Joint structure of humanoid robot and humanoid robot
By introducing a speed reduction transmission component into the joint structure of the humanoid robot, and utilizing the meshing of the worm and worm wheel to form a larger speed ratio, the problem of easy motor damage is solved, and the robot's output and load capacity are improved.
Patent Information
- Application Number
- CN202422845327.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-21
- Publication Date
- 2025-11-04
- Estimated Expiration
- 2034-11-21
AI Technical Summary
The joint structure of existing humanoid robots relies on the self-locking mechanism inside the motor to directly bear the force, which makes the motor prone to damage.
The structure adopts a support rod, a load rod, a motor, and a reduction transmission assembly. The reduction transmission assembly includes a worm and a worm wheel. The meshing of the worm and the worm wheel forms a large speed ratio, which reduces the force transmitted from the load rod to the self-locking mechanism inside the motor and increases the driving force of the load rod.
It improves the output and load-bearing capacity of the humanoid robot's joint structure, reduces the possibility of motor damage, and enhances the strength of the robot's hands or legs, enabling it to push or hold heavier objects.
Smart Images
Figure CN223507217U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of humanoid robot technology, and in particular to a joint structure for a humanoid robot and a humanoid robot. Background Technology
[0002] A humanoid robot (English: Android), also known as a android, is a robot designed to mimic the appearance and behavior of humans.
[0003] The joint structure of existing humanoid robots generally includes a motor, a load bar, and a support bar that is directly connected to the body. The load bar is hinged to the support bar at the end away from the body. The motor is directly connected to the hinge axis of the load bar so that the rotation of the motor can drive the load bar to rotate around its own hinge axis, and the self-locking mechanism inside the motor can restrict the rotation of the load bar around its own hinge axis.
[0004] However, because the self-locking mechanism inside the motor needs to directly bear the force required by the load bar, the motor is prone to damage when the force required by the load bar is too large.
[0005] In view of this, there is a need to provide a joint structure for a humanoid robot and a humanoid robot in general. Utility Model Content
[0006] To address the problem that existing humanoid robot joint structures rely on the self-locking mechanism inside the motor to directly bear the force, which makes the motor prone to damage, this application provides a joint structure for a humanoid robot and a humanoid robot in general.
[0007] In a first aspect, this application provides a joint structure for a humanoid robot, which adopts the following technical solution: it includes a support rod, a load-bearing rod, a motor and a reduction transmission assembly, one end of the support rod is connected to the torso, and the load-bearing rod is hinged to the other end of the support rod;
[0008] The output shaft of the motor is connected to the power input end of the speed reduction transmission assembly, and the power output end of the speed reduction transmission assembly is connected to the load-bearing rod and can drive the load-bearing rod to rotate around its own hinge axis.
[0009] By adopting the above technical solution, on the one hand, the reduction transmission assembly can increase the transmission ratio between the motor and the load bar, so that the load bar can apply a greater driving force; on the other hand, the reduction transmission assembly can reduce the force transmitted by the load bar to the self-locking mechanism inside the motor, so that the motor is less likely to be damaged when the load bar needs to bear too much force, thereby improving the force that the joint structure of the humanoid robot can output and bear.
[0010] Specifically, the speed reduction transmission assembly includes a worm and a worm wheel, and the worm is connected to the motor;
[0011] The worm wheel meshes with the worm tooth section of the worm, and the worm wheel is connected to the load-bearing rod in a driving connection.
[0012] By adopting the above technical solution, the worm gear can cooperate with the worm to form a large speed ratio of 10-20 between the load bar and the output shaft of the motor.
[0013] Furthermore, the load-bearing rod includes a main rod, a secondary rod, and a driven wheel, with the middle part of the main rod hinged to the support rod;
[0014] One end of the auxiliary rod is hinged to one end of the main rod, and the other end of the auxiliary rod is hinged to the wheel surface of the driven wheel;
[0015] The driven wheel is coaxially connected to the worm gear, and the driven wheel can drive the end of the auxiliary rod away from the main rod to approach or move away from the hinge point between the main rod and the support rod via its own rotation.
[0016] By adopting the above technical solution, the motor can drive the worm gear to rotate the driven wheel, so that the rotation of the driven wheel can drive the end of the auxiliary rod away from the main rod to approach or move away from the hinge point between the main rod and the auxiliary rod, and then drive the main rod to rotate around the hinge point between the main rod and the support rod through the auxiliary rod.
[0017] Furthermore, the load-bearing rod also includes a limiting block. A limiting groove is formed on the support rod. One end of the limiting block is connected to the body of the main rod, and the other end of the limiting block is inserted into the limiting groove. When the driven wheel rotates to drive the main rod to rotate around the hinge point between the main rod and the support rod, the limiting block can slide along the limiting groove.
