Hip joint structure of simulation robot

Abstract

The utility model provides a simulation robot hip joint structure, which comprises a hip joint support, a first hip joint motor and a second hip joint motor, the hip joint support comprises a first side plate and a second side plate which are oppositely arranged, the first hip joint motor is fixedly arranged on the first side plate, and the second hip joint motor is fixedly arranged on the second side plate. A rotating shaft collinear with the axis of the output shaft of the first hip joint motor is rotationally arranged on the second side plate, a rotating frame is connected between the rotating shaft and the output shaft of the first hip joint motor, and the second hip joint motor is fixedly arranged on the rotating frame. The second hip joint motor is connected with the output shaft of the first hip joint motor and the rotating shaft through the rotating frame at the same time, double supporting of the second hip joint motor is achieved, and large impact force caused by a lower limb structure to the output shaft of the first hip joint motor in the movement process when the feet step on the ground is effectively dispersed; and the stability and durability of the whole hip joint structure are improved.

Description

Technical Field

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

[0002] With the rapid development of robotics technology, humanoid robots, as an important branch of it, have attracted much attention because of their ability to imitate human behavior, adapt to complex environments and perform diverse tasks. However, in the design of humanoid robots, the design and drive method of the lower limbs have always been one of the technical difficulties, which directly affects the stability, flexibility and durability of the robot.

[0003] At present, humanoid robots on the market generally face a common challenge: the overall weight of the robot is relatively large, especially the lower limbs, which are integrated with complex mechanical structures, motor modules and transmission devices, resulting in an overall mass that is too large. This weight distribution not only increases the energy consumption of the robot when it moves, but also creates a huge load pressure on the motor module at the hip joint of the lower limb when the robot performs dynamic movements such as walking, running or jumping. In particular, when the humanoid robot pushes the ground with its feet to generate propulsion, the ground reaction force is transmitted to the hip joint motor module through the foot and leg structure. The impact force generated in this process is often very large, which can easily cause damage to the hip joint motor module, thereby affecting the overall performance and service life of the robot. Utility Model Content

[0004] Based on this, the purpose of the utility model is to provide a simulated robot hip joint structure to solve the technical problems mentioned in the above background technology.

[0005] The utility model proposes a simulated robot hip joint structure, including a hip joint bracket, a first hip joint motor and a second hip joint motor, the hip joint bracket including a first side plate and a second side plate arranged opposite to each other, the first side plate being fixedly provided with the first hip joint motor, the second side plate being rotatably provided with a rotating shaft which is colinear with the axis center line of the output shaft of the first hip joint motor, a rotating frame being connected between the rotating shaft and the output shaft of the first hip joint motor, and the second hip joint motor being fixedly provided on the rotating frame.

[0006] Furthermore, the simulated robot hip joint structure, wherein the rotating frame includes a bearing base plate, and a surrounding plate arranged on the periphery of the bearing base plate, one side of the surrounding plate is provided with a fixing flange, and the other side is provided with an axial hole aligned with the fixing flange, a first rotating flange is provided on the output shaft of the first hip joint motor, the fixing flange is cooperatively connected to the first rotating flange, and the axial hole is cooperatively connected to the rotating shaft, so that the rotating frame is rotatably arranged between the first side plate and the second side plate.

[0007] Furthermore, the simulated robot hip joint structure, wherein a motor mounting groove is opened on the first side panel, a first opening is provided through the bottom of the motor mounting groove, a part of the first hip joint motor is installed in the motor mounting groove, and the first rotating flange is connected to the fixed flange through the first opening.

[0008] Furthermore, the simulated robot hip joint structure, wherein a second rotating flange is provided on the output shaft of the second hip joint motor, and a second opening aligned with the second rotating flange is provided on the bearing base plate, and when the second hip joint motor is assembled into the rotating frame, the enclosure plate is arranged to fit the peripheral side wall of the second hip joint motor, and the second rotating flange is exposed to the outside through the second opening.

[0009] Furthermore, the simulated robot hip joint structure, wherein the bearing base plate includes a first bearing surface and a second bearing surface arranged in a step manner, the first bearing surface and the second bearing surface are connected by a vertical surface, the second hip joint motor is installed on the first bearing surface, and a first bearing is provided on the second bearing surface, the outer ring of the first bearing is arranged to cooperate with the vertical surface, and the inner ring of the first bearing is arranged to cooperate with the second rotating flange.

