Robot thigh hip joint shell structure for tendon motion control

Abstract

A robot thigh hip joint shell structure for tendon motion control comprises a joint supporting shell body which is provided with a thigh driving installation part, a first rotation driving installation part and a second rotation driving installation part. The first rotation driving installation part and the second rotation driving installation part are arranged on the two sides of the thigh driving installation part correspondingly, and the first rotation driving installation part and the second rotation driving installation part are oppositely arranged. The thigh driving mounting part, the first rotary driving mounting part and the second rotary driving mounting part are respectively used for mounting a thigh driving device, a first rotary driving device and a second rotary driving device. The robot is exquisite in structure, at least three joint driving devices can be loaded and operate in a coordinated mode at the same time, the gravity center is easy to balance, bloated joint forms are avoided, and the overall form of the robot is more natural.

Description

Technical Field

[0001] The utility model belongs to the technical field of humanoid robots, and in particular relates to a robot thigh hip joint shell structure for tendon motion control. Background Art

[0002] In the field of humanoid robot research and development and manufacturing, robot joint drive solutions based on tendon drive technology have the advantages of being stable, reliable, cost-effective, and capable of achieving more natural movements. Regarding tendon drive technology that simulates human muscles, the iCub humanoid robot platform was an early example. In more recent technology, South Korea's NAVER LABS company has used it to realize the drive control of the Ambidex robot arm. Patent document CN 221391059 U discloses a robot joint transmission mechanism, comprising a first bracket, a first motor, a first input end, a first transmission belt, and a first output reel. The first motor is disposed at the upper end of the first bracket, and the first output reel is disposed at the lower end of the first bracket. The first input end includes a first input reel, and the power output end of the first motor is connected to the first input reel. The outer diameter of the first input reel ranges from 15mm to 45mm. The first transmission belt includes a first chain and a first pull wire. The first chain is connected to the first input reel, and the first pull wire is wound around the first output reel. It solves the problems of wire life and transmission torque in rope transmission, and can be used to drive and control leg joint movements. However, multiple joint drive devices need to be loaded simultaneously on the robot's thigh hip joint. Therefore, its shell structure needs to be designed to be able to load at least three joint drive devices and operate in coordination at the same time without causing the joint shape to be bloated, resulting in an odd overall shape of the robot and difficulty in balancing the center of gravity. Summary of the Invention

[0003] In response to the deficiencies of the existing technology, the utility model proposes a robot thigh hip joint shell structure for tendon movement control that has a sophisticated structure and can carry multiple joint drive devices and operate in a coordinated manner at the same time. The center of gravity is easy to balance, avoiding bloated joint shape, and making the overall shape of the robot more natural.

[0004] The specific technical solutions are as follows:

[0005] A robot thigh hip joint shell structure for tendon motion control includes a joint support shell body, the joint support shell body having a thigh drive mounting portion, a first rotation drive mounting portion and a second rotation drive mounting portion, the first rotation drive mounting portion and the second rotation drive mounting portion are respectively arranged on both sides of the thigh drive mounting portion, and the first rotation drive mounting portion and the second rotation drive mounting portion are arranged opposite to each other, the thigh drive mounting portion, the first rotation drive mounting portion and the second rotation drive mounting portion are respectively used to install a thigh drive device, a first rotation drive device and a second rotation drive device.

[0006] Preferably, the thigh drive mounting portion, the first rotation drive mounting portion and the second rotation drive mounting portion each have a motor mounting chamber and a control circuit board mounting chamber, and the control circuit board mounting chamber is arranged outside the motor mounting chamber.

[0007] Preferably, the first rotary drive mounting portion and the second rotary drive mounting portion are respectively provided with a first drive shell and a second drive shell for mounting a rotary drive device; the first drive shell and the second drive shell are both provided with output end holes in the middle; a first mounting baffle and a second mounting baffle are detachably mounted in the open ends of the first drive shell and the second drive shell for mounting a control circuit board of the drive device; a first closed outer shell and a second closed outer shell are also detachably mounted on the outsides of the first drive shell and the second drive shell.

