Far-end transmission humanoid robot joint module

Abstract

The utility model provides a far-end transmission humanoid robot joint module, and mainly relates to the technical field of robot joints. A far-end transmission humanoid robot joint module comprises a servo motor, a fixing frame is fixedly arranged at the top of the servo motor, a main body support is fixedly arranged at the top of the fixing frame, a flywheel support is fixedly arranged at the top of the main body support, the flywheel support is sleeved with a rotary actuator, and chain transmission assemblies are arranged on the two sides of the rotary actuator and the main body support in a matched mode. A lead screw is fixedly arranged at the top of the servo motor, the outer ring of the lead screw is in threaded connection with a lead screw sleeve, and the lead screw sleeve is in transmission connection with the chain transmission assembly. The utility model has the beneficial effects that the servo motor is adopted to convert the rotary motion into the linear motion of the ball screw, the torque is amplified, and the transmission is stable and efficient; the chain transmission can bear larger tension and torque and can work in a severe environment, and the chain transmission is easy to maintain; and the manufacturing cost is low, a double-encoder servo motor with higher cost is not needed, and the response speed is high.

Description

Technical Field

[0001] The utility model mainly relates to the technical field of robot joints, and specifically relates to a distal transmission humanoid robot joint module. Background Art

[0002] Currently, VR reducers or harmonic reducers are used for humanoid robot joints, and torque amplification and torque conversion are achieved through the CAN control of brushless servo motors. The existing robot joints have high cost, short lifespan, very complex structures, extremely high requirements for the processing precision of components, are difficult to repair when damaged, and are mostly suitable for proximal force transmission and very difficult to achieve distal force transmission. Content of the Utility Model

[0003] To achieve the above object, the utility model is realized through the following technical solutions:

[0004] A distal transmission humanoid robot joint module includes a servo motor. A fixing frame is fixedly arranged at the top of the servo motor, a main body bracket is fixedly arranged at the top of the fixing frame, a flywheel bracket is fixedly arranged at the top of the main body bracket, a rotary actuator is sleeved on the flywheel bracket, chain drive components are arranged on both sides of the rotary actuator and the main body bracket in a matching manner, a lead screw is fixedly arranged at the top of the servo motor, a lead screw sleeve is threadedly connected to the outer circle of the lead screw, and the lead screw sleeve is in transmission connection with the chain drive components.

[0005] The chain drive components include two chains, a force transmission chain flywheel, and a secondary chain flywheel. Flywheel bearings are fixedly arranged on both sides of the main body bracket and the flywheel bracket. The force transmission chain flywheel and the secondary chain flywheel are connected to the corresponding flywheel bearings. The chains are meshed and connected to the corresponding force transmission chain flywheels and secondary chain flywheels. Both sides of the rotary actuator are fixedly connected to the corresponding force transmission chain flywheels.

[0006] A lead screw slider connector is fixedly arranged on the lead screw sleeve. The lead screw slider connector is sleeved on the top of the lead screw sleeve. A slider is fixedly arranged on the lead screw slider connector. A guide rail is fixedly arranged on the main body bracket. The slider is slidably connected to the guide rail. The lead screw slider connector is fixedly connected to the two chains through bolts.

[0007] A fixing block is fixedly arranged near the bottom of the main body bracket. The lead screw passes through the fixing block and is connected through a bearing. The outer circle of the lead screw is connected to the bottom of the flywheel bracket through a bearing near the top. A lead screw connector is fixedly arranged at the bottom of the lead screw. The lead screw connector is fixedly connected to the output end at the top of the servo motor.

[0008] Compared with the prior art, the beneficial effects of the utility model are:

[0009] 1. The utility model has a simple structure and is easy to install and use. It uses a servo motor to convert rotary motion into linear motion of a ball screw, which amplifies the torque and ensures stable and efficient transmission.

[0010] 2. The linear motion of the ball screw drives the chain drive, which has high motion stability and precision. The efficiency of the chain drive is usually high, generally reaching more than 98%. The chain has high strength and can withstand large tension and torque. The chain drive can be used for high-speed transmission. The chain drive can work in harsh environments such as high temperature, humidity, dust, and pollution. The chain drive is easy to maintain;

[0011] 3. The manufacturing cost is low. Only a servo motor with an incremental encoder is needed to complete motion control. A more expensive dual-encoder servo motor is not needed. The ball screw has high precision and can run for a long time. The shape design can imitate the remote force conversion design of human muscle tissue, with fast response speed and no delay. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Attached Figure 1 This is a schematic diagram of the structure of the utility model from the first perspective;

[0013] Attached Figure 2 It is a schematic diagram of the main structure of the utility model;

[0014] Attached Figure 3 This is a schematic diagram of the structure of the utility model from a second viewing angle;

[0015] Attached Figure 4 This is the first disassembled structural schematic diagram of the utility model;

[0016] Attached Figure 5 This is a second disassembled structural schematic diagram of the utility model.

