Robot thigh hip joint control mechanism for tendon motion control

Abstract

A robot thigh hip joint control mechanism for tendon motion control comprises a thigh structure, a mounting shell structure, a thigh driving device, a first rotation driving device and a second rotation driving device, and the mounting shell structure is rotationally arranged at the top of the thigh structure; the thigh driving device, the first rotation driving device and the second rotation driving device are installed in the installation shell structure, the output end of the first rotation driving device and the output end of the second rotation driving device are provided with a first output shaft structure and a second output shaft structure respectively, and the first output shaft structure and the second output shaft structure are coaxial and oppositely arranged. A coaxial stable external member structure is installed between the first output shaft structure and the second output shaft structure, and a first output wheel disc structure and a second output wheel disc structure are arranged on the first output shaft structure and the second output shaft structure respectively. The joint structure is easy to control, the output wire coil is installed stably enough, and the joint rotating angle is convenient to disassemble, assemble and monitor and feed back.

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 control mechanism for tendon motion control. Background Art

[0002] In the field of humanoid robot research and development and manufacturing, the joint drive solution is a key factor in the robot's stability, reliability, cost-effectiveness and efficiency. In the existing technology, there are three mainstream technical solutions for robot joint drive:

[0003] The first is hydraulic drive technology, represented by Boston Dynamics' Atlas robot. It has the advantages of high torque and fast response, but also has the disadvantages of high complexity, high cost and high weight.

[0004] The second is direct-drive or connecting rod drive technology for motor joint modules. This technology is adopted by most robotics companies or institutions, including Digit Robotics, Tesla Robotics, and Yushu Robotics. Its advantages lie in its simple structure and low cost, but it may lack dynamic performance in some situations.

[0005] The third is tendon drive technology that simulates human muscles, which can achieve more natural movements, but this technology is difficult to control and currently has a short service life. It was represented by the iCub humanoid robot platform in the early days. In recent technology, the patent document with announcement number CN221391059 U discloses a robot joint transmission mechanism, including a first bracket, a first motor, a first input end, a first transmission belt and a first output reel; the first motor is arranged at the upper end of the first bracket, the first output reel is arranged at the lower end of the first bracket, the first input end includes the first input reel, the power output end of the first motor is connected to the first input reel, the outer diameter range of the first input reel is 15mm-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 wrapped around the first output reel. It solves the problems of wire life and transmission torque in rope transmission. In the terminal joint it drives, since its bearing torque is relatively the largest, the terminal output reel adopts a general installation method, which can easily lead to the terminal output reel shaking during the control process and other inaccurate control positioning problems, which is extremely detrimental to the overall balance and coordinated control of the robot. Summary of the Invention

[0006] In response to the deficiencies of the existing technology, the utility model proposes a robot thigh hip joint control mechanism for tendon motion control, which has a simple joint structure control, a sufficiently stable output cable drum installation, and is convenient for disassembly and assembly and monitoring and feedback of joint rotation angle.

[0007] The specific technical solutions are as follows:

[0008] A robot thigh hip joint control mechanism for tendon motion control includes a thigh structure, a mounting housing structure, a thigh drive device, a first rotation drive device, and a second rotation drive device. The mounting housing structure is rotatably mounted on top of the thigh structure. The thigh drive device, the first rotation drive device, and the second rotation drive device are all mounted in the mounting housing structure.

[0009] The output end of the thigh drive device is provided with a bevel gear structure, and at least one bevel gear disk is provided on the top of the thigh structure, and the bevel gear structure cooperates with the bevel gear disk;

[0010] The output ends of the first rotation drive device and the second rotation drive device are respectively installed with a first output shaft structure and a second output shaft structure. The first output shaft structure and the second output shaft structure are coaxial and arranged opposite to each other. A coaxial stabilization kit structure is also installed between the first output shaft structure and the second output shaft structure. The first output shaft structure and the second output shaft structure are also respectively provided with a first output wheel disc structure and a second output wheel disc structure.

[0011] Preferably, the thigh drive device, the first rotation drive device and the second rotation drive device are motor joint modules.

