Power joint mechanism for humanoid robot

Abstract

The utility model discloses a power joint mechanism facing a humanoid robot, and particularly relates to the technical field of robots, the power joint mechanism comprises a first arm body and a second arm body, one end of the first arm body is connected with a connecting seat, the connecting seat is provided with a driving motor, the output end of the driving motor is provided with a rotating seat, and the rotating seat is provided with a rotating shaft. A first driving gear is fixedly connected to the outer side of the rotating seat in a sleeving mode, a second driving gear is fixedly connected to the outer side of the rotating seat in a sleeving mode, a rotating shaft seat is connected to one end of the second arm body, one end of the rotating shaft seat is rotationally connected with the connecting seat in a limiting mode, and a second driven gear is fixedly connected to the outer side of the rotating shaft seat in a sleeving mode; the outer side of the rotating shaft seat is fixedly connected with a first driven gear in a sleeving mode, through the arrangement of the structure, the driving assembly can generate large force in the small size, torque output is increased in the limited space, and after one driven gear on one side is damaged, normal operation of the joint can be maintained through the other driven gear.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field more specifically, the utility model relates to a kind of power joint mechanism for humanoid robot. BACKGROUND

[0002] Robot joint power mechanism is the core component of robot, generally including motor and reducer unit, the performance of robot joint power mechanism directly influences the motion performance of robot, but the existing robot power joint mechanism has certain problem when using, still needs continuous improvement;

[0003] After searching, the existing patent publication number: CN218858576U discloses power joint assembly and foot type robot, including power joint assembly, power joint assembly includes first arm body, second arm body, first power unit and second power unit. Second arm body is rotatably connected to first arm body, first power unit is fixedly connected to second arm body, and is rotatably directly connected to second power unit, so that first power unit and second power unit are connected without redundant connecting pieces or fixing pieces. At the same time, the first power unit is drivingly connected to the first arm body through a transmission assembly, the transmission assembly has a transmission ratio α for amplifying the output torque of the first power unit, so as to match the torque required by the first arm body. The transmission assembly can make up for the insufficient output torque of the first power unit, and the first power unit does not need to be matched with a reducer with larger transmission ratio, thereby saving the weight and occupied volume of the power joint assembly and the foot type robot. The inventor found that the prior art has the following problems in the process of realizing the utility model:

[0004] The device is wound on the first transmission wheel at one end of the transmission chain and the other end of the transmission chain is wound on the second transmission wheel, so that the second transmission wheel can rotate around the first axis by the transmission chain driven by the first transmission wheel. However, only one transmission chain is used for joint rotation connection, which causes the entire joint device to malfunction when the transmission chain is damaged, thereby affecting the use of the device.

[0005] Therefore, a power joint mechanism for humanoid robot is proposed to solve the above problems. UTILITY MODEL CONTENTS

[0006] In order to overcome the above-mentioned defects of the prior art, the utility model provides a power joint mechanism for humanoid robot to solve the problems raised in the above background art.

[0007] To achieve the above object, the utility model provides the following technical scheme: A kind of power joint mechanism for humanoid robot, including first arm body, second arm body, the first arm body one end is connected with connecting seat, driving motor is provided on the connecting seat, driving motor output end is provided with rotating seat, rotating seat outside fixed sleeve is connected with first drive gear, rotating seat outside and located first drive gear one side fixed sleeve is provided with second drive gear, the second arm body one end is connected with rotating shaft seat, rotating shaft seat one end is rotationally connected with connecting seat, rotating shaft seat outside fixed sleeve is connected with the second driven gear of second drive gear meshing connection, rotating shaft seat outside and located second driven gear one side fixed sleeve is connected with the first driven gear of first drive gear meshing connection.

[0008] Preferably, the connecting seat is provided with a power installation groove, and the driving motor is fixedly connected to the inner wall surface of the power installation groove by screws.

[0009] Preferably, the driving motor power output shaft is fixedly connected to the central shaft position of the rotating seat through a speed reducer.

[0010] Preferably, the distance between the first drive gear and the second drive gear is the same as the distance between the first driven gear and the second driven gear.

[0011] Preferably, the first arm body surface is provided with a detachable shell cover, and the shell cover on the first arm body surface is fixedly connected to the first arm body by screws.

