Waist joint structure of bionic humanoid robot

Abstract

The utility model relates to the technical field of waist joint structures, in particular to a waist joint structure of a bionic humanoid robot, which improves the flexibility of use and adjustment, the use stability and the use convenience. Comprising a first shell and a connecting piece, the connecting piece is installed at the bottom end of the first shell, and an opening is formed in the top end of the first shell; the device further comprises a supporting device, a driving device, a power device, a U-shaped piece, a first rotating shaft and a connecting arm, the connecting piece is rotationally installed on the inner side wall of the U-shaped piece, the U-shaped piece is installed on the supporting device, the supporting device is used for driving the U-shaped piece to rotate horizontally, and the driving device is arranged at the bottom of the first shell and used for driving the first shell to swing left and right. The first rotating shaft is rotationally installed on the inner side wall of the first shell, the bottom end of the connecting arm is connected with the outer side wall of the first rotating shaft, the top end of the connecting arm penetrates through the opening and extends out of the first shell, and a power device is arranged in the first shell and used for driving the first rotating shaft to rotate.

Description

Technical Field

[0001] The utility model relates to the technical field of waist joint structures, in particular to a waist joint structure of a bionic humanoid robot. Background Art

[0002] With the rapid development of robotics, bionic humanoid robots have gradually become a research hotspot. This type of robot not only imitates humans in appearance, but also pursues a high degree of human-machine interaction and adaptability in function. As a key component of bionic humanoid robots, the waist joint plays a vital role in achieving stable walking, flexible movement and whole-body coordination of the robot.

[0003] For example, in the patent with the prior art authorization announcement number CN213674199U, the application discloses a multifunctional robot waist joint, including a lower mounting block, an adjustment structure and a limit structure, the lower mounting block is provided with a mounting cavity, the bottom of the mounting cavity is fixedly connected to a first motor, the adjustment structure includes a positioning column, the positioning column is fixedly connected to the side of the lower mounting block, the surface of the positioning column is slidably connected to a rotating ring, and the bottom of the rotating ring is fixedly connected to a protective arc plate. The structure of this application is reasonable, and the rotation of the rotating plate can be made more stable through structures such as supporting balls, which is convenient for the rotation of the robot waist joint.

[0004] However, during the use of the robot's waist joint, it was found that the structure had poor flexibility, making it inconvenient to achieve left and right swinging of the joint, and the braking effect of directly driving the rotating shaft through the motor output shaft was poor, reducing the stability of the joint. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a bionic humanoid robot waist joint structure which improves the flexibility of use and adjustment, improves the stability of use, and improves the convenience of use.

[0006] The utility model discloses a bionic humanoid robot waist joint structure, comprising a first shell and a connecting piece, wherein the connecting piece is mounted on the bottom end of the first shell, and an opening is arranged on the top end of the first shell; the utility model also comprises a supporting device, a driving device, a power device, a U-shaped piece, a first rotating shaft and a connecting arm, wherein the connecting piece is rotatably mounted on the inner side wall of the U-shaped piece, the U-shaped piece is mounted on the supporting device, the supporting device is used to drive the U-shaped piece to rotate horizontally, a driving device is arranged at the bottom of the first shell, the driving device is used to drive the first shell to swing left and right, the first rotating shaft is rotatably mounted on the inner side wall of the first shell, the bottom end of the connecting arm is connected to the outer side wall of the first rotating shaft, the top end of the connecting arm passes through the opening and extends out of the first shell, a power device is arranged in the first shell, and the power device is used to drive the first shell to swing left and right. Drive the first rotating shaft to rotate; install the upper body of the robot on the connecting arm, and install the lower limbs of the robot on the supporting device. Drive the first rotating shaft to rotate through the power device, so that the first rotating shaft drives the connecting arm to swing forward and backward for adjustment, thereby making the connecting arm drive the robot's upper body to tilt forward and backward for adjustment, and drive the first shell to swing left and right through the driving device, thereby making the connecting arm drive the robot's upper body to tilt left and right for adjustment, thereby improving the flexibility of the joint structure. Drive the first rotating shaft to rotate through the power device, thereby improving the rotation braking effect of the first rotating shaft, improving the stability of the joint mechanism, and driving the U-shaped part to rotate horizontally through the supporting device, thereby improving the convenience of the horizontal rotation direction of the robot's upper body and improving the convenience of the structure.

