Upper arm structure of humanoid robot

Abstract

The utility model discloses a humanoid robot upper arm structure which comprises a big arm, the surface of the big arm is rotatably connected with a small arm, the surface of the small arm is fixedly provided with a gear, the surface of the big arm is fixedly provided with a cylindrical box, the inner wall of the cylindrical box is slidably connected with a striking rod, the surface of the striking rod is fixedly provided with a circular plate, and the circular plate is fixedly provided with a gear. A pressing switch is fixedly installed on the inner wall of the cylindrical box, a spring is arranged in an inner cavity of the cylindrical box, and a fixing plate is fixedly installed on the surface of the large arm. The striking rod is struck to move through rapid rotation of the gear, so that the striking rod impacts the pressing switch, then the pressing switch controls the motor to be started and drives the supporting plate to rotate, the sliding rod moves and extrudes the gear to stop rotating, and rapid rotation of a small arm in the upper arm structure can be sensed; and the forearm is controlled to stop rotating in time, so that the rotating stability of the forearm in the upper arm structure is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, in particular to an upper arm structure of a humanoid robot. Background Art

[0002] Humanoid robots are currently developing rapidly. Generally, robots with functions such as remote control, drive, and memory are composed of 17 serial bus intelligent servos, a main control board, and a metal bracket. They can DIY their own movements and are proficient in dancing, gymnastics, walking, somersaults, push-ups... The robots abandon the traditional characteristics of multiple cables and complexity and restraint, and instead use a new serial bus servo arrangement. The joints are connected only by three-in-one data cables.

[0003] With the development of technology, the flexibility of humanoid robots has become relatively good, and humanoid robots have been applied in industrial production. Specifically, some humanoid robots are responsible for the work of moving goods in industrial assembly. In the upper arm structure of the humanoid robot, the big arm and the forearm are mostly directly connected by rotation, and the flexion and extension of the upper arm structure are driven by the cylinder. The forearm may extend rapidly at the rotating shaft of the upper arm structure due to excessive weight on the hand or damage to the cylinder. At this time, the forearm may drive the goods to descend rapidly, and the dangerous goods may collide with the outer area. Therefore, a humanoid robot upper arm structure is needed, which can sense the rapid rotation of the forearm in the upper arm structure and control the forearm to stop rotating in time, thereby improving the stability of the forearm rotation in the upper arm structure. Utility Model Content

[0004] The purpose of the utility model is to provide an upper arm structure of a humanoid robot, which can sense the rapid rotation of a forearm in the upper arm structure and control the forearm to stop rotating in time, thereby improving the stability of the forearm rotation in the upper arm structure to solve the technical problems raised by the above-mentioned background technology.

[0005] The technical solution of the utility model for solving the above-mentioned technical problems is as follows: a humanoid robot upper arm structure, which includes a big arm: the surface of the big arm is rotatably connected to the forearm, the surface of the forearm is fixedly installed with a gear, the surface of the big arm is fixedly installed with a cylindrical box, the inner wall of the cylindrical box is slidably connected with a striking rod, the surface of the striking rod is fixedly installed with a circular plate, the inner wall of the cylindrical box is fixedly installed with a push switch, the inner cavity of the cylindrical box is provided with a spring, the surface of the big arm is fixedly installed with a fixing plate, the inner wall of the fixing plate is fixedly installed with a motor and slidably connected with a sliding rod, the top of the sliding rod is fixedly installed with a slot plate, the output shaft of the motor is fixedly connected with a support plate through a flange, the surface of the support plate is rotatably connected with a sliding block through a rotating shaft, and the surface of the big arm is installed with a flexion and extension driving cylinder adapted to the forearm.

[0006] Preferably, a cushion block is fixedly mounted on the end of the sliding rod.

[0007] Preferably, the sliding block is in contact with the inner wall of the slot plate and the two are slidably connected.

[0008] Preferably, two ends of the spring are fixedly connected to the circular plate and the inner wall of the cylindrical box respectively.