[0012] Preferably, a torsional spring is sleeved on the rotating shaft seat, one end of the torsional spring is fixedly connected to the outer wall of the rotating shaft seat, and a limiting block for blocking the torsional spring is fixedly welded on the connecting seat.

[0013] The technical effects and advantages of the utility model are as follows:

[0014] Compared with the prior art, through the meshing connection of the second drive gear and the second driven gear and the meshing connection of the first drive gear and the first driven gear, two power drives are realized, the power and stability during rotation of the first arm body and the second arm body are improved, the structure can generate greater force in a smaller volume, increase torque output in a limited space, and one driven gear can maintain normal operation of the joint after being damaged.

[0015] Compared with the prior art, by increasing the cooperation of the limiting stopper and the torsional spring, the rotation of the torsional spring, the rotating shaft seat connected with one end of the torsional spring and the second arm body is limited by the limiting stopper, so that the rotation amplitude of the second arm body is prevented from being too large, and meanwhile, the torsional spring is deformed when the rotating shaft seat and the second arm body rotate, so that the elastic force of the deformed torsional spring buffers and limits the excessive rotation of the rotating shaft seat and the second arm body. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a front perspective structural schematic view of the utility model.

[0017] Figure 2 It is a first perspective view of the utility model.

[0018] Figure 3 It is a second perspective view of the utility model.

[0019] Figure 4 It is a partial perspective structural schematic view of the utility model.

[0020] The signs are: 1, first arm body; 2, second arm body; 3, connecting seat; 4, power installation slot; 5, driving motor; 6, speed reducer; 7, rotating seat; 8, first driving gear; 9, second driving gear; 10, rotating shaft seat; 11, first driven gear; 12, second driven gear; 13, limiting stopper; 14, torsional spring. DETAILED DESCRIPTION

[0021] The technical scheme in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model. Embodiment one

[0022] As shown in the accompanying drawings, Figures 1 to 4The power joint mechanism shown in the humanoid robot comprises a first arm body 1, a second arm body 2, the first arm body 1 is connected with a connecting seat 3 at one end, the connecting seat 3 is provided with a driving motor 5, the driving motor 5 is fixedly connected with the central shaft position of a rotating seat 7 through a speed reducer 6, the speed reducer 6 here adopts the prior art, for example: SHD03 or SHD05 produced by Dongguan Laifeng Precision Transmission Co., Ltd., which will not be described here, the first driving gear 8 is fixedly sleeved on the outer side of the rotating seat 7, the second driving gear 9 is fixedly sleeved on the outer side of the rotating seat 7 and located on one side of the first driving gear 8, the second arm body 2 is connected with a rotating shaft seat 10 at one end, the rotating shaft seat 10 is rotationally connected with the connecting seat 3 at one end, the second driven gear 12 engaged with the second driving gear 9 is fixedly sleeved on the outer side of the rotating shaft seat 10, the first driven gear 11 engaged with the first driving gear 8 is fixedly sleeved on the outer side of the rotating shaft seat 10 and located on one side of the second driven gear 12.

[0023] Wherein: when the device is in use, the driving motor 5 drives the rotating seat 7, the first driving gear 8 and the second driving gear 9 arranged on the rotating seat 7 through the speed reducer 6, and the rotating first driving gear 8 and the second driving gear 9 drive the rotating shaft seat 10 through the engagement of the first driven gear 11 and the second driven gear 12, so that the rotating shaft seat 10 drives the second arm body 2 to rotate, and through the engagement of the second driving gear 9 and the second driven gear 12 and the engagement of the first driving gear 8 and the first driven gear 11, two power drives are realized, the power during rotation of the first arm body 1 and the second arm body 2 is improved, and the stability during rotation is improved, the structure can generate greater force in smaller volume, increase torque output in limited space, and one driven gear can maintain normal operation of the joint when the other driven gear is damaged. Embodiment two

[0024] Based on the embodiment 1, the scheme in embodiment 1 is further refined in combination with the specific working mode as follows: Figures 1 to 4 As shown, details are described below:

[0025] As a preferred embodiment, a power installation groove 4 is formed in the connecting seat 3, and the driving motor 5 is fixedly connected to the inner wall surface of the power installation groove 4 through screws, thereby facilitating disassembly and maintenance of the driving motor 5.

[0026] As a preferred embodiment, the first arm body 1 is provided with a detachable shell cover, and the shell cover of the first arm body 1 is fixedly connected with the first arm body 1 by a screw; further, the shell cover is separated from the first arm body 1 by unscrewing the screw, and then the first driving gear 8 and the second driving gear 9 inside the first arm body 1 are added with lubricating oil through the gap.

