Ankle connecting structure of humanoid robot

Abstract

The utility model relates to the technical field of humanoid robots, in particular to a humanoid robot ankle connecting structure which comprises a fixing base, a front cover plate is installed at the top of the fixing base, a bottom plate is installed at the bottom of the fixing base, the fixing base is of a cylindrical structure, and a mechanical arm fixing table top is arranged in the middle of the top of the fixing base. A plurality of strain beam mounting grooves are formed in the position, close to the outer side of the manipulator fixing table top, of the top of the fixing base, strain beams are mounted in the strain beam mounting grooves, a shaft positioning table top is arranged in the middle of the bottom of the fixing base, and a shaft positioning sleeve is mounted on the shaft positioning table top. Compared with a traditional complex mounting structure, the ankle connecting structure of the humanoid robot has the advantages that the fixing seat of a cylindrical structure is adopted, and the table top, the mounting groove and the through hole are reasonably formed in the fixing seat, so that the structure is simplified and lightened. According to the design, the overall weight of the robot is reduced, the manufacturing cost is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of humanoid robots, in particular to a connection structure of the ankle of a humanoid robot. Background Art

[0002] With the continuous development of robotics technology, humanoid robots have shown great application potential in various fields such as industry, services, and healthcare. As an important component of humanoid robots' perception of the external environment, force sensors, especially ankle force sensors, play a vital role in improving the accuracy, stability, and safety of robot operations.

[0003] Traditional humanoid robot ankle joints often suffer from complex structures, cumbersome installation, and limited sensor accuracy. These issues not only affect sensor measurement accuracy but also increase the robot's overall weight and manufacturing cost, further limiting the application of humanoid robots in complex environments. Utility Model Content

[0004] The purpose of the present invention is to provide a humanoid robot ankle connection structure to solve the problems of the traditional humanoid robot ankle connection structure proposed in the above background technology, such as complex structure, cumbersome installation, and limited sensor accuracy.

[0005] To achieve the above-mentioned purpose, the utility model provides a humanoid robot ankle connection structure, including a fixed seat, a front cover plate is installed on the top of the fixed seat, a bottom plate is installed on the bottom of the fixed seat, the fixed seat is a cylindrical structure, a manipulator fixing table is provided in the middle of the top of the fixed seat, a plurality of strain beam mounting grooves are provided at the top of the fixed seat near the outside of the manipulator fixing table, a strain beam is installed inside the strain beam mounting groove, an axis positioning table is provided in the middle of the bottom of the fixed seat, and an axis positioning sleeve is installed on the axis positioning table.

[0006] Preferably, the manipulator fixing table is connected and fixed to the manipulator by bolts.

[0007] Preferably, the number of the strain beam installation slots is four, and two strain beams are arranged inside each of the strain beam installation slots.

[0008] Preferably, the strain beam is an L-shaped structure.

[0009] Preferably, a manipulator fixing shaft through-hole is provided in the middle of the fixing seat, the bottom plate and the front cover plate.

[0010] Preferably, four wrist fixing surfaces are provided at the bottom of the fixing seat, and the wrist fixing surfaces are connected to the wrist structure by bolts.

[0011] Preferably, a bottom plate positioning groove is provided at the bottom of the fixing seat, and the bottom plate is mounted on the bottom plate positioning groove by bolts.

[0012] Preferably, the front cover is fixed to the top surface of the fixing seat by bolts.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. Compared to traditional, complex mounting structures, the present invention utilizes a cylindrical mounting base in the ankle connection structure. This base is equipped with a well-defined surface, mounting slots, and perforations, simplifying and reducing the weight of the structure. This design not only reduces the overall weight of the robot, but also lowers manufacturing costs and improves production efficiency.

[0015] 2. The humanoid robot's ankle connection structure utilizes bolted connection points located on the wrist mounting surface, the manipulator mounting surface, and the baseplate positioning slots, achieving a tight and secure connection between the sensor and the robot's ankle. Furthermore, the perforated design of the manipulator's mounting shaft allows for flexible connection and fixation, further enhancing the ease of installation.