[0017] The numbers shown in the accompanying drawings are: 1, servo motor; 2, fixed frame; 3, main body bracket; 4, flywheel bracket; 5, rotary actuator; 6, chain transmission assembly; 601, chain; 602, force transmission chain flywheel; 603, auxiliary chain flywheel; 7, screw rod; 8, screw rod sleeve; 9, screw rod slide rod connector; 10, slider; 11, guide rail; 12, fixed block; 13, screw rod connector. DETAILED DESCRIPTION

[0018] The utility model is further described in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the utility model and are not used to limit the scope of the utility model. In addition, it should be understood that after reading the content taught by the utility model, those skilled in the art can make various changes or modifications to the utility model, and these equivalent forms also fall within the scope defined by this application.

[0019] Combined with the attached drawings, a distal drive humanoid robot joint module includes a servo motor 1. A fixing frame 2 is fixedly arranged on the top of the servo motor 1. A main body bracket 3 is fixedly arranged on the top of the fixing frame 2. A flywheel bracket 4 is fixedly arranged on the top of the main body bracket 3. A rotary actuator 5 is sleeved on the flywheel bracket 4. A chain drive assembly 6 is arranged in cooperation on both sides of the rotary actuator 5 and the main body bracket 3. A lead screw 7 is fixedly arranged on the top of the servo motor 1. A lead screw sleeve 8 is threadedly connected to the outer ring of the lead screw 7. The lead screw sleeve 8 is drivingly connected to the chain drive assembly 6.

[0020] The chain drive assembly 6 includes two chains 601, a force transmission chain flywheel 602, and a secondary chain flywheel 603. Flywheel bearings are fixedly arranged on both sides of the main body bracket 3 and the flywheel bracket 4. The force transmission chain flywheel 602 and the secondary chain flywheel 603 are connected to the corresponding flywheel bearings. The chains 601 are meshingly connected to the corresponding force transmission chain flywheel 602 and secondary chain flywheel 603. Both sides of the rotary actuator 5 are fixedly connected to the corresponding force transmission chain flywheel 602.

[0021] A lead screw slider connector 9 is fixedly arranged on the lead screw sleeve 8. The lead screw slider connector 9 is sleeved on the top of the lead screw sleeve 8. A slider 10 is fixedly arranged on the lead screw slider connector 9. A guide rail 11 is fixedly arranged on the main body bracket 3. The slider 10 is slidably connected to the guide rail 11. Through this structural design, the lead screw slider connector 9 moves vertically up and down along the guide rail 11. The lead screw slider connector 9 is fixedly connected to the two chains 601 by bolts.

[0022] A fixing block 12 is fixedly arranged near the bottom of the main body bracket 3. The lead screw 7 passes through the fixing block 12 and is connected by a bearing. The outer ring of the lead screw 7 is connected to the bottom of the flywheel bracket 4 by a bearing near the top. A lead screw connector 13 is fixedly arranged at the bottom of the lead screw 7. The lead screw connector 13 is fixedly connected to the top output end of the servo motor 1. Through this structural design, the lead screw 7 is limited.

[0023] The rotational motion is converted into the linear motion of a ball screw by a servo motor, and the torque is amplified. The amplification multiple algorithm example: Assume that the maximum torque of the servo motor is Tmotor = 12 Nm; assume that the diameter of the ball screw is d = 10 mm (which needs to be converted to meters, i.e., d = 0.01 m); assume that the pitch of the ball screw is P = 4 mm (similarly converted to meters, i.e., P = 0.004 m). For a ball screw, its torque amplification ratio (also known as the force amplification ratio or mechanical advantage) can be expressed as: Amplification ratio = 2×tan(θ)d, where θ is the lead angle of the screw thread, and its relationship with the pitch and the mean diameter of the screw (simplified to the diameter here) is: tan(θ)=π×dP. Substitute the expression of tan(θ) into the amplification ratio formula, and we get: Amplification ratio = 2×π×dPd = 2Pπ×d2. Now, substitute the known values of d and P into the above formula to calculate the amplification ratio: Amplification ratio = 2×0.004π×(0.01)2≈0.0393. Actually, what is required is the force in the linear motion (in Newtons). The torque of the motor is converted into force, and the amplification ratio is considered.