[0012] Preferably, the coaxial stabilization kit structure includes a stabilization sleeve, one end of which is connected to the side of the first output wheel disc structure, and the other end of the stabilization sleeve is provided with a bearing mounting cavity, a rotating bearing structure is installed in the bearing mounting cavity, and the rotating bearing structure is sleeved on the end of the second output shaft structure.

[0013] Preferably, the rotating bearing structure is a deep groove ball bearing, a self-aligning ball bearing or an angular contact ball bearing, and the outer ring of the rotating bearing structure is interference fit with the inner wall of the bearing mounting cavity, the inner ring of the rotating bearing structure is interference fit with the end of the second output shaft structure, and stepped platforms are provided on the inner wall of the bearing mounting cavity and the end of the second output shaft structure to respectively support the opposite sides of the outer ring and inner ring of the rotating bearing structure.

[0014] Preferably, a mounting through hole is provided in the center of the first output shaft structure, a mounting threaded hole is provided in the center of the second output shaft structure, the coaxial stabilization kit structure also includes a tensioning screw structure, the tensioning screw structure passes through the mounting through hole and cooperates with the mounting threaded hole, and a thrust bearing structure is provided between the nut of the tensioning screw structure and the side wall of the first output shaft structure.

[0015] Preferably, the first output wheel structure and the second output wheel structure are sprocket structures or synchronous pulley structures, the first output wheel structure and the side surface of the stabilizing sleeve are fixed to the first output shaft structure by a screw structure, and the second output wheel structure is installed on the second output shaft structure by a spline structure.

[0016] Preferably, the thrust bearing structure is a thrust ball bearing, a thrust needle roller bearing, a thrust tapered roller bearing or a thrust spherical roller bearing.

[0017] Preferably, a first support plate frame and a second support plate frame are provided on the top of the thigh structure, the first support plate frame and the second support plate frame are arranged relative to each other, the first output wheel disc structure and the second output wheel disc structure are arranged between the first support plate frame and the second support plate frame, and mounting holes are provided on the first support plate frame and the second support plate frame, and the first output shaft structure and the second output shaft structure are respectively installed in the two mounting holes through bearing structures.

[0018] Preferably, a bevel gear plate is provided on the first support plate frame or the second support plate frame at the top of the thigh structure, and the bevel gear structure and the bevel gear plate are mutually matched helical bevel gear structures.

[0019] Preferably, the mounting housing structure includes a thigh drive mounting portion, a first rotation drive mounting portion, and a second rotation drive mounting portion, wherein 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 thigh drive device, the first rotation drive device, and the second rotation drive device are respectively installed in the thigh drive mounting portion, the first rotation drive mounting portion, and the second rotation drive mounting portion;

[0020] A fixed cylindrical gear is fixedly installed on the inner side surface of the first rotary drive mounting part or the second rotary drive mounting part, and an encoding hollow shaft structure is rotatably installed in the thigh structure through a bearing structure. A driven cylindrical gear is installed at one end of the encoding hollow shaft structure through a screw, and the fixed cylindrical gear is engaged with the driven cylindrical gear. A radial magnet is installed at the other end of the encoding hollow shaft structure, and an absolute encoder is installed on the thigh structure, and the radial magnet is aligned with the absolute encoder.

[0021] The beneficial effects of the present invention are as follows: a stabilizing sleeve and a tensioning screw structure are provided, the stabilizing sleeve is provided on the outside of the first output shaft structure and the second output shaft structure, and rotates with the second output shaft structure to realize a stable matching connection between the relative ends of the two output shafts, so that they can complete independent work without interfering with each other, and also avoid vibration of the suspended relative ends during operation; one end of the tensioning screw structure is fixedly connected to the second output shaft structure, and the other end of the tensioning screw structure rotates with the first output shaft structure, thereby further enhancing the stability of the output shaft structure movement, and the stabilizing sleeve and the tensioning screw structure rotate with different output shafts respectively to make the acting torque more balanced and the effect better; the stabilizing sleeve and the tensioning screw structure can also be used separately, but the stabilizing sleeve and the tensioning screw structure are used together for better effect and longer service life; and an absolute encoder is provided to facilitate monitoring and feedback of the rotation angle of the thigh hip joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model.

[0023] Figure 2 It is a schematic diagram of the cross-sectional structure of the entire utility model.