[0016] 3. In the ankle connection structure of the humanoid robot, the strain beam is a key component of the sensor, and its number and structure have an important impact on the measurement accuracy. The utility model effectively improves the measurement accuracy and stability of the sensor by optimizing the number and position of the installation slots of the strain beam and adopting an L-shaped strain beam. The design of the L-shaped structure optimizes the force transmission path, allowing the sensor to more accurately sense the force conditions of the ankle. The middle of the fixing seat, base plate and front cover plate are all provided with a manipulator fixing shaft through-hole. This design not only facilitates the connection and fixation of the manipulator, but also enhances the stability of the overall structure. At the same time, the base plate is mounted on the base plate positioning slot by bolts, which further improves the stability and load-bearing capacity of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the explosion structure of the utility model;

[0019] Figure 3 This is a schematic diagram of the top structure of the fixing seat in the present utility model;

[0020] Figure 4 It is a schematic diagram of the bottom structure of the fixing seat in the utility model.

[0021] The meaning of each number in the figure is:

[0022] 1. Fixed seat; 11. Manipulator fixed table; 12. Strain beam mounting slot; 13. Strain beam; 14. Wrist fixed table; 15. Axis positioning table; 16. Axis positioning sleeve; 17. Bottom plate positioning slot; 2. Front cover; 3. Bottom plate; 4. Manipulator fixed axis through hole. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] The utility model provides a humanoid robot ankle connection structure, such as Figure 1-Figure 4 As shown, it includes a fixing base 1, a front cover plate 2 is installed on the top of the fixing base 1, and a bottom plate 3 is installed on the bottom of the fixing base 1. The fixing base 1 is a cylindrical structure. A manipulator fixing table 11 is set in the middle of the top of the fixing base 1. A plurality of strain beam mounting grooves 12 are set on the top of the fixing base 1 near the outside of the manipulator fixing table 11. Strain beams 13 are installed inside the strain beam mounting grooves 12. An axis positioning table 15 is set in the middle of the bottom of the fixing base 1. An axis positioning sleeve 16 is installed on the axis positioning table 15. The axis positioning sleeve 16 facilitates the positioning of the transmission shaft of the manipulator. The fixing base 1 adopts a cylindrical structure, with a front cover plate 2 installed on the top and a bottom plate 3 installed on the bottom. This integrated design makes the overall structure compact and highly integrated, and is particularly suitable for the installation and layout of the ankle of a humanoid robot. The manipulator fixing table 11 is set in the middle of the top of the fixing base 1, providing a stable connection point for the manipulator and ensuring a tight connection between the force sensor and the ankle of the robot. The top of the mounting base 1, near the outside of the manipulator's mounting surface 11, features several strain beam mounting slots 12, each housing a strain beam 13. This design allows the strain beams to accurately sense the force applied to the ankle, and by optimizing their mounting position and number, effectively improves the sensor's measurement accuracy.

[0025] In this embodiment, the manipulator fixing table 11 is connected and fixed to the manipulator by bolts, which facilitates the installation and fixation of the manipulator.

[0026] Specifically, there are four strain beam mounting slots 12, each of which houses two strain beams 13. By increasing the number of strain beams, the force applied to the ankle can be more comprehensively captured and sensed, thereby improving the force sensor's measurement accuracy and reliability. The four mounting slots are evenly distributed, each supported by two strain beams. This layout effectively enhances the stability and load-bearing capacity of the overall structure, allowing the sensor to maintain stable performance even in complex and changing force environments. The design of multiple strain beams allows the sensor to quickly respond to even minor force changes, enhancing its sensitivity and response speed.

[0027] Furthermore, the strain beam 13 is L-shaped, effectively transmitting the force applied to the ankle to the sensor, ensuring a more direct and efficient force transmission path, thereby improving measurement accuracy. The L-shaped design allows the strain beam to be more stably supported and fixed when subjected to force, effectively preventing deformation or displacement caused by the force, and further enhancing the stability of the overall structure. The L-shaped structure allows the strain beam to generate greater strain when subjected to force, thereby increasing the sensitivity of the sensor and enabling the robot to more accurately sense the force applied to the ankle.