[0024] In a ball screw, the relationship between the torque T of the motor motor converted into the linear force F is: F = P2×π×T motor However, since we already have the amplification ratio, we can directly use the amplification ratio to calculate the amplified force: F amplified = Amplification ratio × F = Amplification ratio × P2×π×T motor Substitute the known T motor , P and the calculated amplification ratio into the above formula, and we get: F amplified ≈0.0393×0.0042×π×12≈744.4 N. In summary, when the rotational motion of the servo motor is converted into linear motion by a ball screw, the torque is amplified by approximately 744.4 N, which is 62.034 times. Configure the corresponding torque servo motor according to the actual requirements, and configure the diameter and pitch of the ball screw to meet the actual torque amplification requirements.

[0025] This solution also includes a controller. The position of the controller is set by the staff according to the actual situation during operation. The start and stop of the servo motor are controlled by the controller. The controller is used to control all the electrical appliances in this solution, including but not limited to sensors, motors, telescopic rods, water pumps, solenoid valves, heating wires, heat pumps, display screens, computer input devices, switch buttons, communication devices, lights, speakers, and microphones. The controller is an Intel processor, AMD processor, PLC controller, ARM processor, or single-chip microcomputer. Also used in conjunction with it are a main board, memory module, storage medium, and power supply. The power supply is mains electricity or a lithium battery. When there is a display screen, a graphics card is also provided. Regarding the operating principle of the controller, please refer to "Principles of Automatic Control", "Principles and Application Simulation Cases of Microcontrollers", and "Principles and Applications of Sensors" published by Tsinghua University Press. Other books in this field can also be referred to for reading. Other automated controls and electrical appliances not mentioned are all well-known knowledge to those skilled in the art and will not be elaborated here.

[0026] When this device is in use, the servo motor 1 is started to drive the lead screw 7 to rotate, and then drive the lead screw slider connector 9 to move vertically up and down along the guide rail 11. The movement is transmitted to the rotary actuator 5 through two chains 601, thereby driving the rotary actuator 5 to rotate.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A distal drive humanoid robot joint module, comprising a servo motor (1), characterized in that: A fixing frame (2) is fixedly arranged at the top of the servo motor (1), a main body support (3) is fixedly arranged at the top of the fixing frame (2), a flywheel support (4) is fixedly arranged at the top of the main body support (3), a rotary actuator (5) is sleeved on the flywheel support (4), a chain drive assembly (6) is arranged in a matching manner on both sides of the rotary actuator (5) and the main body support (3), a lead screw (7) is fixedly arranged at the top of the servo motor (1), a lead screw sleeve (8) is in threaded connection with the outer circle of the lead screw (7), and the lead screw sleeve (8) is in transmission connection with the chain drive assembly (6).

2. The distal drive humanoid robot joint module according to claim 1, characterized in that: The chain drive assembly (6) comprises two chains (601), a force transmission chain flywheel (602), and a secondary chain flywheel (603). Flywheel bearings are fixedly arranged on both sides of the main body support (3) and the flywheel support (4). The force transmission chain flywheel (602) and the secondary chain flywheel (603) are connected to the corresponding flywheel bearings. The chains (601) are meshed and connected to the corresponding force transmission chain flywheels (602) and secondary chain flywheels (603). Both sides of the rotary actuator (5) are fixedly connected to the corresponding force transmission chain flywheels (602).

3. The distal drive humanoid robot joint module according to claim 2, characterized in that: A lead screw slide bar connector (9) is fixedly arranged on the lead screw sleeve (8). The lead screw slide bar connector (9) is sleeved on the top of the lead screw sleeve (8). A slider (10) is fixedly arranged on the lead screw slide bar connector (9). A guide rail (11) is fixedly arranged on the main body support (3). The slider (10) is slidably connected to the guide rail (11). The lead screw slide bar connector (9) is fixedly connected to the two chains (601) through bolts.

4. The distal drive humanoid robot joint module according to claim 1, wherein: A fixing block (12) is fixedly arranged near the bottom of the main body support (3). The lead screw (7) passes through the fixing block (12) and is connected through a bearing. The outer circle of the lead screw (7) is connected to the bottom of the flywheel support (4) through a bearing near the top. A lead screw connector (13) is fixedly arranged at the bottom of the lead screw (7). The lead screw connector (13) is fixedly connected to the output end at the top of the servo motor (1).

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