[0024] Figure 3 for Figure 2 A local enlarged schematic diagram of point A in the middle.

[0025] Figure 4 It is a schematic diagram of the overall explosion structure of the utility model.

[0026] Figure 5 This is a structural diagram of the housing structure installed in the utility model, in which the thigh drive device, the first rotation drive device and the second rotation drive device are installed.

[0027] In the figure: thigh structure 1; mounting housing structure 2; thigh drive device 3; first rotation drive device 4; second rotation drive device 5; coaxial stabilization kit structure 6; absolute encoder 7;

[0028] Bevel gear plate 11; first support plate frame 12; second support plate frame 13; encoding hollow shaft structure 14; driven cylindrical gear 15; radial magnet 16;

[0029] Thigh drive mounting portion 21; first rotation drive mounting portion 22; second rotation drive mounting portion 23; fixed cylindrical gear 24; lateral rotation connection portion 25;

[0030] Motor mounting chamber 201; control circuit board mounting chamber 202; wiring harness 203; wiring arch shell 204; wire outlet 205; stable heat dissipation boss 206;

[0031] Thigh drive mounting plate 211; install septum shell 212; close outer shell 213;

[0032] First drive housing 221; first mounting partition 222; first closed outer housing 223;

[0033] Second drive housing 231; second mounting partition 232; second closed outer housing 233;

[0034] Rotating shaft mounting hole 251; driving shaft mounting hole 252;

[0035] Bevel gear structure 31; first output shaft structure 41; second output shaft structure 51; first output wheel disc structure 42; second output wheel disc structure 52; mounting through hole 43; mounting threaded hole 53;

[0036] Stable shaft sleeve 61; bearing mounting cavity 62; rotating bearing structure 63; tension screw structure 64; thrust bearing structure 65. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] 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

[0040] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5As shown: A robotic thigh hip joint for tendon movement control is provided with a thigh structure 1, a mounting shell structure 2, a thigh drive device 3, a first rotation drive device 4 and a second rotation drive device 5. The thigh drive device 3, the first rotation drive device 4 and the second rotation drive device 5 are motor joint modules, which can also be other rotation drive devices such as hydraulic motors or pneumatic motors.

[0041] The above-mentioned mounting shell structure 2 is rotatably mounted on the top of the thigh structure 1. The mounting shell structure 2 includes a thigh drive mounting portion 21, a first rotation drive mounting portion 22, and a second rotation drive mounting portion 23. 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 thigh drive device 3, the first rotation drive device 4, and the second rotation drive device 5 are respectively mounted on the thigh drive mounting portion 21, the first rotation drive mounting portion 22, and the second rotation drive mounting portion 23. That is, the first rotation drive device 4 and the second rotation drive device 5 are respectively arranged on both sides of the thigh drive device 3. The central symmetry of the two sides makes it easy to balance the center of gravity of the robot leg. The thigh drive mounting portion 21 is located between the rear sides of the first rotation drive mounting portion 22 and the second rotation drive mounting portion 23, and is shaped like a protrusion at the human buttocks. The overall shape of the robot is more natural, avoiding the bloated shape of a joint due to the excessive concentration of the joint drive device controlled by the tendon motion, and instead making it easier for other limb parts of the robot leg to be designed to be more slender. While the tendon motion control is more lightweight, the robot shape is more beautiful and natural.

[0042] A bevel gear structure 31 is provided at the output end of the thigh drive device 3, and a bevel gear disk 11 is provided on the top of the thigh structure 1, or two bevel gear disks 11 can be provided. The bevel gear structure 31 cooperates with the bevel gear disk 11 to realize the forward and backward swinging rotation of the thigh structure 1 relative to the mounting shell structure 2, thereby accurately and stably driving the thigh hip joint itself to operate.

[0043] Furthermore, the top of the thigh structure 1 has a first support plate frame 12 and a second support plate frame 13, and the first support plate frame 12 and the second support plate frame 13 are arranged relative to each other. A bevel gear disk 11 is provided on the first support plate frame 12 or the second support plate frame 13 at the top of the thigh structure 1, or two opposite bevel gear disks 11 can be provided on the first support plate frame 12 and the second support plate frame 13 respectively, which makes the handling more stable, but also more prone to gear jamming. However, in order to reduce joint weight and cost, generally only one bevel gear disk 11 is provided, and the bevel gear structure 31 and the bevel gear disk 11 are both mutually coordinated oblique bevel tooth structures. When the thigh structure 1 swings forward and lifts the leg, it can bear a greater torque, avoid the phenomenon of gear slipping due to excessive torque, and conform to the natural force condition of human movement.