[0007] Preferably, the power device includes a first gear, a second rotating shaft, a second gear, a worm wheel, a worm and a first motor, two groups of first gears are mounted on the outer wall of the first rotating shaft, the second rotating shaft is rotatably mounted on the inner wall of the first shell, two groups of second gears are mounted on the outer wall of the second rotating shaft, and the two groups of second gears are respectively meshed with the two groups of first gears, the worm wheel is mounted on the outer wall of the second rotating shaft, the worm is rotatably mounted on the inner wall of the first shell, the worm is meshed with the worm wheel, the first motor is mounted on the outer wall of the first shell, and the output end of the first motor is connected to the worm; the worm is driven to rotate by the first motor, so that the worm drives the second rotating shaft to rotate through the meshing with the worm wheel, and the second rotating shaft drives the two groups of second gears to rotate after rotating, and the first rotating shaft is driven to rotate through the meshing of the two groups of second gears with the two groups of first gears respectively, so that the first rotating shaft drives the connecting arm to rotate, thereby improving the convenience of the connecting arm driving the robot upper body to swing back and forth, and the rotation braking effect of the first rotating shaft is improved through the meshing of the worm and the worm wheel.

[0008] Preferably, the driving device includes multiple groups of fixed seats, multiple groups of electric cylinders, multiple groups of limit plates and multiple groups of springs, the multiple groups of fixed seats are respectively installed on the bottom end of the first shell and the outer wall of the supporting device, the two ends of the multiple groups of electric cylinders are respectively rotatably installed on the multiple groups of fixed seats, the multiple groups of limit plates are respectively installed on the outer walls of the moving ends and fixed ends of the multiple groups of electric cylinders, and the multiple groups of springs are respectively cooperated and sleeved on the outer walls of the multiple groups of electric cylinders; by respectively coordinating and controlling the telescopic lengths of the moving ends of the multiple groups of electric cylinders on both sides, the multiple groups of electric cylinders drive the first shell to swing left and right, thereby improving the flexibility of the connecting arm to drive the upper body of the robot to swing left and right, and by arranging multiple groups of springs to provide driving force to the moving ends of the multiple groups of electric cylinders, the assisting effect of the multiple groups of electric cylinders on pushing the first shell is improved.

[0009] Preferably, the supporting device includes a second shell, a second motor and a turntable, the turntable is rotatably installed on the top of the second shell, the U-shaped part and multiple sets of fixed seats therein are installed on the top of the turntable, the second motor is installed on the inner wall of the second shell, and the output end of the second motor is connected to the bottom end of the turntable; the turntable is driven to rotate by the second motor, so that the turntable drives the U-shaped part to rotate horizontally, thereby improving the convenience of the connecting arm driving the upper body of the robot to rotate horizontally.

[0010] Preferably, it also includes an electromagnetic slip ring, the fixed end of the electromagnetic slip ring is installed on the inner wall of the second shell, and the rotating end of the electromagnetic slip ring is sleeved on the output shaft of the second motor; by setting the electromagnetic slip ring, the convenience of powering the robot's lower limbs when the robot's upper body rotates horizontally is improved.

[0011] Preferably, it also includes a mounting hole, which is arranged on the connecting arm; by providing the mounting hole, the convenience of installing the upper body of the robot on the connecting arm is improved.