[0008] Preferably, the thigh drive mounting portion is provided with a thigh drive mounting plate for mounting a rotary drive device, and a mounting septum shell and a closed outer shell are sequentially mounted on the thigh drive mounting plate. The opening side of the mounting septum shell covers the above-mentioned mounting rotary drive device, and the other side of the mounting septum shell is used to mount a control circuit board of the drive device, and the opening side of the closed outer shell covers the control circuit board of the above-mentioned drive device.

[0009] Preferably, the mounting partition shell and the closed outer shell are mounted on the thigh drive mounting plate by means of a screw structure.

[0010] Preferably: the outer edges of the first mounting partition and the second mounting partition are provided with external threaded mounting parts, the open ends of the first drive shell and the second drive shell are provided with internal threaded parts, the external threaded mounting parts cooperate with the internal threaded parts to achieve detachable installation, and the first closed outer shell and the second closed outer shell are respectively installed on the outside of the first drive shell and the second drive shell by screw structures.

[0011] Preferably, a lateral rotation connection portion is further provided at the top of the joint support shell body, the lateral rotation connection portion is fixedly connected to the top of the thigh drive mounting portion, the first rotation drive mounting portion and the second rotation drive mounting portion, and is connected across the first rotation drive mounting portion and the top of the second rotation drive mounting portion, and the lateral rotation connection portion is used to connect to the lateral joint of the robot's waist.

[0012] Preferably, the first drive shell, the second drive shell and the thigh drive mounting plate are fixedly connected as one body in a U shape, and a lateral rotation connection part is also fixedly connected to the top of the first drive shell, the second drive shell and the thigh drive mounting plate, and a rotating shaft mounting hole and a drive shaft mounting hole are respectively provided in the lateral rotation connection part, and the drive shaft mounting hole is arranged on the outside of the rotating shaft mounting hole.

[0013] Preferably: a wiring harness is installed on the first drive shell and the second drive shell respectively, and the wiring harness passes through the corresponding first mounting partition or the second mounting partition respectively. The first closed outer shell and the second closed outer shell both have a wiring arch shell portion, and the wiring arch shell portion is embedded and installed on the side of the thigh drive mounting portion, and a wiring outlet portion is provided on the inner side of the mounting partition shell.

[0014] Preferably, a stable heat dissipation boss is provided on the first closed outer shell, the second closed outer shell and the inner side of the closed outer shell.

[0015] The beneficial effects of the present invention are as follows: a first rotary drive mounting portion and a second rotary drive mounting portion are respectively arranged on both sides of the thigh drive mounting portion, and the first rotary drive mounting portion and the second rotary drive mounting portion are arranged opposite to each other, and the overall center of the thigh hip joint on both sides is symmetrical, which is easy to balance the center of gravity of the robot leg, and can carry at least three joint drive devices and operate in a coordinated manner; the thigh drive mounting portion is arranged between the rear sides of the first rotary drive mounting portion and the second rotary drive mounting portion, and is shaped like a protrusion at the buttocks of the human body, so that the overall shape of the robot is more natural, avoiding the bloated shape of a certain joint due to the excessive concentration of joint drive devices controlled by tendon motion, but is beneficial to the design of other limbs of the robot leg to be more slender, while the tendon motion control is more lightweight, and the robot shape is more beautiful and natural, and the overall structure of the thigh hip joint is exquisite and occupies little space. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model.

[0017] Figure 2 It is a schematic diagram of the cross-sectional structure of the entire utility model.

[0018] Figure 3 It is an exploded schematic diagram of the utility model as a whole.