[0010] Furthermore, in the simulated robot hip joint structure, the outer wall of the rotating shaft is provided with a shaft shoulder, and second bearings are respectively provided on both sides of the shaft shoulder, one of the second bearings is installed in the shaft hole, and the other second bearing is installed in the second side plate.

[0011] Furthermore, in the simulated robot hip joint structure, the hip joint support also includes a horizontal plate connected between the first side plate and the second side plate, and a connecting seat is provided on the horizontal plate.

[0012] Furthermore, in the simulated robot hip joint structure, the horizontal plate is combined with the first side plate and the second side edge to form a U-shaped structure as a whole.

[0013] Furthermore, the simulated robot hip joint structure, wherein the connecting seat includes a supporting portion fixed on the horizontal plate, and a rotating connecting portion connected to the supporting portion, wherein both the rotating connecting portion and the supporting portion are provided with a hollow structure, and a plurality of reinforcing ribs are arranged at intervals on the side walls of the supporting portion.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] The second hip joint motor is connected to the output shaft and the rotating shaft of the first hip joint motor through a rotating frame to achieve double support for the second hip joint motor, effectively dispersing the large impact force of the lower limb structure on the output shaft of the first hip joint motor when the foot pushes the ground during exercise, thereby improving the stability and durability of the entire hip joint structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a stereoscopic diagram of the hip joint structure of the simulation robot in the present utility model from the first viewing angle;

[0017] Figure 2 It is a stereoscopic diagram of the hip joint structure of the simulation robot in the utility model under the second viewing angle;

[0018] Figure 3 This is a front view of the hip joint structure of the simulation robot in the utility model;

[0019] Figure 4 It is a cross-sectional view of the hip joint structure of the simulation robot in the utility model;

[0020] Figure 5 for Figure 4 A partial enlarged schematic diagram of position A in the middle;

[0021] Description of main component symbols:

[0022] 510, hip joint bracket; 511, first side plate; 512, second side plate; 513, horizontal plate; 514, connecting seat; 5141, supporting part; 5142, rotating connecting part; 5143, hollow structure; 5144, reinforcing rib; 520, first hip joint motor; 521, rotating shaft; 530, rotating frame; 531, bearing bottom plate; 5311, first bearing surface; 5312, second bearing surface; 5313, vertical surface; 532, enclosure; 533, fixing flange; 534, shaft hole; 535, first rotating flange; 5111, motor mounting groove; 5112, first opening; 540, second hip joint motor; 541, second rotating flange; 542, second opening; 543, first bearing; 5211, shaft shoulder; 5112, second bearing;

[0023] The following specific implementation manner will further illustrate the present utility model in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0024] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention 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 present invention more thorough and comprehensive.

[0025] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0027] See also Figures 1 to 5 The simulated robot hip joint structure in the utility model includes a hip joint bracket 510, a first hip joint motor 520 and a second hip joint motor 540. The hip joint bracket 510 includes a first side plate 511 and a second side plate 512 arranged opposite to each other. The first hip joint motor 520 is fixed on the first side plate 511. The second side plate 512 is rotatably provided with a rotating shaft 521 that is colinear with the axis center line of the output shaft of the first hip joint motor 520. A rotating frame 530 is connected between the rotating shaft 521 and the output shaft of the first hip joint motor 520. The second hip joint motor 540 is fixed on the rotating frame 530.

[0028] The second hip joint motor 540 is connected to the output shaft and the rotating shaft 521 of the first hip joint motor 520 through the rotating frame 530 to achieve double support for the second hip joint motor 540, effectively dispersing the large impact force of the lower limb structure on the output shaft of the first hip joint motor 520 when the foot pushes the ground during exercise, thereby improving the stability and durability of the entire hip joint structure.

[0029] See also Figure 4 In this embodiment, the hip joint support 510 further includes a horizontal plate 513 connecting the first side plate 511 and the second side plate 512. The horizontal plate 513 forms a U-shaped structure in combination with the first side plate 511 and the second side edge. A connecting seat 514 is provided on the horizontal plate 513. The connecting seat 514 is used to cooperate with the driving motor connected to the waist of the simulation robot, so that the entire hip joint support 510 is driven by the waist driving motor to swing back and forth to simulate natural gaits such as walking and running.

[0030] In addition, it is worth mentioning that the U-shaped structural design of the hip joint bracket 510 not only provides support for the double support of the second hip joint motor 540, but also effectively protects the second hip joint motor 540 from external impacts in different directions, thereby ensuring the stability of the robot's movement process.

