Push-pull rod joint mechanism used on arm wrist of humanoid robot
By designing the push-pull rod joint mechanism on the wrist of the robot arm, and using the suspension bracket assembly and pull rod to achieve vertical setting and front and back swing of the joint motor module, the problem of insufficient flexibility of the existing robot arm is solved, and the fineness of movement and structural compactness are improved.
Patent Information
- Application Number
- CN202421584628.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-05
- Publication Date
- 2025-04-11
- Estimated Expiration
- 2034-07-05
AI Technical Summary
The existing robot arm has complex structure and insufficient flexibility, especially the lack of wrist movement mechanism, which cannot cooperate with the finger joints to complete fine movements.
A push-pull rod joint mechanism is designed using the wrist of the humanoid robot arm, and the two joint motor modules are arranged vertically with the suspension bracket assembly, and the other joint motor module is driven to swing forward and backward through the tie rod.
It improves the flexibility of the robot arm, allowing it to complete more refined movements, and at the same time the overall structure is compact and easy to install.
Smart Images
Figure CN222741490U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of robot arms, and in particular relates to a push-pull rod joint mechanism used on the wrist of a humanoid robot arm. Background Art
[0002] For service robots, a suitable humanoid robot arm is crucial. The robot arm has the advantages of high precision and stability of the mechanical motion mechanism, strong adaptability to the human arm and good appearance. It can realize the behaviors that the human arm meets in structure but not in function, such as cyclic motion for a long time, sustained motion with long load, etc.; however, many existing robot arms have some shortcomings. The current robot arm structure is complex and not flexible enough. In particular, the existing robot arms do not take into account the movable mechanism of the wrist and cannot cooperate with the finger joints to complete more delicate movements. Utility Model Content
[0003] In order to solve the above technical problems, the purpose of the utility model is to provide a push-pull rod joint mechanism used in the wrist of a humanoid robot arm, which can make the robot arm more flexible.
[0004] In order to achieve the above utility model purpose, the utility model adopts the following technical solutions:
[0005] A push-pull rod joint mechanism used in the wrist of a humanoid robot arm, comprising a joint motor module, a pull rod and a suspension bracket assembly, wherein one end of the suspension bracket assembly is in a ring shape and is sleeved and fixed on the joint motor module, and the other end of the suspension bracket assembly is in a semicircular ring plate, and the two ends of the semicircular ring plate are rotatably connected to the two sides of another joint motor module. The suspension assembly makes the two joint motor modules perpendicular to each other, one end of the pull rod is connected to the output end of the joint motor module fixed in the fixing ring, and the other end is connected to the side wall of the other joint motor module.
[0006] As a preferred solution: the joint motor module is connected to the arc-shaped connecting plate through a rotating bracket assembly, and the rotating bracket assembly includes a fixed ring, which is sleeved and fixed on the joint motor module, and two rotating shaft columns with an interval of 180° are provided on the outer wall of the fixed ring, and the two rotating shaft columns are rotatably connected to the two ends of the arc-shaped connecting plate.
[0007] As a preferred solution: a connecting plate is also provided on the fixed ring, and the extension direction of the connecting plate is consistent with the axial direction of the joint motor module, one of the rotating shaft columns is arranged on the connecting plate, and a hinge column connected to the pull rod for rotation is also provided on one side of the rotating shaft column.
[0008] As a preferred solution: the output end of the joint motor module is rotatably connected to the pull rod through a connecting ring, there are two pull rods, which are 180° apart, and there are also two hinged columns, which are respectively located on both sides of the rotating shaft column.
[0009] As a preferred solution: the suspension bracket assembly includes two semi-arc hanging rings symmetrically arranged with each other, and each semi-arc hanging ring is composed of an integrally formed fixing ring and an arc-shaped connecting plate.
[0010] As a preferred solution: a plurality of wiring harness fixing installation holes are arranged at intervals on the arc-shaped connecting plate.
[0011] As a preferred solution: the output end of the joint motor module connected to the side wall and the pull rod is connected to a six-dimensional force sensor through a first connecting piece.
[0012] As a preferred solution: the first connecting member is L-shaped and includes two mutually perpendicular fixing plates, and the fixing plates are provided with wiring harness fixing member mounting holes.
[0013] The utility model arranges two joint motor modules perpendicularly to each other through a suspension bracket assembly, and the output end of one joint motor module drives the other joint motor module to swing back and forth through a pull rod, thereby improving flexibility, and the overall structure is compact and easy to install. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.
[0015] Figure 1 and Figure 2 It is a schematic diagram of the structure of the utility model at two different angles;
[0016] Figure 3 and Figure 4 It is a schematic diagram of the explosion structure of the utility model at two different angles;
[0017] Figure 5 It is a structural schematic diagram of the fixing ring and the arc-shaped connecting plate of the utility model;
[0018] Figure 6 It is a structural schematic diagram of a fixing collar and a connecting plate of the utility model.
[0019] The figures are marked as: 4, joint motor module; 5, first connecting part; 8, six-dimensional force sensor; 9, wiring harness fixing part mounting hole; 10, fixing ring; 11, arc-shaped connecting plate; 12, pull rod; 13, fixing ring; 14, connecting ring; 15, connecting plate; 151, hinge column; 16, rotating shaft column. DETAILED DESCRIPTION
[0020] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.
[0021] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.
[0022] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0023] 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, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.
[0024] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0025] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.