[0019] Description of reference numerals: thigh structure 1; thigh drive device 3; first rotation drive device 4; second rotation drive device 5;

[0020] Thigh drive mounting portion 21; first rotation drive mounting portion 22; second rotation drive mounting portion 23; stable heat dissipation boss 24; lateral rotation connection portion 25;

[0021] Motor installation chamber 201; control circuit board installation chamber 202; wiring harness 203; wiring arch shell 204; wire outlet 205;

[0022] Thigh drive mounting plate 211; install the middle septum shell 212; close the outer shell 213;

[0023] First drive housing 221; first mounting partition 222; first closed outer housing 223;

[0024] Second drive housing 231; second mounting partition 232; second closed outer housing 233;

[0025] Rotating shaft mounting hole 251; Driving shaft mounting hole 252. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0028] It should also be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections. They may refer to direct connections or connections through an intermediate medium, or to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances. Example

[0029] like Figure 1 、 Figure 2 and Figure 3 As shown: A robot thigh hip joint shell structure for tendon motion control is provided with a thigh structure 1, a joint support shell body, a thigh drive device 3, a first rotation drive device 4 and a second rotation drive device 5, the joint support shell body has a thigh drive mounting portion 21, a first rotation drive mounting portion 22 and a second rotation drive mounting portion 23, the thigh drive mounting portion 21, the first rotation drive mounting portion 22 and the second rotation drive mounting portion 23 are used to install the thigh drive device 3, the first rotation drive device 4 and the second rotation drive device 5 respectively, and the joint support shell body is rotatably mounted on both sides of the top of the thigh structure 1 through the output shaft relative to the first rotation drive device 4 and the second rotation drive device 5, and a third rotation drive mounting portion and a fourth rotation drive mounting portion can be provided on the lower side of the first rotation drive mounting portion 22 and the second rotation drive mounting portion 23. The rotary drive mounting part, etc., that is, the two sides of the upper and middle part of the thigh structure 1, so as to realize the loading of more joint drive devices. The first rotary drive mounting part 22 and the second rotary drive mounting part 23 are respectively arranged on both sides of the thigh drive mounting part 21, and the first rotary drive mounting part 22 and the second rotary drive mounting part 23 are arranged opposite to each other. The center symmetry on both sides is easy to balance the center of gravity of the robot leg. The thigh drive mounting part 21 is arranged between the rear sides of the first rotary drive mounting part 22 and the second rotary drive mounting part 23, and is shaped like a protrusion at the buttocks of the human body. The overall shape of the robot is more natural, avoiding the bloated shape of a certain joint due to the excessive concentration of the joint drive device controlled by the tendon motion, but is beneficial to the design of other limbs of the robot leg to be more slender. While the tendon motion control is more lightweight, the robot shape is made more beautiful and natural.

[0030] Among them, the thigh driving device 3, the first rotation driving device 4 and the second rotation driving device 5 are motor modules.

[0031] The thigh drive mounting part 21, the first rotation drive mounting part 22 and the second rotation drive mounting part 23 are all provided with a motor mounting chamber 201 and a control circuit board mounting chamber 202. The control circuit board mounting chamber 202 is arranged outside the motor mounting chamber 201. The motor mounting chamber 201 and the control circuit board mounting chamber 202 are basically independent to avoid line entanglement during motor rotation.

[0032] The above-mentioned first rotary drive mounting portion 22 and second rotary drive mounting portion 23 are respectively provided with a first drive shell 221 and a second drive shell 231 for mounting a rotary drive device. The first drive shell 221 and the second drive shell 231 are both provided with output end holes in the middle. A first mounting partition 222 and a second mounting partition 232 are detachably mounted in the open ends of the first drive shell 221 and the second drive shell 231 for mounting a control circuit board of the drive device. A first closed outer shell 223 and a second closed outer shell 233 are also detachably mounted on the outside of the first drive shell 221 and the second drive shell 231, that is, the first drive shell 221 and the second drive shell 231 are respectively installed with the first mounting partition 222 and the second mounting partition 232 to form a relatively closed motor mounting chamber 201; the first mounting partition 222 and the second mounting partition 232 cooperate with the first closed outer shell 223 and the second closed outer shell 233 to form a control circuit board mounting chamber 202.