[0044] The output ends of the first rotary drive device 4 and the second rotary drive device 5 are respectively installed with a first output shaft structure 41 and a second output shaft structure 51. The first output shaft structure 41 and the second output shaft structure 51 are coaxial and arranged opposite to each other. A coaxial stabilization kit structure 6 is also installed between the first output shaft structure 41 and the second output shaft structure 51. The first output pulley structure 42 and the second output pulley structure 52 are also respectively arranged on the first output shaft structure 41 and the second output shaft structure 51. The first output pulley structure 42 and the second output pulley structure 52 are sprocket structures or synchronous pulley structures, etc.

[0045] In addition, the first output wheel disc structure 42 and the second output wheel disc structure 52 are arranged between the first support plate frame 12 and the second support plate frame 13. The first support plate frame 12 and the second support plate frame 13 are both provided with mounting holes. The first output shaft structure 41 and the second output shaft structure 51 are respectively installed in the two mounting holes through the bearing structure, thereby indirectly realizing the rotational cooperation between the mounting shell structure 2 and the top of the thigh structure 1. While ensuring stability, the structure is streamlined and occupies less space.

[0046] The above-mentioned coaxial stabilization kit structure 6 includes a stabilization sleeve 61, one end of which is connected to the side of the first output wheel disc structure 42, and the other end of the stabilization sleeve 61 is provided with a bearing mounting cavity 62, and a rotating bearing structure 63 is installed in the bearing mounting cavity 62. The rotating bearing structure 63 is sleeved on the end of the second output shaft structure 51.

[0047] The first output wheel disc structure 42 and the side surfaces of the stabilizing sleeve 61 are fixed to the first output shaft structure 41 by means of screw structures, and the second output wheel disc structure 52 is mounted on the second output shaft structure 51 by means of a spline structure.

[0048] Among them, the rotating bearing structure 63 is a deep groove ball bearing, a self-aligning ball bearing or an angular contact ball bearing, and the outer ring of the rotating bearing structure 63 is interference fit with the inner wall of the bearing mounting cavity 62, and the inner ring of the rotating bearing structure 63 is interference fit with the end of the second output shaft structure 51, and stepped platforms are provided on the inner wall of the bearing mounting cavity 62 and the end of the second output shaft structure 51 to respectively press against the opposite sides of the outer ring and inner ring of the rotating bearing structure 63, that is, a stepped platform is provided on the inner wall of the bearing mounting cavity 62, preferably a ring-shaped limit platform, which presses against the left side of the outer ring of the rotating bearing structure 63; a stepped platform is provided at the end of the second output shaft structure 51, preferably a ring-shaped limit platform, which presses against the right side of the inner ring of the rotating bearing structure 63, to avoid the inner and outer rings of the rotating bearing structure 63 from getting stuck, and is conducive to cooperation with the subsequent tightening screw structure 64.

[0049] Furthermore, a mounting through hole 43 is provided in the center of the first output shaft structure 41, and a mounting threaded hole 53 is provided in the center of the second output shaft structure 51. The coaxial stabilization kit structure 6 also includes a tensioning screw structure 64, which passes through the mounting through hole 43 and cooperates with the mounting threaded hole 53, and a thrust bearing structure 65 is provided between the nut of the tensioning screw structure 64 and the side wall of the first output shaft structure 41. The thrust bearing structure 65 is a thrust ball bearing, a thrust needle roller bearing, a thrust tapered roller bearing or a thrust spherical roller bearing, etc.

