Humanoid robot bending joint structure

Abstract

The utility model discloses a bending joint structure of a humanoid robot. The bending joint structure comprises a power device, a power device dowel bar, a power device fixing rod, a bending component, a swing rod, a sliding device, a hinge A and a hinge B, the power device fixing rod is connected with the swing rod through a hinge A. The swing rod is fixed to the slope of the bending component, and the power device fixing rod fixes the power device. The power device pushes and pulls the power device dowel bar, push-pull force is transmitted to the sliding device through the hinge B, the sliding device rotates with the hinge B as the center and slides along the swing rod, the swing rod and the bending component are forced to rotate with the hinge A as the center, and the bending function of the bending joint is achieved. The one-way swing structure of the humanoid robot is simple in structure, the joint bending center of the one-way swing structure of the humanoid robot is located on the outer side of the bending joint, and compared with the one-way swing structure of the humanoid robot with the patent number of 2023218600601, the one-way swing structure of the humanoid robot has the advantage that the similarity between the bending joint and human joint movement is improved.

Description

Technical Field

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

[0002] Some of the joints of humanoid robots are one-way bending joints, such as elbow joints, finger joints, knee joints, etc.

[0003] Utility model patent No. 2023218600601 (a humanoid robot unidirectional swing structure) places the swing center and the swing push-pull force points at the two ends of the swing member. Under the same size and power conditions, it has a greater torque than traditional unidirectional swing devices and can achieve joint bending. However, the swing push-pull force points of this structure are located outside the joint bend. When the joint bends significantly, the power transmission rod will extend outside the arc of the joint bend. When a humanoid robot uses a flexible shell, the processing of the components extending outside the joint bend is complicated and reduces the humanoid robot's similarity to a human. Summary of the Invention

[0004] In order to solve the problem of utility model patent No. 2023218600601 (a unidirectional swinging structure of a humanoid robot), when the joint bends greatly, the power transmission rod extends outside the arc of the joint bend, the utility model adopts the method of setting the swing axis on the outside of the bending joint and the swing push and pull force points on the inside of the bending joint.

[0005] The utility model adopts the following technical solutions to realize: a bending joint structure of a humanoid robot, including a power device, a power device force transmission rod, a power device fixing rod, a bending member, a swing rod, a sliding device, a hinge A, and a hinge B; and

[0006] One end of the power device fixing rod is fixed with the power device, and the other end is connected to the swing rod by hinge A, and the hinge A enables the two components connected with the hinge A to rotate relative to each other with the hinge A as the center; and

[0007] The power device is a linear motion device, pushing and pulling the power device force transmission rod to perform linear reciprocating motion, the top of the power device force transmission rod is connected to the sliding device by a hinge B, and the hinge B enables the two components connected to the hinge B to rotate relative to each other with the hinge B as the center; and

[0008] The sliding device is installed on the swing rod and can slide back and forth along the swing rod. The swing rod is fixed on the curved member. When the power transmission rod of the power device performs reciprocating linear motion, the hinge B also performs reciprocating linear motion. The sliding device rotates around the hinge B, and the sliding device slides along the swing rod, forcing the swing rod and the curved member to rotate around the hinge A.

[0009] As a further improvement of the above solution, the bending member is cylindrical, and the cylindrical opening for fixing the swing rod is an inclined surface. The swing rod is fixed at its maximum slope position, and the hinge A is located at the end of the acute angle inclined surface.

[0010] As a further improvement of the above scheme, the sliding device includes a roller, a roller retaining box and a sliding device fixing rod. Multiple openings are opened on one side of the roller retaining box. The size of the openings matches the roller and the depth is less than the diameter of the roller. The sliding device has two roller retaining boxes. Rollers are installed in the openings, and the rollers are installed on the upper and lower surfaces of the swing rod. The roller retaining boxes are symmetrically installed on the upper and lower surfaces of the swing rod. The sliding device fixing rod is a rod member with a hinged hole at one end. The diameter of the hinged hole matches the hinge B. The sliding device has two sliding device fixing rods, which are symmetrically fixed on both sides of the roller retaining box so that the two roller retaining boxes maintain an appropriate distance and can slide on the swing rod. The hinged hole end of the sliding device fixing rod extends out of the roller retaining box for installing hinge B.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. The present invention can be used for the knee joints, elbow joints, and finger joints of humanoid robots. The present invention has a simple structure, and the vertical distance between hinge A and hinge B can be greater than the distance between hinge B and the centroid of the cross-section of the curved member. Therefore, under the same dynamic conditions, the present invention can output a larger torque than a curved joint in which the centroid of the cross-section of the curved member is the rotation axis, and does not have the disadvantage of the power transmission rod extending outside the arc of the joint bending as in utility model patent No. 2023218600601 (a unidirectional swinging structure of a humanoid robot). BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a three-dimensional schematic diagram of the bending joint structure of the humanoid robot of the present utility model;