[0033] The thigh drive mounting portion 21 is provided with a thigh drive mounting plate 211 for mounting a rotary drive device. A septum shell 212 and a closed outer shell 213 are mounted in sequence on the thigh drive mounting plate 211, and the septum shell 212 and the closed outer shell 213 are fixedly mounted on the thigh drive mounting plate 211 as a whole by the same long screw structure.

[0034] The opening side of the septum shell 212 is used to cover the above-mentioned rotating drive device, and the other side of the septum shell 212 is used to install the control circuit board of the drive device, and the opening side of the closed outer shell 213 covers the control circuit board of the above-mentioned drive device.

[0035] The outer edges of the first mounting partition 222 and the second mounting partition 232 are provided with external thread mounting parts, and the open ends of the first drive shell 221 and the second drive shell 231 are provided with internal thread parts, and the external thread mounting parts cooperate with the internal thread parts to realize detachable installation; the first closed outer shell 223 and the second closed outer shell 233 are respectively installed on the outside of the first drive shell 221 and the second drive shell 231 through screw structures.

[0036] A lateral rotation connection part 25 is also provided on the top of the joint support shell body. The lateral rotation connection part 25 is fixedly connected to the top of the thigh drive mounting part 21, the first rotation drive mounting part 22 and the second rotation drive mounting part 23, and spans the first rotation drive mounting part 22 and is connected to the top of the second rotation drive mounting part 23. The lateral rotation connection part 25 is used to connect to the lateral joint of the robot's waist.

[0037] Furthermore, specifically: the first drive shell 221, the second drive shell 231 and the thigh drive mounting plate 211 are fixedly connected as a whole, forming a U shape, and a lateral rotation connection part 25 is also fixedly connected to the first drive shell 221, the second drive shell 231 and the top of the thigh drive mounting plate 211, and a rotating shaft mounting hole 251 and a drive shaft mounting hole 252 are respectively opened in the lateral rotation connection part 25, and the drive shaft mounting hole 252 is arranged on the outside of the rotating shaft mounting hole 251. The rotating shaft mounting hole 251 and the drive shaft mounting hole 252 are used to respectively install the rotating shaft and the drive shaft of the lateral joint of the robot waist to realize lateral swinging of the thigh structure 1.

[0038] A wiring harness 203 is installed on the first drive shell 221 and the second drive shell 231 respectively. The wiring harness 203 passes through the corresponding first mounting partition 222 or the second mounting partition 232 respectively. The first closed outer shell 223 and the second closed outer shell 233 both have a wiring arch shell portion 204. The wiring arch shell portion 204 is embedded and installed on the side of the thigh drive mounting portion 21, that is, the side of the mounting septum shell 212. A wire outlet portion 205 is also provided on the inner side of the mounting septum shell 212. The inner side of the mounting septum shell 212 refers to the side where the two legs of the robot are relatively close, which is more convenient for wiring harness organization.

[0039] A stable heat dissipation boss 24 is further provided on the inner side of the first closed outer shell 223, the second closed outer shell 233 and the closed outer shell 213. The stable heat dissipation boss 24 is against the position of the chip in the control circuit board that mainly dissipates heat. On the one hand, it facilitates the heat dissipation of the chip, and on the other hand, it is convenient to form a stable support effect for the entire control circuit board.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention shall be defined by the appended claims.

Claims

1. A robot thigh hip joint housing structure for tendon motion control, characterized by: The invention comprises a joint support shell body, wherein the joint support shell body has a thigh drive mounting portion (21), a first rotation drive mounting portion (22) and a second rotation drive mounting portion (23), wherein the first rotation drive mounting portion (22) and the second rotation drive mounting portion (23) are respectively arranged on both sides of the thigh drive mounting portion (21), and the first rotation drive mounting portion (22) and the second rotation drive mounting portion (23) are arranged opposite to each other, and the thigh drive mounting portion (21), the first rotation drive mounting portion (22) and the second rotation drive mounting portion (23) are respectively used for mounting a thigh drive device (3), a first rotation drive device (4) and a second rotation drive device (5).