[0050] Implementation principle: A coaxial stabilization kit structure 6 is installed between the first output shaft structure 41 and the second output shaft structure 51, and the coaxial stabilization kit structure 6 mainly includes a stabilization sleeve 61 and a tensioning screw structure 64. The stabilization sleeve 61 is arranged on the outside of the first output shaft structure 41 and the second output shaft structure 51, and rotates with the first output shaft structure 41 or the second output shaft structure 51 to achieve a stable matching connection between the opposite ends of the two output shafts, so that the two opposite output shafts can complete independent work without interfering with each other, and also avoid vibration of the suspended opposite ends during work; the tensioning screw structure 64 is arranged at the inner center of the first output shaft structure 41 and the second output shaft structure 51, one end of the tensioning screw structure 64 is fixedly connected to the first output shaft structure 41 or the second output shaft structure 51, and then the other end of the tensioning screw structure 64 is fixedly connected to the second output shaft structure 51 or the first output shaft structure The output shaft structure 41 rotates in coordination, that is, the fixed end and the rotating end of the tensioning screw structure 64 act on different output shafts, thereby further enhancing the stability of the output shaft structure movement; wherein, the above-mentioned stabilizing sleeve 61 or the tensioning screw structure 64 can be separately arranged according to the above-mentioned scheme to achieve similar technical effects, but the stabilizing sleeve 61 or the tensioning screw structure 64 has a poor effect when used alone and has a poor service life. The stabilizing sleeve 61 and the tensioning screw structure 64 are used at the same time, and the tensioning screw structure 64 also has an auxiliary function of tightening the two output shafts so that the two output shafts are tightly coordinated with the stabilizing sleeve 61, so that the balance and stability effect between the two output shafts is better, and when the above-mentioned stabilizing sleeve 61 and the tensioning screw structure 64 are used at the same time, the stabilizing sleeve 61 and the tensioning screw structure 64 respectively have a better rotational coordination effect with different output shafts, and the acting torque is more balanced without adding additional weight.

[0051] A fixed cylindrical gear 24 is fixedly installed on the inner surface of the first rotary drive mounting part 22 or the second rotary drive mounting part 23. An encoding hollow shaft structure 14 is rotatably installed in the thigh structure 1 through a bearing structure. A driven cylindrical gear 15 is installed at one end of the encoding hollow shaft structure 14 through a screw. The fixed cylindrical gear 24 is engaged with the driven cylindrical gear 15. A radial magnet 16 is installed at the other end of the encoding hollow shaft structure 14. An absolute encoder 7 is installed on the thigh structure 1. The radial magnet 16 is set to align with the absolute encoder 7, so as to facilitate the capture and recording of the forward and backward swing angles of the thigh structure 1, and the calibration can be memorized even after power failure.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] A lateral rotation connection part 25 is also provided on the top of the mounting shell structure 2. 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. It can also play a role in strengthening the stability of its integrated structure. The lateral rotation connection part 64 is used to connect with the lateral joint of the robot's waist.

[0058] 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.

[0059] 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.

[0060] A stable heat dissipation boss 206 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 206 is against the chip position of 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.

[0061] 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 control mechanism for tendon motion control, characterized by: The invention comprises a thigh structure (1), a mounting shell structure (2), a thigh drive device (3), a first rotary drive device (4) and a second rotary drive device (5), wherein the mounting shell structure (2) is rotatably arranged on the top of the thigh structure (1), and the thigh drive device (3), the first rotary drive device (4) and the second rotary drive device (5) are all mounted in the mounting shell structure (2). The output end of the thigh drive device (3) is provided with a bevel gear structure (31), and at least one bevel gear disk (11) is provided on the top of the thigh structure (1), and the bevel gear structure (31) cooperates with the bevel gear disk (11); The output ends of the first rotary drive device (4) and the second rotary drive device (5) are respectively provided with a first output shaft structure (41) and a second output shaft structure (51); the first output shaft structure (41) and the second output shaft structure (51) are coaxial and arranged opposite to each other; a coaxial stabilizing kit structure (6) is further provided between the first output shaft structure (41) and the second output shaft structure (51); and a first output wheel disc structure (42) and a second output wheel disc structure (52) are further provided on the first output shaft structure (41) and the second output shaft structure (51), respectively.

2. The robot thigh hip joint control mechanism for tendon motion control according to claim 1, characterized in that: The thigh drive device (3), the first rotation drive device (4) and the second rotation drive device (5) are motor joint modules.