[0012] Preferably, it also includes a guide ring, which is arranged on the outer side wall of the second shell; by providing the guide ring, the convenience of installing the lower limbs of the robot on the second shell is improved.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows: the upper body of the robot is installed on the connecting arm, and the lower limbs of the robot are installed on the supporting device; the first rotating shaft is driven to rotate by the power device, so that the first rotating shaft drives the connecting arm to swing forward and backward for adjustment, thereby the connecting arm drives the front and rear tilt angle adjustment of the upper body of the robot; the first shell is driven to swing left and right by the driving device, thereby the connecting arm drives the left and right tilt angle adjustment of the upper body of the robot, thereby improving the flexibility of the joint structure; the first rotating shaft is driven to rotate by the power device, thereby improving the rotation braking effect of the first rotating shaft, thereby improving the stability of the joint mechanism; the U-shaped part is driven to rotate horizontally by the supporting device, thereby improving the convenience of the horizontal rotation direction of the upper body of the robot, and improving the convenience of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a schematic diagram of the axonometric structure of the utility model;

[0015] Figure 2 It is a schematic diagram of the isometric partial structure of the connection between the first rotating shaft and the connecting arm, etc.;

[0016] Figure 3 is a schematic diagram of an axonometric partial structure of the connection between the worm and the first motor, etc.;

[0017] Figure 4 It is a schematic diagram of the partial axonometric structure of the connection between the electric cylinder and the limit plate;

[0018] Figure 5 It is an axonometric diagram of the partial structure of the connection between the U-shaped part and the turntable, etc.

[0019] Markings in the accompanying drawings: 1. first housing; 2. connecting part; 3. U-shaped part; 4. first rotating shaft; 5. connecting arm; 6. first gear; 7. second rotating shaft; 8. second gear; 9. worm gear; 10. worm; 11. first motor; 12. fixing seat; 13. electric cylinder; 14. limit plate; 15. spring; 16. second housing; 17. second motor; 18. turntable; 19. electromagnetic slip ring; 20. mounting hole; 21. guide ring. DETAILED DESCRIPTION

[0020] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively below with reference to the relevant drawings. The utility model 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 utility model more thorough and comprehensive.

[0021] Example 1

[0022] like Figures 1 to 5 As shown, a bionic humanoid robot waist joint structure of the utility model comprises a first shell 1 and a connecting member 2, wherein the connecting member 2 is mounted at the bottom end of the first shell 1, and an opening is arranged at the top end of the first shell 1; further comprising a supporting device, a driving device, a power device, a U-shaped member 3, a first rotating shaft 4 and a connecting arm 5, wherein the connecting member 2 is rotatably mounted on the inner side wall of the U-shaped member 3, the U-shaped member 3 is mounted on the supporting device, the supporting device is used to drive the U-shaped member 3 to rotate horizontally, a driving device is arranged at the bottom of the first shell 1, the driving device is used to drive the first shell 1 to swing left and right, the first rotating shaft 4 is rotatably mounted on the inner side wall of the first shell 1, the bottom end of the connecting arm 5 is connected to the outer side wall of the first rotating shaft 4, the top end of the connecting arm 5 extends out of the first shell 1 through the opening, and a power device is arranged in the first shell 1, the power device is used to drive the first rotating shaft 4 to rotate;

[0023] like Figure 2 and Figure 3As shown, the power device includes a first gear 6, a second rotating shaft 7, a second gear 8, a worm wheel 9, a worm 10 and a first motor 11, two groups of first gears 6 are mounted on the outer wall of the first rotating shaft 4, the second rotating shaft 7 is rotatably mounted on the inner wall of the first housing 1, two groups of second gears 8 are mounted on the outer wall of the second rotating shaft 7, and the two groups of second gears 8 are respectively meshed with the two groups of first gears 6, the worm wheel 9 is mounted on the outer wall of the second rotating shaft 7, the worm 10 is rotatably mounted on the inner wall of the first housing 1, the worm 10 is meshed with the worm wheel 9, the first motor 11 is mounted on the outer wall of the first housing 1, and the output end of the first motor 11 is connected to the worm 10;

[0024] In this embodiment, the upper body of the robot is installed on the connecting arm 5, and the lower limbs of the robot are installed on the supporting device. The first rotating shaft 4 is driven to rotate by the power device, so that the first rotating shaft 4 drives the connecting arm 5 to swing forward and backward for adjustment, thereby causing the connecting arm 5 to drive the front and back tilt angle adjustment of the upper body of the robot. The first shell 1 is driven to swing left and right by the driving device, so that the connecting arm 5 drives the left and right tilt angle adjustment of the upper body of the robot, thereby improving the flexibility of the joint structure. The first rotating shaft 4 is driven to rotate by the power device, thereby improving the rotation braking effect of the first rotating shaft 4 and improving the stability of the joint mechanism. The U-shaped member 3 is driven to rotate horizontally by the supporting device, thereby improving the convenience of the horizontal rotation direction of the upper body of the robot and improving the convenience of the structure.