[0028] Furthermore, a manipulator fixed shaft through-hole 4 is provided in the middle of the fixing seat 1, the bottom plate 3 and the front cover plate 2 to facilitate the passage of the manipulator's transmission shaft.

[0029] Furthermore, four wrist fixing surfaces 14 are provided at the bottom of the fixing seat 1 , and the wrist fixing surfaces 14 are connected to the wrist structure by bolts, so as to facilitate the installation and fixation of the wrist.

[0030] Furthermore, a bottom plate positioning groove 17 is provided at the bottom of the fixing base 1 , and the bottom plate 3 is mounted on the bottom plate positioning groove 17 by means of bolts, so as to facilitate the packaging and positioning of the bottom of the fixing base 1 .

[0031] Furthermore, the front cover plate 2 is fixed to the top surface of the fixing base 1 by means of bolts, so as to facilitate the top packaging and fixation of the fixing base 1 .

[0032] When using the humanoid robot ankle connection structure of the present invention, the entire mounting structure is first securely connected to the robot's wrist structure using bolts on the wrist fixing table 14. Next, the manipulator is tightly connected to the fixing base 1 using bolts on the manipulator fixing table 11, ensuring a secure connection between the manipulator and the ankle force sensor. The base plate 3 is bolted to the base plate positioning slots 17, further enhancing the stability and load-bearing capacity of the overall structure. The front cover 2 is bolted to the top of the fixing base 1, completing the encapsulation of the entire mounting structure.

[0033] When the robot's ankle is subjected to external forces, these forces are transmitted through the mounting base 1 to the strain beam 13. The L-shaped structure of the strain beam 13 optimizes the force transmission path, allowing the sensor to more accurately sense the force applied to the ankle. Two strain beams 13 are installed in each of the four strain beam mounting slots 12. This layout not only enhances the overall structural stability but also improves the sensor's measurement accuracy and reliability.

[0034] When the strain beam 13 is subjected to force, it will generate strain, which will be converted into an electrical signal and processed by the internal circuit of the sensor. The processed data will be transmitted to the robot's control system for more precise motion control and force feedback.

[0035] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot ankle connection structure, comprising a fixing seat (1), characterized in that: The top of the fixing seat (1) is provided with a front cover plate (2), the bottom of the fixing seat (1) is provided with a bottom plate (3), the fixing seat (1) is a cylindrical structure, a manipulator fixing table (11) is provided in the middle of the top of the fixing seat (1), a plurality of strain beam mounting grooves (12) are provided at the top of the fixing seat (1) near the outside of the manipulator fixing table (11), strain beams (13) are installed inside the strain beam mounting grooves (12), an axis positioning table (15) is provided in the middle of the bottom of the fixing seat (1), and an axis positioning sleeve (16) is installed on the axis positioning table (15).

2. The humanoid robot ankle connection structure according to claim 1, characterized in that: The manipulator fixing table (11) is connected and fixed to the manipulator via bolts.

3. The humanoid robot ankle connection structure according to claim 1, characterized in that: The number of the strain beam installation slots (12) is four, and two strain beams (13) are arranged inside each of the strain beam installation slots (12).

4. The humanoid robot ankle connection structure according to claim 1, wherein: The strain beam (13) is an L-shaped structure.

5. The humanoid robot ankle connection structure according to claim 1, characterized in that: A manipulator fixing shaft through-hole (4) is provided in the middle of the fixing seat (1), the bottom plate (3), and the front cover plate (2).

6. The humanoid robot ankle connection structure according to claim 1, characterized in that: Four wrist fixing surfaces (14) are provided at the bottom of the fixing seat (1), and the wrist fixing surfaces (14) are connected to the wrist structure via bolts.

7. The humanoid robot ankle connection structure according to claim 6, characterized in that: A bottom plate positioning groove (17) is provided at the bottom of the fixing seat (1), and the bottom plate (3) is mounted on the bottom plate positioning groove (17) by means of bolts.

8. The humanoid robot ankle connection structure according to claim 1, characterized in that: The front cover plate (2) is fixed to the top surface of the fixing seat (1) by means of bolts.

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