[0014] Figure 2 This is a three-dimensional schematic diagram of the sliding device of the utility model;

[0015] Figure 3 This is a schematic diagram of the bending joints of the humanoid robot of the present invention.

[0016] Explanation of main symbols: 1 Power device, 2 Power device force transmission rod, 3 Power device fixed rod, 4 Bending member, 5 Swing rod, 6 Sliding device, 61 Roller, 62 Roller holding box, 63 Sliding device fixed rod, 7 Hinge A, 8 Hinge B DETAILED DESCRIPTION

[0017] Below, the present invention is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0018] Example 1:

[0019] Please refer to Figure 1-3 A bending joint structure of a humanoid robot according to this embodiment includes: a power device 1, a power device force transmission rod 2, a power device fixing rod 3, a bending member 4, a swing rod 5, a sliding device 6, a hinge A7, and a hinge B8; and

[0020] One end of the power device fixing rod 3 is fixed with the power device 1, and the other end is connected to the swing rod 5 by a hinge A7, and the hinge A7 enables the two components connected with the hinge A7 to rotate relative to each other with the hinge A7 as the center; and

[0021] The power device 1 is a linear motion device, which pushes and pulls the power device force transmission rod 2 to perform linear reciprocating motion. The top of the power device force transmission rod 2 is connected to the sliding device 6 by a hinge B8. The hinge B8 enables the two components connected to the hinge B8 to rotate relative to each other around the hinge B8; and

[0022] The sliding device 6 is installed on the swing rod 5 and can slide back and forth along the swing rod 5. The swing rod 5 is fixed on the curved member 4. When the power transmission rod 2 of the power device performs reciprocating linear motion, the hinge B8 also performs reciprocating linear motion. The sliding device 6 rotates around the hinge B8, and the sliding device 6 slides along the swing rod 5, forcing the swing rod 5 and the curved member 4 to rotate around the hinge A7.

[0023] Please refer to Figure 1 The bending member 4 is cylindrical, and the cylindrical opening for fixing the swing rod 5 is an inclined surface. The swing rod 5 is fixed at its maximum slope position, and the hinge A7 is located at the end of the acute angle inclined surface.

[0024] Please refer to Figure 1-2 The sliding device 6 includes a roller 61, a roller retaining box 62 and a sliding device fixing rod 63. Multiple openings are opened on one side of the roller retaining box 62. The size of the openings matches the roller 61, and the depth is less than the diameter of the roller 61. The sliding device 6 has two roller retaining boxes 62, and the rollers 61 are installed in the openings. The rollers 61 are installed on the upper and lower surfaces of the swing rod 5. The roller retaining boxes 62 are symmetrically installed on the upper and lower surfaces of the swing rod 5. The sliding device fixing rod 63 is a rod member, one end of which has a reamed hole, and the reamed hole diameter matches the hinge B8. The sliding device 6 has two sliding device fixing rods 63, which are symmetrically fixed on both sides of the roller retaining box 62, so that the two roller retaining boxes 62 maintain an appropriate distance and can slide on the swing rod 5. The reamed end of the sliding device fixing rod 63 extends out of the roller retaining box 62 for installing the hinge B8.

[0025] The implementation principle of a bending joint structure of a humanoid robot in the embodiment of the present application is as follows:

[0026] Please refer to Figure 1-3The power unit fixing rod 3 can be a rectangular rod, which is grooved at the connection end with the hinge A7 to form a U-shaped groove, into which the swing rod 5 can be embedded, and a reamed hole is opened in the middle of the groove wall at the open end of the U-shaped groove, and the diameter of the reamed hole is matched with the hinge A7; the power unit force transmission rod 2 can be a rectangular rod, which is grooved at the connection end with the hinge B8, and the diameter of the reamed hole is matched with the hinge B8; the swing rod 5 can be a rectangular rod, which is reamed at the position connected to the hinge A7, and the diameter of the reamed hole is matched with the hinge A7.

