotating shaft (3) is rotatably arranged on the opposite side of the inner wall of the groove (2), a transmission circular gear (4) is fixedly arranged on the first rotating shaft (3), and a driving part (5) for driving the first rotating shaft (3) to rotate is arranged on the thigh section (1); The calf section (6) has a connecting seat at one end, a second rotating shaft (7) is fixedly provided on the connecting seat, a driven circular gear (8) meshing with the teeth of the transmission circular gear (4) is fixedly provided on the second rotating shaft (7), a first mounting groove (9) is passed through the thigh section (1), a slide bar (10) is connected to the opposite side of the inner wall of the first mounting groove (9), two sliders (11) are slidably sleeved on the slide bar (10), the opposite sides of the two sliders (11) are connected to movable plates (12), the two movable plates (12) are passed through with mounting holes (13), the two ends of the second rotating shaft (7) are respectively plugged into the two mounting holes (13), and an adjusting member (14) for adjusting the synchronous reverse sliding of the two sliders (11) is provided in the first mounting groove (9).

2. The joint structure of a humanoid robot according to claim 1, characterized in that: The adjusting member (14) comprises a bidirectional screw rod (1401), the bidirectional screw rod (1401) rotates and passes through opposite sides of the inner wall of the first mounting groove (9), two sliders (11) are respectively threadedly sleeved on the two ends of the bidirectional screw rod (1401), a driven bevel gear (1402) is fixedly provided on the bidirectional screw rod (1401), a first motor (1403) is provided on the inner wall of the first mounting groove (9), and a transmission bevel gear (1404) meshing with the teeth of the driven bevel gear (1402) is fixedly provided on the output shaft of the first motor (1403).

3. The joint structure of a humanoid robot according to claim 1, characterized in that: Guide grooves (15) communicating with the groove (2) are formed on both sides of one end of the thigh section (1), and the two ends of the second rotating shaft (7) are respectively plugged into and matched with the two guide grooves (15).

4. The joint structure of a humanoid robot according to claim 3, characterized in that: Both ends of the second rotating shaft (7) are sleeved with bearing sleeves (16), and the bearing sleeves (16) are plug-fitted into the guide groove (15) and the mounting hole (13).

5. The joint structure of a humanoid robot according to claim 4, characterized in that: A limit stop ring (17) is formed at one end of the two bearing sleeves (16) that is close to each other, and the two limit stop rings (17) are overlapped with opposite sides of the inner wall of the groove (2) respectively.

6. The joint structure of a humanoid robot according to claim 3, characterized in that: The two movable plates (12) are each constructed with an arc-shaped support plate (20) on opposite sides, and the two arc-shaped support plates (20) are respectively plugged into and matched with the two guide grooves (15).

7. The joint structure of a humanoid robot according to claim 1, characterized in that: Insertion holes (18) are provided on both sides of the thigh section (1), and insertion rods (19) are provided on the two movable plates (12) and are respectively plugged into and matched with the two insertion holes (18).

8. The joint structure of a humanoid robot according to claim 1, characterized in that: The driving part (5) comprises a worm wheel (501) fixedly mounted on the first rotating shaft (3); a second mounting groove (502) is provided on the thigh section (1); a second motor (503) is arranged in the second mounting groove (502); and a worm (504) is fixedly mounted on the output shaft of the second motor (503) and is in driving engagement with the worm wheel (501).

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