[0018] By adopting the above technical solution, the limiting block can cooperate with the limiting groove to limit the movement direction of the load-bearing rod.
[0019] Furthermore, buffer members are provided at both ends of the limiting groove, and the limiting block can abut against the buffer members.
[0020] By adopting the above technical solution, the buffer can form a buffer at the end of the limiting groove, so that the limiting block is not easily damaged when it collides with the end of the limiting groove.
[0021] Specifically, it also includes a dust cover, which is mounted on the support rod and has a connecting hole on one side. The motor is located inside the dust cover, and the output shaft of the motor extends out of the dust cover through the connecting hole and is connected to the speed reduction transmission assembly.
[0022] By adopting the above technical solution, the dust cover can protect the motor, so that external dust and water are less likely to come into contact with the motor and cause damage.
[0023] Furthermore, a lip seal is provided between the output shaft of the motor and the wall of the connecting hole.
[0024] By adopting the above technical solution, the lip seal can block the gap between the motor output shaft and the connecting hole, so that external dust and water are not easily allowed to enter the dust cover and contact the motor through the gap.
[0025] Secondly, this application provides a humanoid robot whose joints adopt the joint structure of the aforementioned humanoid robot.
[0026] By adopting the above technical solution, the joint structure of the humanoid robot can enable the joints of the humanoid robot's hands or legs to output greater force, thereby enabling the humanoid robot's hands to push or pull heavier objects; it can also enable the joints of the humanoid robot's hands or legs to bear greater force, thereby enabling the humanoid robot's legs to better support its own weight, and the humanoid robot's hands to grasp heavier objects, thus improving the humanoid robot's output and load capacity.
[0027] In summary, this application includes the following beneficial technical effects:
[0028] 1. The system includes a support rod, a load-bearing rod, a motor, and a reduction gear transmission assembly. One end of the support rod is connected to the torso, and the load-bearing rod is hinged to the other end of the support rod. The output shaft of the motor is connected to the power input end of the reduction gear transmission assembly, and the power output end of the reduction gear transmission assembly is connected to the load-bearing rod and can drive the load-bearing rod to rotate around its own hinge axis. This allows the reduction gear transmission assembly to increase the transmission ratio between the motor and the load-bearing rod, thereby enabling the load-bearing rod to apply a greater driving force. On the other hand, it also reduces the force transmitted from the load-bearing rod to the self-locking mechanism inside the motor, making the motor less prone to damage when the load-bearing rod is subjected to excessive force. This improves the force that the joint structure of the humanoid robot can output and bear.
[0029] 2. A humanoid robot whose joints adopt the joint structure of the aforementioned humanoid robot. This configuration enables the humanoid robot's hand or leg joints to output greater force, thereby enabling the humanoid robot's hands to push or pull heavier objects; it also enables the humanoid robot's hand or leg joints to bear greater force, thereby enabling the humanoid robot's legs to better support its own weight, and the humanoid robot's hands to grasp heavier objects, thus improving the humanoid robot's output and load capacity. Attached Figure Description
[0030] Figure 1 This is a joint structure of a humanoid robot according to this application and a three-dimensional view of the humanoid robot;
[0031] Figure 2 It is along Figure 1 A schematic cross-sectional view taken from the central axis of the driven wheel, showing only half of the torso;
[0032] Figure 3 yes Figure 2 A schematic enlarged view of region A, showing the lip seal.
[0033] Figure 4 It is along Figure 2 A schematic cross-sectional view taken along the BB direction.
[0034] Reference numerals: 1. Support rod; 11. Buffer; 2. Load-bearing rod; 21. Main rod; 22. Secondary rod; 23. Driven wheel; 24. Limiting block; 3. Motor; 4. Reduction transmission assembly; 41. Worm gear; 42. Worm wheel; 5. Body; 51. Rotary motor; 6. Dust cover; 61. Lip seal. Detailed Implementation
[0035] Figure 1 This is a joint structure of a humanoid robot according to this application, and a three-dimensional view of the humanoid robot. Figure 2 It is along Figure 1 A schematic cross-sectional view taken along the central axis of the driven wheel, showing only half of the torso. Figure 3 yes Figure 2 A schematic enlarged view of region A, showing the lip seal. See also Figure 1 , Figure 2 and Figure 3This application provides a joint structure for a humanoid robot, used at the arm joint of a humanoid robot. The joint structure specifically includes: a support rod 1, a dust cover 6, a motor 3, a reduction gear transmission assembly 4, and a load-bearing rod 2. The top end of the support rod 1 is hinged to the transmission shaft of a rotary motor 51 inside the torso 5, allowing the bottom end of the support rod 1 to swing in the front-back direction of the torso 5 via the rotary motor 51 (the direction the robot's eyes face is forward, and the direction the robot's eyes face away is backward). The dust cover 6 is fitted over the support rod 1 and has a connecting hole at its top. The motor 3 is located inside the dust cover 6, and the output shaft of the motor 3... The motor 3 extends out of the dust cover 6 through the connecting hole, thus protecting the motor 3 from external dust and water. A lip seal 61 can also be provided between the output shaft of the motor 3 and the wall of the connecting hole, with the sealing lip of the lip seal 61 facing the top of the dust cover 6, so that external dust and water cannot easily enter the dust cover 6 through the gap and contact the motor 3. The reduction transmission assembly 4 includes a worm 41 and a worm wheel 42. The worm 41 is connected to the end of the output shaft of the motor 3 that extends out of the dust cover 6, and the worm wheel 42 is rotatably connected to the support rod 1 and meshes with the worm tooth section of the worm 41.