[0025] Example 2

[0026] On the basis of Example 1, Figure 4 As shown, a bionic humanoid robot waist joint structure of the utility model, the driving device includes multiple groups of fixed seats 12, multiple groups of electric cylinders 13, multiple groups of limit plates 14 and multiple groups of springs 15, the multiple groups of fixed seats 12 are respectively mounted on the bottom end of the first shell 1 and the outer side wall of the supporting device, the two ends of the multiple groups of electric cylinders 13 are respectively rotatably mounted on the multiple groups of fixed seats 12, the multiple groups of limit plates 14 are respectively mounted on the outer side walls of the moving ends and fixed ends of the multiple groups of electric cylinders 13, and the multiple groups of springs 15 are respectively fitted on the outer side walls of the multiple groups of electric cylinders 13;

[0027] like Figure 2 As shown, the supporting device includes a second housing 16, a second motor 17 and a turntable 18, the turntable 18 is rotatably mounted on the top of the second housing 16, the U-shaped member 3 and a plurality of sets of fixing seats 12 therein are mounted on the top of the turntable 18, the second motor 17 is mounted on the inner side wall of the second housing 16, and the output end of the second motor 17 is connected to the bottom end of the turntable 18;

[0028] like Figure 2 As shown, it also includes an electromagnetic slip ring 19, the fixed end of the electromagnetic slip ring 19 is installed on the inner wall of the second housing 16, and the rotating end of the electromagnetic slip ring 19 is sleeved on the output shaft of the second motor 17;

[0029] like Figure 2 As shown, it also includes a mounting hole 20, which is arranged on the connecting arm 5;

[0030] like Figure 1 As shown, it also includes a guide ring 21, which is arranged on the outer side wall of the second housing 16;

[0031] In this embodiment, the worm 10 is driven to rotate by the first motor 11, so that the worm 10 drives the second rotating shaft 7 to rotate by engaging with the worm wheel 9. After the second rotating shaft 7 rotates, it drives the two sets of second gears 8 to rotate. The two sets of second gears 8 are respectively engaged with the two sets of first gears 6 to drive the first rotating shaft 4 to rotate, so that the first rotating shaft 4 drives the connecting arm 5 to rotate, thereby improving the convenience of the connecting arm 5 driving the robot upper body to swing back and forth. The worm 10 is engaged with the worm wheel 9 to improve the rotation braking effect of the first rotating shaft 4. By respectively coordinating and controlling the telescopic length of the moving ends of the multiple sets of electric cylinders 13 on both sides, the multiple sets of electric cylinders 13 drive the first shell 1 to swing and rotate left and right, thereby improving the flexibility of the connecting arm 5 driving the robot upper body to swing left and right. By setting multiple sets of springs 15 to provide driving force to the moving ends of the multiple sets of electric cylinders 13, the assisting effect of the multiple sets of electric cylinders 13 on the first shell 1 is improved.

[0032] The utility model discloses a bionic humanoid robot waist joint structure, when working, the upper body of the robot is installed on the connecting arm 5, and the lower limbs of the robot are installed on the supporting device, and the first rotating shaft 4 is driven to rotate by the power device, so that the first rotating shaft 4 drives the connecting arm 5 to swing forward and backward for adjustment, so that the connecting arm 5 drives the front and back tilt angle adjustment of the robot's upper body, and the first shell 1 is driven to swing left and right by the driving device, so that the connecting arm 5 drives the left and right tilt angle adjustment of the robot's upper body, and the U-shaped part 3 is driven to rotate horizontally by the supporting device, so that the upper body of the robot rotates horizontally in the direction.

