Novel humanoid robot integrated joint module

Abstract

The utility model relates to a novel humanoid robot integrated joint module which comprises fixed covers, first joint arms, a rotating shell and a second joint arm, the fixed covers are provided with the first joint arms, the two first joint arms are detachably installed, the rotating shell is rotatably installed between the two fixed covers, and the second joint arms are detachably installed between the rotating shell and the fixed covers. A rotating groove is formed between the two fixing covers, and a second joint arm penetrating through the rotating groove is installed on the rotating shell. The two fixing covers are detachably installed and can be conveniently assembled with the rotating shell, meanwhile, the multilateral connecting columns of the installation disc are connected with the output shaft of the bevel gear box in an inserted mode, then overall assembly of the joint module is achieved, and follow-up disassembly, assembly and maintenance are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of lithium battery processing, in particular to a novel integrated joint module of a humanoid robot. Background Art

[0002] In robotics technology, joint modules are often used to provide driving force for the robot's various motion structures, supporting the robot to complete predetermined movements.

[0003] The joints need to be equipped with motors for rotation, so they are prone to wear and damage. The existing integrated joint modules are not easy to disassemble and assemble, and it is not easy to repair and replace parts. At the same time, the motor and gear box are installed on the outside of the joint module, causing the joint module to occupy a large space. Utility Model Content

[0004] The problem that the utility model solves is to provide a new type of integrated joint module of a humanoid robot, which solves the technical problem that the joints need to be equipped with motors for rotation, which is prone to wear and damage. The existing integrated joint modules are not convenient for disassembly and assembly, and it is not convenient to repair and replace parts. At the same time, the motor and gear box are installed on the outside of the joint module, resulting in a large space occupied by the joint module.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A new type of integrated joint module of a humanoid robot includes a fixed cover, a first joint arm, a rotating shell and a second joint arm. The first joint arm is provided on the fixed cover, and the two first joint arms are detachably installed. A rotating shell is rotatably installed between the two fixed covers, and a rotating groove is opened between the two fixed covers. The second joint arm that passes through the rotating groove is installed on the rotating shell.

[0007] Preferably, a mounting hole is provided on the first articulated arm, and the first bolt passes through the mounting holes of the two first articulated arms and is connected to the first nut.

[0008] Preferably, a mounting plate is installed at the center of the outer side of the fixed cover, and the mounting plate is fixedly connected to the fixed cover by a second bolt, and a polygonal connecting column is provided on the mounting plate.

[0009] Preferably, a bevel gear box is installed in the rotating housing, and both output shafts of the bevel gear box can be provided with multilateral sockets, and the output shafts are plug-connected with the multilateral connecting columns.

[0010] Preferably, a mounting slot is provided on the second articulated arm, a motor is installed in the mounting slot, and an output end of the motor is connected to an input shaft of the bevel gear box.

[0011] Preferably, a guide rail is provided on the bottom side of the fixed cover, and a slider that moves along the guide rail is provided on the second joint arm.

[0012] The beneficial effects of the utility model are as follows: the two fixed covers can be detachably installed, which is convenient for assembly with the rotating housing, and the polygonal connecting columns of the mounting plate are plugged into the output shaft of the bevel gear box to realize the assembly of the entire joint module, and facilitate subsequent disassembly and maintenance;

[0013] The motor used for work is housed in the second joint arm, and the bevel gearbox used for transmission is located in the rotating shell, ensuring that the overall joint module occupies a small space and has a compact structure. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0015] Figure 2 This is a schematic diagram of the second overall structure of the utility model;

[0016] Figure 3 This is a cross-sectional view of the utility model.

[0017] Legend:

[0018] 1. Fixed cover; 2. First articulated arm; 3. First bolt; 4. Nut; 5. Rotating groove; 6. Rotating housing; 7. Second articulated arm; 8. Guide rail; 9. Slider; 10. Mounting plate; 11. Multilateral connecting column; 12. Bevel gearbox; 13. Output shaft; 14. Multilateral socket; 15. Input shaft; 16. Mounting groove; 17. Motor; 18. Second bolt. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying 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.

[0020] Specific examples are given below.