[0027] The swing rod 5 of the present invention is fixed on the curved member 4, and the hinge hole of the swing rod 5 is located on its side. After it is embedded in the U-shaped groove of the power device fixing rod, it is connected with a hinge A7; the two sliding device fixing rods 63 of the sliding device 6 are located on both sides of the roller retaining box 62 and the swing rod 5, and are symmetrically arranged. The power device force transmission rod 2 is embedded in the middle and is connected with a hinge B8. At this time, the central axis of the hinge A7 and the central axis of the hinge B8 are parallel to each other. Therefore, the components connected to these two hinges rotate on the same plane.

[0028] The power device fixed rod 3 is a fixed part. Therefore, the hinge A7 serves as a connecting part between the power device fixed rod 3 and the swing rod 5. Its position is fixed, and the movement of the swing rod 5 can only be rotation around the hinge A7.

[0029] The power device 1 can be an electrically driven, hydraulically or pneumatically driven power device 1. The power device 1 provides force to push and pull the power device transmission rod 2 to perform reciprocating linear motion relative to the power device 1. The power device transmission rod 2 transmits the motion force to the sliding device 6 through the hinge B8. The sliding device 6 rotates around the hinge B8, and the sliding device 6 slides along the swing rod 5, pushing and pulling the swing rod 5, forcing the swing rod 5 and the curved member 4 fixed on the swing rod 5 to swing around the hinge A7, thereby achieving the purpose of this patent that the curved member 4 swings around the hinge A7 under the push-pull force of the power device 1.

[0030] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A humanoid robot bending joint structure, characterized in that: include: Power device (1), power device force transmission rod (2), power device fixed rod (3), bending member (4), swing rod (5), sliding device (6), hinge A (7), hinge B (8); and One end of the power device fixing rod (3) is fixed with the power device (1), and the other end is connected to the swing rod (5) by a hinge A (7), and the hinge A (7) enables the two components connected to the hinge A (7) to rotate relative to each other with the hinge A (7) as the center; and The power device (1) is a linear motion device, and the push-pull power device force transmission rod (2) performs linear reciprocating motion. The top of the power device force transmission rod (2) is connected to the sliding device (6) by a hinge B (8). The hinge B (8) enables the two components connected to the hinge B (8) to rotate relative to each other with the hinge B (8) as the center; and The sliding device (6) is installed on the swing rod (5) and can slide back and forth along the swing rod (5). The swing rod (5) is fixed on the curved member (4). When the power transmission rod (2) of the power device performs reciprocating linear motion, the hinge B (8) also performs reciprocating linear motion. The sliding device (6) rotates around the hinge B (8) and slides along the swing rod (5), forcing the swing rod (5) and the curved member (4) to rotate around the hinge A (7).

2. A humanoid robot bending joint structure according to claim 1, characterized in that: The bending member (4) is cylindrical, and the cylindrical opening for fixing the swing rod (5) is an inclined surface. The swing rod (5) is fixed at its maximum slope position, and the hinge A (7) is located at the end of the acute angle inclined surface.

3. The humanoid robot bending joint structure according to claim 1, characterized in that: The sliding device (6) comprises a roller (61), a roller holding box (62) and a sliding device fixing rod (63). A plurality of openings are opened on one side of the roller holding box (62). The openings are matched with the roller (61) and the depth is less than the diameter of the roller (61). The sliding device (6) has two roller holding boxes (62). The rollers (61) are installed in the openings. The rollers (61) are installed on the upper and lower surfaces of the swing rod (5). The roller holding boxes (62) are symmetrically installed on the swing rod (5). On the upper and lower surfaces of the movable rod (5), the sliding device fixing rod (63) is a rod member, one end of which is provided with a reaming hole, and the reaming hole diameter is matched with the hinge B (8). The sliding device fixing rod (63) of the sliding device (6) is two, which are symmetrically fixed on the two sides of the roller holding box (62) so that the two roller holding boxes (62) maintain an appropriate spacing and can slide on the swing rod (5). The reaming end of the sliding device fixing rod (63) extends out of the roller holding box (62) for installing the hinge B (8).

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