[0033] The first motor 11, the electric cylinder 13, the second motor 17 and the electromagnetic slip ring 19 of the waist joint structure of a bionic humanoid robot of the utility model are purchased on the market. The technicians in the industry only need to install and operate them according to the accompanying instruction manual, without the need for the technicians in this field to make creative efforts.

[0034] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A bionic humanoid robot waist joint structure, comprising a first shell (1) and a connecting member (2), wherein the connecting member (2) is mounted on the bottom end of the first shell (1), and an opening is arranged on the top end of the first shell (1); characterized in that: The invention also comprises a supporting device, a driving device, a power device, a U-shaped member (3), a first rotating shaft (4) and a connecting arm (5); the connecting member (2) is rotatably mounted on the inner wall of the U-shaped member (3); the U-shaped member (3) is mounted on the supporting device; the supporting device is used to drive the U-shaped member (3) to rotate horizontally; a driving device is arranged at the bottom of the first shell (1); the driving device is used to drive the first shell (1) to swing left and right; the first rotating shaft (4) is rotatably mounted on the inner wall of the first shell (1); the bottom end of the connecting arm (5) is connected to the outer wall of the first rotating shaft (4); the top end of the connecting arm (5) extends through an opening to the outside of the first shell (1); a power device is arranged inside the first shell (1); the power device is used to drive the first rotating shaft (4) to rotate.

2. A bionic humanoid robot waist joint structure as claimed in claim 1, characterized in that: The power device comprises a first gear (6), a second rotating shaft (7), a second gear (8), a worm wheel (9), a worm (10) and a first motor (11); two groups of first gears (6) are both mounted on the outer wall of the first rotating shaft (4); the second rotating shaft (7) is rotatably mounted on the inner wall of the first housing (1); two groups of second gears (8) are both mounted on the outer wall of the second rotating shaft (7); the two groups of second gears (8) are respectively meshed with the two groups of first gears (6); the worm wheel (9) is mounted on the outer wall of the second rotating shaft (7); the worm (10) is rotatably mounted on the inner wall of the first housing (1); the worm (10) is meshed with the worm wheel (9); the first motor (11) is mounted on the outer wall of the first housing (1); and the output end of the first motor (11) is connected to the worm (10).

3. The waist joint structure of a bionic humanoid robot as claimed in claim 1, characterized in that: The driving device comprises a plurality of sets of fixed seats (12), a plurality of sets of electric cylinders (13), a plurality of sets of limiting plates (14) and a plurality of sets of springs (15); the plurality of sets of fixed seats (12) are respectively mounted on the bottom end of the first housing (1) and the outer side wall of the supporting device; the two ends of the plurality of electric cylinders (13) are respectively rotatably mounted on the plurality of sets of fixed seats (12); the plurality of sets of limiting plates (14) are respectively mounted on the outer side walls of the movable ends and the fixed ends of the plurality of electric cylinders (13); and the plurality of sets of springs (15) are respectively fitted on the outer side walls of the plurality of electric cylinders (13).

4. A bionic humanoid robot waist joint structure as claimed in claim 1 or 3, characterized in that: The supporting device comprises a second shell (16), a second motor (17) and a turntable (18); the turntable (18) is rotatably mounted on the top of the second shell (16); the U-shaped member (3) and a plurality of sets of fixing seats (12) therein are mounted on the top of the turntable (18); the second motor (17) is mounted on the inner side wall of the second shell (16); and the output end of the second motor (17) is connected to the bottom end of the turntable (18).

5. A bionic humanoid robot waist joint structure as claimed in claim 4, characterized in that: It also includes an electromagnetic slip ring (19), the fixed end of which is mounted on the inner wall of the second housing (16), and the rotating end of which is sleeved on the output shaft of the second motor (17).

6. The waist joint structure of a bionic humanoid robot as claimed in claim 1, characterized in that: It also comprises a mounting hole (20), wherein the mounting hole (20) is arranged on the connecting arm (5).

7. The waist joint structure of a bionic humanoid robot as claimed in claim 4, characterized in that: It also includes a guide ring (21), which is arranged on the outer side wall of the second shell (16).

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