[0031] See also Figure 2 , Figure 4 and Figure 5 The rotating frame 530 includes a bearing base plate 531 and a surrounding plate 532 arranged on the periphery of the bearing base plate 531, a fixing flange 533 is provided on one side of the surrounding plate 532, and an axial hole 534 aligned with the fixing flange 533 is provided on the other side, a first rotating flange 535 is provided on the output shaft of the first hip joint motor 520, the fixing flange 533 is cooperatively connected to the first rotating flange 535, and the axial hole 534 is cooperatively connected to the rotating shaft 521, so that the rotating frame 530 is rotatably arranged between the first side plate 511 and the second side plate 512.

[0032] See also Figure 4 In this embodiment, a motor mounting groove 5111 is provided on the first side plate 511, and a first opening 5112 is provided at the bottom of the motor mounting groove 5111. A part of the first hip joint motor 520 is installed in the motor mounting groove 5111, and the first rotating flange 535 passes through the first opening 5112 to connect with the fixed flange 533. The shape and size of the motor mounting hole and the first opening 5112 can be adaptively adjusted according to the size profile of the first hip joint motor 520, and this embodiment is only an example and not a limitation.

[0033] In this embodiment, the assembly of the rotating frame 530 on the hip joint support 510 can refer to the following steps: first, connect the axial hole 534 on one side of the rotating frame 530 to the rotating shaft 521 on the second side plate 512, and then assemble the first hip joint motor 520 on the first side plate 511, and ensure that the first rotating flange 535 of the first hip joint motor 520 is aligned with the fixed flange 533, and finally connect the fixed flange 533 and the first rotating flange 535 by bolts.

[0034] Also, see Figure 2 The output shaft of the second hip joint motor 540 is provided with a second rotating flange 541, and the bearing bottom plate 531 is provided with a second opening 542 aligned with the second rotating flange 541. When the second hip joint motor 540 is assembled into the rotating frame 530, the surrounding plate 532 of the rotating frame 530 is arranged to fit the peripheral side wall of the second hip joint motor 540, and the second rotating flange 541 is exposed to the outside through the second opening 542 of the bearing bottom plate 531. The second rotating flange 541 is used for externally connecting the leg joint structure of the simulation robot.

[0035] For further information, see Figure 2 and Figure 4 The bearing base plate 531 includes a first bearing surface 5311 and a second bearing surface 5312 which are arranged in a stepped manner. The first bearing surface 5311 and the second bearing surface 5312 are connected by a vertical surface 5313. The second hip joint motor 540 is installed on the first bearing surface 5311. The second bearing surface 5312 is provided with a first bearing 543. The outer ring of the first bearing 543 is arranged to cooperate with the vertical surface 5313, and the inner ring of the first bearing 543 is arranged to cooperate with the second rotating flange 541.

[0036] Specifically, in the present embodiment, a plurality of mounting holes are provided in a circular array on the first bearing surface 5311. When the second hip joint motor 540 is installed in the rotating frame 530, bolts are passed through the mounting holes and connected to the threaded holes on the second hip joint motor 540, thereby realizing a stable assembly of the second hip joint motor 540 on the rotating frame 530. Similarly, the first hip joint motor is also installed in the motor mounting slot 5111 by bolt fixing.

[0037] It is worth mentioning that the first bearing 543 arranged between the second rotating flange 541 and the second bearing surface 5312 can be used to assist the second rotating flange 541 to rotate smoothly on the one hand, and on the other hand, can also be used to bear part of the impact to reduce the lateral impact exerted by the leg joint structure on the second hip joint motor 540 when the simulated robot pushes the ground with its foot.

[0038] In practical applications, the first hip joint motor 520 is used to drive the rotating frame 530 to swing left and right so that the robot's legs can perform movements such as lateral splits, and the second hip joint motor 540 is used to drive the robot's legs to achieve inward and outward rotation movements.

[0039] See also Figure 5 The outer wall of the rotating shaft 521 is provided with a shaft shoulder 5211, and the two sides of the shaft shoulder 5211 are respectively provided with second bearings 5112, one of the second bearings 5112 is installed in the shaft hole 534, and the other second bearing 5112 is installed in the second side plate 512. The arrangement of the second bearings 5112 is intended to improve the stability of the rotating frame 530 when rotating.

[0040] Furthermore, the inner wall of the second side plate 512 is provided with a hollow groove to reduce the overall weight of the hip joint support 510 while ensuring the structural strength, thereby reducing the load of the simulated robot's waist drive motor.