[0021] See also Figures 1 to 3, a new type of humanoid robot integrated joint module, including a fixed cover 1, a first joint arm 2, a rotating shell 6 and a second joint arm 7, the fixed cover 1 is provided with a first joint arm 2, and the two first joint arms 2 are detachably installed, the rotating shell 6 is rotatably installed between the two fixed covers 1, and a rotating groove 5 is provided between the two fixed covers 1, a mounting hole is provided on the first joint arm 2, and a first bolt 3 passes through the mounting holes of the two first joint arms 2 and is connected with the first nut 4, the first bolt 3 and the nut 4 are used to realize the assembly of the two first joint arms 2, and then the combination of the two fixed covers 1 and the rotating shell 6 is realized, which facilitates the installation of the rotating shell 6 between the two fixed covers 1, a mounting plate 10 is installed at the outer center of the fixed cover 1, and the mounting plate 10 is fixedly connected to the fixed cover 1 by a second bolt 18, and a polygonal connecting column 11 is provided on the mounting plate 10, for installation The disk 10 is mounted on the fixed cover 1 by a second bolt 18. At this time, the polygonal connecting column 11 of the mounting disk 10 is inserted into the polygonal socket 14 of the bevel gear box 12 to realize the assembly connection of the structure. The second articulated arm 7 that passes through the rotating slot 5 is installed on the rotating shell 6. The bevel gear box 12 is installed in the rotating shell 6. The two output shafts 13 of the bevel gear box 12 can be provided with polygonal sockets 14, and the output shafts 13 are plugged into the polygonal connecting column 11. The second articulated arm 7 is provided with a mounting slot 16, and a motor 17 is installed in the mounting slot 16. The output end of the motor 17 is connected to the input shaft 15 of the bevel gear box 12. When the motor 17 works, the bevel gear box 12 drives the two output shafts 13 to rotate, cooperates with the polygonal connecting column 11, and drives the rotating shell 6 to rotate between the two fixed covers 1, thereby realizing the rotation of the second articulated arm 7 and completing the joint bending of the humanoid robot.

[0022] A guide rail 8 is provided on the bottom side of the fixed cover 1 , and a slider 9 is provided on the second articulated arm 7 for moving along the guide rail 8 . When the second articulated arm 7 rotates, the cooperation between the slider 9 and the guide rail 8 plays a guiding role.

[0023] The rotating shell 6 is placed between the two fixed covers 1. At this time, the two first articulated arms 2 are assembled through the first bolt 3 and the nut 4, and then the two fixed covers 1 and the rotating shell 6 are combined. Then the mounting plate 10 is installed on the fixed cover 1 through the second bolt 18. At this time, the polygonal connecting column 11 of the mounting plate 10 is inserted into the polygonal socket 14 of the bevel gear box 12. The first articulated arm 2 and the second articulated arm 7 are respectively assembled with the humanoid robot. The motor 17 works, and the bevel gear box 12 drives the two output shafts 13 to rotate, cooperates with the polygonal connecting column 11, and drives the rotating shell 6 to rotate between the two fixed covers 1, realizing the rotation of the second articulated arm 7 and completing the joint bending of the humanoid robot.

[0024] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A new type of humanoid robot integrated joint module, characterized in that: The invention comprises a fixed cover (1), a first joint arm (2), a rotating shell (6) and a second joint arm (7); the fixed cover (1) is provided with the first joint arm (2), and the two first joint arms (2) are detachably mounted; the rotating shell (6) is rotatably mounted between the two fixed covers (1), and a rotating groove (5) is provided between the two fixed covers (1); the rotating shell (6) is provided with the second joint arm (7) penetrating the rotating groove (5).

2. A novel humanoid robot integrated joint module according to claim 1, characterized in that: The first joint arm (2) is provided with a mounting hole, and the first bolt (3) passes through the mounting holes of the two first joint arms (2) and is connected to the first nut (4).

3. A novel humanoid robot integrated joint module according to claim 2, characterized in that: A mounting plate (10) is installed at the center of the outer side of the fixed cover (1), and the mounting plate (10) is fixedly connected to the fixed cover (1) via a second bolt (18). A polygonal connecting column (11) is provided on the mounting plate (10).

4. A novel humanoid robot integrated joint module according to claim 3, characterized in that: A bevel gear box (12) is installed in the rotating housing (6). Both output shafts (13) of the bevel gear box (12) can be provided with a polygonal insertion hole (14), and the output shafts (13) are plug-connected with the polygonal connecting column (11).

5. The novel humanoid robot integrated joint module according to claim 4, characterized in that: The second joint arm (7) is provided with a mounting groove (16), a motor (17) is installed in the mounting groove (16), and an output end of the motor (17) is connected to an input shaft (15) of a bevel gear box (12).

6. The novel humanoid robot integrated joint module according to claim 5, characterized in that: A guide rail (8) is provided on the bottom side of the fixed cover (1), and a slider (9) that moves along the guide rail (8) is provided on the second joint arm (7).

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