3. The robot thigh hip joint control mechanism for tendon motion control according to claim 1 or 2, characterized in that: The coaxial stabilizing kit structure (6) includes a stabilizing sleeve (61), one end of which is connected to the side of the first output wheel disc structure (42), and the other end of which is provided with a bearing mounting cavity (62), a rotating bearing structure (63) being mounted in the bearing mounting cavity (62), and the rotating bearing structure (63) being sleeved on the end of the second output shaft structure (51).

4. The robot thigh hip joint control mechanism for tendon motion control according to claim 3, characterized in that: The rotating bearing structure (63) is a deep groove ball bearing, a self-aligning ball bearing or an angular contact ball bearing, and the outer ring of the rotating bearing structure (63) is interference-fitted with the inner wall of the bearing mounting cavity (62), and the inner ring of the rotating bearing structure (63) is interference-fitted with the end of the second output shaft structure (51), and stepped platforms are provided on the inner wall of the bearing mounting cavity (62) and the end of the second output shaft structure (51) to respectively abut against the opposite sides of the outer ring and the inner ring of the rotating bearing structure (63).

5. The robot thigh hip joint control mechanism for tendon motion control according to any one of claims 1 to 2 or 4, characterized in that: A mounting through hole (43) is provided at the center of the first output shaft structure (41), and a mounting threaded hole (53) is provided at the center of the second output shaft structure (51). The coaxial stabilization kit structure (6) also includes a tensioning screw structure (64), the tensioning screw structure (64) passes through the mounting through hole (43) and cooperates with the mounting threaded hole (53), and a thrust bearing structure (65) is provided between the nut of the tensioning screw structure (64) and the side wall of the first output shaft structure (41).

6. The robot thigh hip joint control mechanism for tendon motion control according to claim 5, characterized in that: The first output wheel disc structure (42) and the second output wheel disc structure (52) are sprocket structures or synchronous pulley structures; the first output wheel disc structure (42) and the side surface of the stabilizing sleeve (61) are fixed to the first output shaft structure (41) via a screw structure; and the second output wheel disc structure (52) is mounted on the second output shaft structure (51) via a spline structure.

7. The robot thigh hip joint control mechanism for tendon motion control according to claim 5, characterized in that: The thrust bearing structure (65) is a thrust ball bearing, a thrust needle roller bearing, a thrust tapered roller bearing or a thrust spherical roller bearing.

8. The robot thigh hip joint control mechanism for tendon motion control according to any one of claims 1-2, 4 or 6-7, characterized in that: A first support plate frame (12) and a second support plate frame (13) are provided on the top of the thigh structure (1); the first support plate frame (12) and the second support plate frame (13) are arranged at a relative interval; the first output wheel disc structure (42) and the second output wheel disc structure (52) are arranged between the first support plate frame (12) and the second support plate frame (13); mounting holes are provided on the first support plate frame (12) and the second support plate frame (13); the first output shaft structure (41) and the second output shaft structure (51) are respectively mounted in the two mounting holes through bearing structures.

9. The robot thigh hip joint control mechanism for tendon motion control according to claim 8, characterized in that: A bevel gear plate (11) is provided on the first support plate frame (12) or the second support plate frame (13) at the top of the thigh structure (1), and the bevel gear structure (31) and the bevel gear plate (11) are both mutually matched helical bevel gear structures.

10. The robot thigh hip joint control mechanism for tendon motion control according to any one of claims 1 or 9, characterized in that: The mounting shell structure (2) includes 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 thigh drive device (3), the first rotation drive device (4), and the second rotation drive device (5) are respectively mounted in the thigh drive mounting portion (21), the first rotation drive mounting portion (22), and the second rotation drive mounting portion (23); A fixed cylindrical gear (24) is fixedly mounted on the inner side of the first rotary drive mounting portion (22) or the second rotary drive mounting portion (23); an encoding hollow shaft structure (14) is rotatably mounted in the thigh structure (1) via a bearing structure; a driven cylindrical gear (15) is mounted on one end of the encoding hollow shaft structure (14) via a screw; the fixed cylindrical gear (24) is meshed with the driven cylindrical gear (15); a radial magnet (16) is mounted on the other end of the encoding hollow shaft structure (14); an absolute encoder (7) is mounted on the thigh structure (1); and the radial magnet (16) is aligned with the absolute encoder (7).

Images