2. The robot thigh hip joint housing structure for tendon motion control according to claim 1, characterized in that: The thigh drive mounting portion (21), the first rotation drive mounting portion (22) and the second rotation drive mounting portion (23) are each provided with a motor mounting chamber (201) and a control circuit board mounting chamber (202), wherein the control circuit board mounting chamber (202) is arranged outside the motor mounting chamber (201).

3. The robot thigh hip joint housing structure for tendon motion control according to claim 1 or 2, characterized in that: The first rotary drive mounting portion (22) and the second rotary drive mounting portion (23) are respectively provided with a first drive housing (221) and a second drive housing (231) for mounting a rotary drive device. An output end hole is provided in the middle of each of the first drive housing (221) and the second drive housing (231). A first mounting partition (222) and a second mounting partition (232) are detachably mounted in the open ends of the first drive housing (221) and the second drive housing (231) for mounting a control circuit board of the drive device. A first closed outer shell (223) and a second closed outer shell (233) are also detachably mounted on the outside of the first drive housing (221) and the second drive housing (231).

4. The robot thigh hip joint housing structure for tendon motion control according to claim 3, characterized in that: The thigh drive mounting portion (21) is provided with a thigh drive mounting plate (211) for mounting a rotary drive device, and a mounting septum shell (212) and a closed outer shell (213) are sequentially mounted on the thigh drive mounting plate (211).

5. The robot thigh hip joint housing structure for tendon motion control according to claim 4, characterized in that: The mounting middle partition shell body (212) and the closed outer shell body (213) are mounted on the thigh drive mounting plate body (211) via a screw structure.

6. The robot thigh hip joint housing structure for tendon motion control according to claim 3, characterized in that: The outer edges of the first mounting baffle (222) and the second mounting baffle (232) are provided with external thread mounting portions, and the open ends of the first drive shell (221) and the second drive shell (231) are provided with internal thread portions, and the external thread mounting portions cooperate with the internal thread portions to achieve detachable installation, and the first closed outer shell (223) and the second closed outer shell (233) are respectively installed on the outside of the first drive shell (221) and the second drive shell (231) by means of screw structures.

7. The robot thigh hip joint housing structure for tendon motion control according to claim 1 or 2, characterized in that: A lateral rotation connection portion (25) is also provided on the top of the joint support shell body. The lateral rotation connection portion (25) is fixedly connected to the top of the thigh drive mounting portion (21), the first rotation drive mounting portion (22) and the second rotation drive mounting portion (23), and is connected across the first rotation drive mounting portion (22) and the top of the second rotation drive mounting portion (23). The lateral rotation connection portion (25) is used to connect to the lateral joint of the robot waist.

8. The robot thigh hip joint housing structure for tendon motion control according to claim 4 or 5, characterized in that: The first drive shell (221), the second drive shell (231) and the thigh drive mounting plate (211) are fixedly connected to form a whole, forming a U-shape. A lateral rotation connection portion (25) is also fixedly connected to the top of the first drive shell (221), the second drive shell (231) and the thigh drive mounting plate (211). A rotating shaft mounting hole (251) and a driving shaft mounting hole (252) are respectively formed in the lateral rotation connection portion (25), and the driving shaft mounting hole (252) is arranged outside the rotating shaft mounting hole (251).

9. The robot thigh hip joint housing structure for tendon motion control according to claim 4 or 5, characterized in that: A wiring harness (203) is installed on the first drive housing (221) and the second drive housing (231), respectively. The wiring harness (203) passes through the corresponding first mounting partition (222) or second mounting partition (232), respectively. The first closed outer shell (223) and the second closed outer shell (233) both have a wiring arch shell portion (204). The wiring arch shell portion (204) is embedded and installed on the side of the thigh drive mounting portion (21), and a wiring outlet portion (205) is provided on the inner side of the mounting partition housing (212).

10. The robot thigh hip joint housing structure for tendon motion control according to claim 9, characterized in that: Stable heat dissipation bosses (24) are also provided on the inner sides of the first closed outer shell (223), the second closed outer shell (233), and the closed outer shell (213).

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