[0041] For further information, see Figure 2 and Figure 4The connection seat 514 includes a support portion 5141 fixed on the horizontal plate 513, and a rotating connection portion 5142 connected to the support portion 5141, wherein the rotating connection portion 5142 is used to cooperate with the output shaft of the waist driving motor of the simulation robot, and the rotating connection portion 5142 and the support portion 5141 are both provided with a hollow structure 5143, and a plurality of reinforcing ribs 5144 are arranged at intervals on the side wall of the support portion 5141. It can be understood that the design of the hollow structure 5143 and the reinforcing ribs 5144 on the connection seat 514 is intended to further reduce the overall weight of the hip joint support 510 without affecting its structural strength.

[0042] In summary, the simulated robot hip joint structure in the above-mentioned embodiment of the utility model connects the second hip joint motor 540 to the output shaft and the rotating shaft 521 of the first hip joint motor 520 through the rotating frame 530 at the same time, thereby realizing double support for the second hip joint motor 540, and effectively dispersing the large impact force caused by the lower limb structure on the output shaft of the first hip joint motor 520 when the foot pushes the ground during exercise, thereby improving the stability and durability of the entire hip joint structure.

[0043] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", 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 present invention. 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 may be combined in any one or more embodiments or examples in a suitable manner.

[0044] The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A simulated robot hip joint structure, characterized in that: It includes a hip joint support, a first hip joint motor and a second hip joint motor, the hip joint support includes a first side plate and a second side plate arranged opposite to each other, the first side plate is fixedly provided with the first hip joint motor, the second side plate is rotatably provided with a rotating shaft that is colinear with the axis center line of the output shaft of the first hip joint motor, a rotating frame is connected between the rotating shaft and the output shaft of the first hip joint motor, and the second hip joint motor is fixedly provided on the rotating frame.

2. The simulation robot hip joint structure according to claim 1, characterized in that: The rotating frame includes a bearing base plate and a surrounding plate arranged on the periphery of the bearing base plate, a fixing flange is provided on one side of the surrounding plate, and an axial hole aligned with the fixing flange is provided on the other side, a first rotating flange is provided on the output shaft of the first hip joint motor, the fixing flange is cooperatively connected to the first rotating flange, and the axial hole is cooperatively connected to the rotating shaft, so that the rotating frame is rotatably arranged between the first side plate and the second side plate.

3. The simulation robot hip joint structure according to claim 2, characterized in that: A motor mounting groove is provided on the first side plate, a first opening is provided at the bottom of the motor mounting groove, a portion of the first hip joint motor is installed in the motor mounting groove, and the first rotating flange is connected to the fixed flange through the first opening.

4. The simulation robot hip joint structure according to claim 2, characterized in that: A second rotating flange is provided on the output shaft of the second hip joint motor, and a second opening aligned with the second rotating flange is provided on the bearing base plate. When the second hip joint motor is assembled into the rotating frame, the enclosure plate is arranged to fit the peripheral side wall of the second hip joint motor, and the second rotating flange is exposed to the outside through the second opening.

5. The simulation robot hip joint structure according to claim 4, characterized in that: The bearing base plate includes a first bearing surface and a second bearing surface arranged in a step manner, the first bearing surface and the second bearing surface are connected by a vertical surface, the second hip joint motor is installed on the first bearing surface, and a first bearing is provided on the second bearing surface. The outer ring of the first bearing is arranged to cooperate with the vertical surface, and the inner ring of the first bearing is arranged to cooperate with the second rotating flange.

6. The simulation robot hip joint structure according to claim 2, characterized in that: The outer wall of the rotating shaft is provided with a shaft shoulder, and second bearings are respectively provided on both sides of the shaft shoulder, wherein one of the second bearings is installed in the shaft hole, and the other second bearing is installed in the second side plate.

7. The simulated robot hip joint structure according to claim 1, characterized in that: The hip joint support also includes a horizontal plate connected between the first side plate and the second side plate, and a connecting seat is arranged on the horizontal plate.

8. The simulation robot hip joint structure according to claim 7, characterized in that: The horizontal plate is combined with the first side plate and the second side edge to form a U-shaped structure as a whole.

9. The simulation robot hip joint structure according to claim 7, characterized in that: The connecting seat includes a supporting portion fixed on the horizontal plate, and a rotating connecting portion connected to the supporting portion, wherein both the rotating connecting portion and the supporting portion are provided with a hollow structure, and a plurality of reinforcing ribs are arranged at intervals on the side wall of the supporting portion.

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