[0036] Figure 4 It is along Figure 2 A schematic cross-sectional view taken along the BB direction. See also Figure 2 and Figure 4 The support rod 2 includes a main rod 21, a secondary rod 22, a driven wheel 23, and a limiting block 24. The main rod 21 is hinged to the support rod 1, and a robotic arm for grasping objects can be installed on the end of the main rod 21 that is far from its own hinge axis. The end of the main rod 21 that is close to its own hinge axis is hinged to the bottom end of the secondary rod 22. The driven wheel 23 is connected to the worm gear 42 with the same rotation axis. One end of the secondary rod 22 is hinged to one end of the main rod 21, and the other end of the secondary rod 22 is hinged to the wheel surface of the driven wheel 23, so that the motor 3 on the support rod 1 can drive the worm gear 42 through the worm gear 41 to drive the driven wheel 23 to rotate. In turn, the rotation of the driven wheel 23 can drive the end of the secondary rod 22 that is far from the main rod 21 to approach or move away from the hinge point between the main rod 21 and the secondary rod 22. Thus, the secondary rod 22 drives the end of the main rod 21 that can be equipped with a robotic arm to rotate around the hinge point between the main rod 21 and the support rod 1.
[0037] Specifically, an arc-shaped limiting groove can be opened on the support rod 1, with the hinge point between the main rod 21 and the support rod 1 as the center; one end of the limiting block 24 is connected to the rod body of the main rod 21, and the other end of the limiting block 24 is inserted into the limiting groove, so that the rotation of the main rod 21 can be limited by the cooperation of the limiting groove and the limiting block 24; buffer members 11 can also be set at both ends of the limiting groove. The buffer members 11 can be made of rubber, so that the buffer members 11 can form a buffer at the end of the limiting groove, which can not only prevent the limiting block 24 from being damaged when it collides with the end of the limiting groove, but also reduce the noise made when the main rod 21 collides with the end of the limiting groove when it rotates to the end of the limiting groove.
[0038] It should be noted that the distance between the hinge point of the top of the auxiliary rod 22 and the driven wheel 23 and the center of the driven wheel 23, as well as the distance between the hinge point of the bottom of the auxiliary rod 22 and the main rod 21 and the hinge point of the main rod 21 and the support rod 1, can be adjusted so that when the top of the auxiliary rod 22 is furthest from the hinge point of the main rod 21 and the support rod 1, the end of the main rod 21 on which the robot arm can be mounted is exactly below the hinge point of the main rod 21 and the support rod 1. At this time, if the motor 3 drives the driven wheel 22 via the worm gear 42 and the worm 41, the robot arm can be mounted on the worm gear 23. If the hinge between wheel 23 and auxiliary rod 22 rotates around the center of driven wheel 23 toward the front of torso 5, then the end of main rod 21 on which the robotic arm can be mounted will swing toward the back of torso 5. If motor 3 drives the hinge between driven wheel 23 and auxiliary rod 22 to rotate around the center of driven wheel 23 toward the back of torso 5 via worm gear 42 and worm 41, then the end of main rod 21 on which the robotic arm can be mounted will swing toward the front of torso 5, thereby enabling the free swinging of the forearm at the arm joint of the humanoid robot.
[0039] Based on the aforementioned joint structure of a humanoid robot, the second aspect of this application also provides a humanoid robot whose joints adopt the aforementioned joint structure. Since the humanoid robot of this application is implemented using the aforementioned joint structure, it can also have all the technical effects of the aforementioned joint structure. In particular, the aforementioned joint structure of the humanoid robot can enable the hand or leg joints of the humanoid robot to output greater force, thereby enabling the humanoid robot's hands to push or pull heavier objects; it can also enable the hand or leg joints of the humanoid robot to bear greater force, thereby enabling the humanoid robot's legs to better support its own weight, and the humanoid robot's hands to grasp heavier objects, thereby improving the output and load capacity of the humanoid robot.