[0026] The utility model is further described below in conjunction with the accompanying drawings and embodiments:
[0027] like Figures 1 to 6 The push-pull rod joint mechanism shown is used in the wrist of a humanoid robot arm, including a joint motor module 4, a pull rod 12 and a suspension bracket assembly, one end of the suspension bracket assembly is in a ring shape, sleeved and fixed on the joint motor module 4, the other end of the suspension bracket assembly is in a semicircular ring plate, and the two ends of the semicircular ring plate are rotatably connected to the two sides of another joint motor module 4, the suspension bracket assembly makes the two joint motor modules 4 perpendicular to each other, one end of the pull rod 12 is connected to the output end of the joint motor module 4 fixed in the fixing ring, and the other end is connected to the side wall of the other joint motor module 4.
[0028] The above-mentioned suspension bracket assembly can be an integrally formed structure, or it can be designed into the following structure for easy installation: the suspension bracket assembly includes two semi-arc hanging rings symmetrically arranged with each other, each semi-arc hanging ring is composed of an integrally formed fixing ring 10 and an arc-shaped connecting plate 11; at the same time, in order to facilitate the arrangement of the wiring harness in the joint motor module, a plurality of wiring harness fixing mounting holes 9 are arranged at intervals on the arc-shaped connecting plate 11.
[0029] The joint motor module 4 is connected to the arc-shaped connecting plate 11 through a rotating bracket assembly, and the rotating bracket assembly includes a fixed ring 13, which is sleeved and fixed on the joint motor module 4. Two rotating shaft columns 16 with an interval of 180° are provided on the outer wall of the fixed ring 13, and the two rotating shaft columns 16 are rotatably connected to the two ends of the arc-shaped connecting plate 11.
[0030] The fixing ring 13 is also provided with a connecting plate 15 , the extension direction of which is consistent with the axial direction of the joint motor module 4 , a rotating shaft column 16 is arranged on the connecting plate 15 , and a hinge column 151 rotatably connected to the pull rod 12 is also provided on one side of the rotating shaft column 16 on the connecting plate 15 .
[0031] The output end of the joint motor module 4 is rotatably connected to the pull rod 12 through a connecting ring 14. There are two pull rods 12, which are 180° apart. There are also two hinge columns 151, which are respectively located on both sides of the shaft column 16. The output end of the joint motor module 4 whose side wall is connected to the pull rod 12 is connected to a six-dimensional force sensor 8 through a first connecting member 5. The first connecting member 5 is L-shaped and includes two mutually perpendicular fixing plates, and the fixing plates are provided with a wiring harness fixing mounting hole 9.
[0032] The utility model arranges two joint motor modules perpendicularly to each other through a suspension bracket assembly, and the output end of one joint motor module drives the other joint motor module to swing back and forth through a pull rod, thereby improving flexibility, and the overall structure is compact and easy to install.
[0033] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0034] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.
Claims
1. A push-pull rod joint mechanism used in the wrist of a humanoid robot, characterized in that: The invention comprises a joint motor module (4), a pull rod (12) and a suspension bracket assembly, wherein one end of the suspension bracket assembly is in a ring shape and is sleeved and fixed on the joint motor module (4), and the other end of the suspension bracket assembly is in a semicircular ring plate, and the two ends of the semicircular ring plate are rotatably connected to the two sides of another joint motor module (4). The suspension bracket assembly makes the two joint motor modules (4) perpendicular to each other, and one end of the pull rod (12) is connected to the output end of the joint motor module (4) fixed in the fixing ring, and the other end is connected to the side wall of the other joint motor module (4).
2. A push-pull rod joint mechanism used in the wrist of a humanoid robot according to claim 1, characterized in that: The joint motor module (4) is connected to the arc-shaped connecting plate (11) via a rotating bracket assembly, wherein the rotating bracket assembly comprises a fixing ring (13), wherein the fixing ring (13) is sleeved and fixed on the joint motor module (4), and wherein the outer wall of the fixing ring (13) is provided with two rotating shaft columns (16) spaced 180 degrees apart, and the two rotating shaft columns (16) are rotatably connected to the two ends of the arc-shaped connecting plate (11).
3. A push-pull rod joint mechanism used in the wrist of a humanoid robot according to claim 2, characterized in that: The fixing ring (13) is also provided with a connecting plate (15), the extension direction of which is consistent with the axial direction of the joint motor module (4), a rotating shaft column (16) is arranged on the connecting plate (15), and a hinge column (151) rotatably connected to the pull rod (12) is also provided on one side of the rotating shaft column (16) on the connecting plate (15).
4. A push-pull rod joint mechanism used in the wrist of a humanoid robot according to claim 3, characterized in that: The output end of the joint motor module (4) is rotatably connected to the pull rod (12) via a connecting ring (14). There are two pull rods (12) spaced 180 degrees apart. There are also two hinged columns (151), which are respectively located on both sides of the rotating shaft column (16).
5. The push-pull rod joint mechanism used in the wrist of a humanoid robot according to claim 1, characterized in that: The suspension bracket assembly comprises two semi-arc hanging rings which are symmetrically arranged with respect to each other, and each semi-arc hanging ring is composed of an integrally formed fixing ring (10) and an arc-shaped connecting plate (11).
6. A push-pull rod joint mechanism used in the wrist of a humanoid robot according to claim 5, characterized in that: A plurality of wiring harness fixing member installation holes (9) are arranged at intervals on the arc-shaped connecting plate (11).
7. A push-pull rod joint mechanism used in the wrist of a humanoid robot according to claim 1, characterized in that: The output end of the joint motor module (4) whose side wall is connected to the pull rod (12) is connected to a six-dimensional force sensor (8) via a first connecting member (5).
8. A push-pull rod joint mechanism used in the wrist of a humanoid robot according to claim 7, characterized in that: The first connecting member (5) is L-shaped and comprises two mutually perpendicular fixing plates, and the fixing plates are provided with wiring harness fixing member mounting holes (9).