[0009] Preferably, the end of the striking rod is a wedge-shaped surface.

[0010] The beneficial effects of the utility model are:

[0011] 1. The utility model uses the rapid rotation of the gear to hit the striking rod to move, so that the striking rod can impact the pressing switch, and then the pressing switch controls the motor to start and drive the support plate to rotate, so that the sliding rod moves and squeezes the gear to stop rotating, so as to achieve the purpose of sensing the rapid rotation of the forearm in the upper arm structure and controlling the forearm to stop rotating in time, thereby improving the rotation stability of the forearm in the upper arm structure;

[0012] 2. The utility model protects the end of the slide rod by setting a cushion block, thereby avoiding the situation where the end of the slide rod directly contacts the gear and wears too quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] in:

[0014] Figure 1 This is a schematic diagram of the structure of an embodiment of the utility model;

[0015] Figure 2 This is an embodiment of the utility model Figure 1 A partial enlarged view of point A;

[0016] Figure 3 This is a front side schematic diagram of a push switch and a spring according to an embodiment of the utility model.

[0017] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0018] 1. Upper arm, 2. Lower arm, 3. Gear, 4. Cylindrical box, 5. Beating rod, 6. Round plate, 7. Push switch, 8. Spring, 9. Fixed plate, 10. Motor, 11. Sliding rod, 12. Spacer, 13. Slot plate, 14. Support plate, 15. Sliding block. DETAILED DESCRIPTION

[0019] Hereinafter, embodiments of the humanoid robot upper arm structure of the present invention will be described with reference to the accompanying drawings. Example 1

[0020] Figure 1-3The upper arm structure of a humanoid robot according to an embodiment of the utility model is shown, which includes a large arm 1: the surface of the large arm 1 is rotatably connected to the small arm 2, the surface of the small arm 2 is fixedly installed with a gear 3, the surface of the large arm 1 is fixedly installed with a cylindrical box 4, the inner wall of the cylindrical box 4 is slidably connected with a striking rod 5, the surface of the striking rod 5 is fixedly installed with a circular plate 6, the inner wall of the cylindrical box 4 is fixedly installed with a press switch 7, the inner cavity of the cylindrical box 4 is provided with a spring 8, the surface of the large arm 1 is fixedly installed with a fixing plate 9, the inner wall of the fixing plate 9 is fixedly installed with a motor 10 and slidably connected with a sliding rod 11. A pad block 12 is fixedly installed at the end of the slide bar 11. Through the setting of the pad block 12, the end of the slide bar 11 is padded to avoid excessive wear when the end of the slide bar 11 directly contacts the gear 3. A slot plate 13 is fixedly installed on the top of the slide bar 11. The output shaft of the motor 10 is fixedly connected to a support plate 14 through a flange. The surface of the support plate 14 is rotatably connected to a slider 15 through a rotating shaft. The slider 15 fits against the inner wall of the slot plate 13 and is slidably connected therebetween. A flexion and extension drive cylinder adapted to the forearm 2 is installed on the surface of the upper arm 1. Example 2

[0021] Figure 1-3 The upper arm structure of a humanoid robot according to an embodiment of the utility model is shown, which includes a big arm 1: the surface of the big arm 1 is rotatably connected to the small arm 2, the surface of the small arm 2 is fixedly installed with a gear 3, the surface of the big arm 1 is fixedly installed with a cylindrical box 4, the inner wall of the cylindrical box 4 is slidably connected with a striking rod 5, the surface of the striking rod 5 is fixedly installed with a circular plate 6, the inner wall of the cylindrical box 4 is fixedly installed with a press switch 7, the inner cavity of the cylindrical box 4 is provided with a spring 8, the two ends of the spring 8 are respectively fixedly connected to the inner wall of the circular plate 6 and the cylindrical box 4, a fixing plate 9 is fixedly installed on the surface of the big arm 1, a motor 10 is fixedly installed on the inner wall of the fixing plate 9 and is slidably connected with a sliding rod 11, a groove plate 13 is fixedly installed on the top of the sliding rod 11, the output shaft of the motor 10 is fixedly connected with a support plate 14 through a flange, the surface of the support plate 14 is rotatably connected with a sliding block 15 through a rotating shaft, a flexion and extension driving cylinder adapted to the small arm 2 is installed on the surface of the big arm 1, and the end of the striking rod 5 is a wedge-shaped surface.