[0040] The working principle of the joint structure of the humanoid robot proposed in this application during use is as follows:
[0041] The structure includes a support rod 1, a motor 3, a worm gear 41, a worm wheel 42, and a load-bearing rod 2. The top end of the support rod 1 is hinged to the transmission shaft of a rotary motor 51 inside the body 5, allowing the bottom end of the support rod 1 to swing back and forth in the body 5 via the rotary motor 51. The motor 3 is mounted on the support rod 1, the worm gear 41 is connected to the output shaft of the motor 3, and the worm wheel 42 is rotatably connected to the support rod 1 and meshes with the worm gear section of the worm gear 41. The load-bearing rod 2 includes a main rod 21 and a secondary rod. 22. Driven wheel 23 and limiting block 24. The main rod 21 is hinged to the support rod 1, and a robotic arm for grasping objects can be installed at the end of the main rod 21 that is farthest from its own hinge axis. The end of the main rod 21 that is closer to its own hinge axis is hinged to the bottom end of the auxiliary rod 22. The driven wheel 23 is connected to the worm gear 42 with the same shaft. One end of the auxiliary rod 22 is hinged to one end of the main rod 21, and the other end of the auxiliary rod 22 is hinged to the wheel surface of the driven wheel 23, so that the support rod 1... Motor 3 drives worm gear 42 via worm 41 to rotate driven wheel 23. The rotation of driven wheel 23 drives the end of auxiliary rod 22 away from main rod 21 to approach or move away from the hinge between main rod 21 and auxiliary rod 22. Thus, auxiliary rod 22 drives the end of main rod 21 on which the robot arm can be mounted to rotate around the hinge between main rod 21 and support rod 1. The cooperation between worm gear 42 and worm 41 can form a large speed ratio of 10-20 between load rod 2 and output shaft of motor 3. This allows the reduction transmission assembly 4 to increase the transmission ratio between motor 3 and load rod 2, thereby enabling load rod 2 to apply greater driving force. On the other hand, the reduction transmission assembly 4 can reduce the force transmitted from load rod to self-locking mechanism inside motor 3. This makes motor 3 less likely to be damaged when the load rod 2 needs to bear too much force, thereby improving the force that the joint structure of humanoid robot can output and bear.
[0042] It should be noted that the above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A joint structure for a humanoid robot, mounted on the torso of the humanoid robot, characterized in that: It includes a support rod (1), a load-bearing rod (2), a motor (3) and a speed reduction transmission assembly (4). One end of the support rod (1) is connected to the torso (5), and the load-bearing rod (2) is hinged to the other end of the support rod (1). The output shaft of the motor (3) is connected to the power input end of the speed reduction transmission assembly (4), and the power output end of the speed reduction transmission assembly (4) is connected to the load bar (2) and can drive the load bar (2) to rotate around its own hinge axis. The speed reduction transmission assembly (4) includes a worm (41) and a worm wheel (42). The worm (41) is connected to the motor (3), the worm wheel (42) meshes with the worm tooth section of the worm (41), and the worm wheel (42) is connected to the load bar (2) in a transmission connection.
2. The joint structure of a humanoid robot according to claim 1, characterized in that: The load-bearing rod (2) includes a main rod (21), a secondary rod (22) and a driven wheel (23), with the middle part of the main rod (21) hinged to the support rod (1); One end of the auxiliary rod (22) is hinged to one end of the main rod (21), and the other end of the auxiliary rod (22) is hinged to the wheel surface of the driven wheel (23); The driven wheel (23) is connected to the worm gear (42) on the same axis, and the driven wheel (23) can drive the end of the auxiliary rod (22) away from the main rod (21) to approach or move away from the hinge of the main rod (21) and the support rod (1) by its own rotation.
3. The joint structure of a humanoid robot according to claim 2, characterized in that: The support rod (2) also includes a limiting block (24). A limiting groove is provided on the support rod (1). One end of the limiting block (24) is connected to the rod body of the main rod (21). The other end of the limiting block (24) is inserted into the limiting groove. When the driven wheel (23) rotates to drive the main rod (21) to rotate around the hinge point between the main rod (21) and the support rod (1), the limiting block (24) can slide along the limiting groove.
4. The joint structure of a humanoid robot according to claim 3, characterized in that: The limiting groove is provided with buffers (11) at both ends, and the limiting block (24) can abut against the buffers (11).
5. The joint structure of a humanoid robot according to claim 1, characterized in that: It also includes a dust cover (6), which is mounted on the support rod (1) and has a connecting hole on one side. The motor (3) is located inside the dust cover (6), and the output shaft of the motor (3) extends out of the dust cover (6) through the connecting hole and is connected to the speed reduction transmission assembly (4) for transmission.
6. The joint structure of a humanoid robot according to claim 5, characterized in that: A lip seal (61) is provided between the output shaft of the motor (3) and the wall of the connecting hole.
7. A humanoid robot, characterized in that, Its joints use the joint structure of a humanoid robot as described in any one of claims 1-6.