[0027] As a preferred embodiment, a torsion spring 14 is sleeved outside the rotating shaft seat 10, one end of the torsion spring 14 is fixedly connected with the outer wall of the rotating shaft seat 10, and a limiting block 13 for blocking the torsion spring 14 is fixedly welded on the connecting seat 3; further, the rotation of the torsion spring 14, the rotating shaft seat 10 and the second arm body 2 connected with one end of the torsion spring 14 is limited by the limiting block 13, so that the rotation amplitude of the second arm body 2 is prevented from being too large, and the torsion spring 14 is deformed when the rotating shaft seat 10 and the second arm body 2 rotate, so that the elastic force of the deformed torsion spring 14 buffers and limits the excessive rotation of the rotating shaft seat 10 and the second arm body 2.

[0028] The working process of the utility model is as follows: when the device is used, the driving motor 5 drives the rotating seat 7, the first driving gear 8 and the second driving gear 9 arranged on the rotating seat 7 through the speed reducer 6, the first driving gear 8 and the second driving gear 9 are driven to drive the rotating shaft seat 10 through the meshing of the first driven gear 11 and the second driven gear 12, the rotating shaft seat 10 drives the second arm body 2 to rotate, and the meshing connection of the second driving gear 9 and the second driven gear 12 and the meshing connection of the first driving gear 8 and the first driven gear 11 can make the driving assembly generate larger force in smaller volume, increase the torque output in the limited space, and maintain the normal operation of the joint by relying on the other driven gear when one driven gear is damaged, the rotation of the torsion spring 14, the rotating shaft seat 10 and the second arm body 2 connected with one end of the torsion spring 14 is limited by the limiting block 13, so that the rotation amplitude of the second arm body 2 is prevented from being too large, and the torsion spring 14 is deformed when the rotating shaft seat 10 and the second arm body 2 rotate, so that the elastic force of the deformed torsion spring 14 buffers and limits the excessive rotation of the rotating shaft seat 10 and the second arm body 2, and the working principle of the power joint mechanism for the humanoid robot is as above.

Claims

1. A power joint mechanism for a humanoid robot, comprising a first arm body (1), a second arm body (2), characterized in that: The first arm body (1) is connected with a connecting seat (3) at one end, the connecting seat (3) is provided with a driving motor (5), the driving motor (5) is provided with a rotating seat (7) at the output end, the rotating seat (7) is fixedly sleeved with a first driving gear (8) outside, the rotating seat (7) is fixedly sleeved with a second driving gear (9) outside and on one side of the first driving gear (8), the second arm body (2) is connected with a rotating shaft seat (10) at one end, the rotating shaft seat (10) is rotatably connected with the connecting seat (3) at one end, the rotating shaft seat (10) is fixedly sleeved with a second driven gear (12) engaged with the second driving gear (9) outside, the rotating shaft seat (10) is fixedly sleeved with a first driven gear (11) engaged with the first driving gear (8) outside and on one side of the second driven gear (12).

2. The power joint mechanism for a humanoid robot according to claim 1, characterized by: The connecting seat (3) is provided with a power installation groove (4), and the driving motor (5) is fixedly connected to the inner wall surface of the power installation groove (4) through screws.

3. The power joint mechanism for a humanoid robot according to claim 1, characterized by: The power output shaft of the driving motor (5) is fixedly connected to the center shaft position of the rotating seat (7) through a speed reducer (6).

4. The power joint mechanism for a humanoid robot according to claim 1, characterized by: The spacing between the first driving gear (8) and the second driving gear (9) is the same as the spacing between the first driven gear (11) and the second driven gear (12).

5. The power joint mechanism for a humanoid robot according to claim 1, characterized by: The first arm body (1) is provided with a detachable shell cover on the surface, and the shell cover on the surface of the first arm body (1) is fixedly connected with the first arm body (1) through screws.

6. The power joint mechanism for a humanoid robot according to claim 1, characterized by: The rotating shaft seat (10) is sleeved with a torsional spring (14) outside, one end of the torsional spring (14) is fixedly connected with the outer wall of the rotating shaft seat (10), and the connecting seat (3) is fixedly welded with a limiting block (13) for blocking and limiting the torsional spring (14).

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