[0022] Working principle: When the utility model is used, the user drives the forearm 2 to flex and extend through the driving cylinder on the surface of the upper arm 1. When the robot is overloaded or the driving cylinder is damaged, the forearm 2 drives the gear 3 to rotate rapidly and hits the striking rod 5 to move. It should be noted here that when the gear 3 rotates normally, the squeezing of the striking rod 5 is less than the squeezing when the gear 3 rotates rapidly, so that the striking rod 5 can impact the pressing switch 7 and drive the spring 8 to compress, and then the pressing switch 7 controls the motor 10 to turn on and drive the support plate 14 to rotate, so that the support plate 14 moves the slot plate 13 through the slider 15, and then the slot plate 13 drives the slide bar 11 to move and squeezes the gear 3 to stop rotating, so that the gear 3 drives the forearm 2 to be stationary, thereby realizing the perception of the rapid rotation of the forearm in the upper arm structure, and controlling the forearm to stop rotating in time, thereby improving the stability of the forearm rotation in the upper arm structure.

[0023] In summary: the upper arm structure of the humanoid robot, through the rapid rotation of the gear 3, hits the striking rod 5 to move, so that the striking rod 5 can impact the pressing switch 7, and then the pressing switch 7 controls the motor 10 to turn on and drives the support plate 14 to rotate, so that the sliding rod 11 moves and squeezes the gear 3 to stop rotating, so as to achieve the purpose of sensing the rapid rotation of the forearm in the upper arm structure, and controlling the forearm to stop rotating in time, thereby improving the rotation stability of the forearm in the upper arm structure.

Claims

1. A humanoid robot upper arm structure, characterized in that: The invention comprises an upper arm (1): the surface of the upper arm (1) is rotatably connected to a lower arm (2), the surface of the lower arm (2) is fixedly mounted with a gear (3), the surface of the upper arm (1) is fixedly mounted with a cylindrical box (4), the inner wall of the cylindrical box (4) is slidably connected to a striking rod (5), the surface of the striking rod (5) is fixedly mounted with a circular plate (6), the inner wall of the cylindrical box (4) is fixedly mounted with a push switch (7), the inner cavity of the cylindrical box (4) is provided with a spring (8), the surface of the upper arm (1) is fixedly mounted with a fixing plate (9), the inner wall of the fixing plate (9) is fixedly mounted with a motor (10) and slidably connected with a sliding rod (11), the top of the sliding rod (11) is fixedly mounted with a groove plate (13), the output shaft of the motor (10) is fixedly connected with a support plate (14) via a flange, the surface of the support plate (14) is rotatably connected with a sliding block (15) via a rotating shaft, and the surface of the upper arm (1) is mounted with a flexion and extension drive cylinder adapted to the lower arm (2).

2. The humanoid robot upper arm structure according to claim 1, characterized in that: A cushion block (12) is fixedly mounted on the end of the sliding rod (11).

3. The humanoid robot upper arm structure according to claim 2, characterized in that: The sliding block (15) fits the inner wall of the groove plate (13) and is slidably connected therebetween.

4. The humanoid robot upper arm structure according to claim 3, characterized in that: The two ends of the spring (8) are respectively fixedly connected to the circular plate (6) and the inner wall of the cylindrical box (4).

5. The humanoid robot upper arm structure according to claim 4, characterized in that: The end of the striking rod (5) is a wedge-shaped surface.

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