Knee joint inflexion assembly and humanoid transfer robot

Abstract

The utility model discloses an inflexion knee joint assembly and a humanoid transfer robot. The inflexion knee joint assembly comprises a fixed seat, the first telescopic arm mechanism is rotationally arranged on the fixed seat; the joint driving motor is arranged on the first telescopic arm mechanism; the second telescopic arm mechanism is arranged on the joint driving motor in a transmission manner; one end of the elastic supporting mechanism is fixedly arranged on the first telescopic arm mechanism, the other end of the elastic supporting mechanism is movably arranged on the joint driving motor and connected with the second telescopic arm mechanism, and when the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the elastic supporting mechanism provides supporting force for the second telescopic arm mechanism; therefore, the output torque of the joint driving motor is greatly reduced, and the problem that a knee joint motor of an existing humanoid transfer robot needs large redundant power is effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially relates to a reverse knee joint assembly and humanoid carrying robot. BACKGROUND

[0002] The gravity center of the humanoid carrying robot in the prior art is generally high, the torque borne by the knee joint of the humanoid carrying robot is large due to the frequent fluctuation or sudden change of the weight of the load, in order to cope with the load fluctuation, the motor at the knee joint needs large redundant power to ensure that the motor can maintain stable running speed or torque when the load increases, and reduce the influence caused by the load fluctuation, and the motor power redundancy usually leads to the increase of the cost, energy efficiency, space and weight of the humanoid carrying robot, therefore, the reverse knee joint assembly and humanoid carrying robot are provided to solve the above problems. SUMMARY

[0003] One of the purposes of the utility model is to provide a reverse knee joint assembly and humanoid carrying robot, so as to solve the problem that the knee joint motor of the existing humanoid carrying robot needs large redundant power.

[0004] The reverse knee joint assembly and humanoid carrying robot can be realized through the following technical solutions:

[0005] The reverse knee joint assembly of the utility model comprises a fixing seat, a first telescopic arm mechanism rotatably arranged on the fixing seat, a joint driving motor arranged on one end of the first telescopic arm mechanism away from the fixing seat, a second telescopic arm mechanism transmissionally arranged on the joint driving motor, a rotary support mechanism rotatably arranged on the second telescopic arm mechanism, and an elastic support mechanism with one end fixedly arranged on the first telescopic arm mechanism and the other end movably arranged on the joint driving motor and connected with the second telescopic arm mechanism, wherein when the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the elastic support mechanism provides support force to the second telescopic arm mechanism.

[0006] In one of the embodiments, the elastic support mechanism comprises a support plate, a connecting piece and at least one gas spring, the support plate is fixedly arranged on the first telescopic arm mechanism, the connecting piece is movably arranged on the joint driving motor and connected with the second telescopic arm mechanism, and the two ends of the at least one gas spring are connected with the support plate and the connecting piece respectively, wherein when the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, at least one gas spring is compressed to provide support force to the second telescopic arm mechanism.

[0007] In one of the embodiments, two gas springs are arranged side by side between the support plate and the connecting piece.

[0008] In one of the embodiments, at least one annular groove is arranged on the connecting member, and one end of the gas spring is movably arranged on the annular groove.

[0009] In one of the embodiments, the first telescopic arm mechanism comprises a first driving motor fixedly arranged in the fixed seat, and a first telescopic arm body in transmission connection with the first driving motor, and the joint driving motor is arranged on the other end of the first telescopic arm body relative to the first driving motor.

[0010] In one of the embodiments, the second telescopic arm mechanism comprises a second telescopic arm body in transmission connection with the joint driving motor, and a second driving motor arranged on the other end of the second telescopic arm body relative to the joint driving motor, and in transmission connection with the rotary support mechanism.

[0011] In one of the embodiments, the rotary support mechanism is rotatably arranged on the second telescopic arm mechanism.

[0012] In one of the embodiments, the rotary support mechanism comprises a third telescopic arm body in transmission connection with the second driving motor, a rotary motor fixedly arranged on the third telescopic arm body, and a support frame movably arranged above the third telescopic arm body and in transmission connection with the rotary motor, and the rotary motor drives the support frame to rotate.

[0013] In one of the embodiments, the support frame is provided with a hollow cavity, and connecting plates are arranged on the opposite sides of the hollow cavity.

[0014] The utility model discloses a humanoid carrying robot, which comprises the reverse knee joint assembly of any one of the above.

[0015] Compared with the prior art, the reverse knee joint assembly and the humanoid carrying robot have the following beneficial effects:

[0016] When the reverse knee joint assembly and the humanoid carrying robot perform the reverse knee operation, the gas spring is in a compressed state to provide support force for the second telescopic arm mechanism, thereby greatly reducing the output torque of the joint driving motor to support the second telescopic arm mechanism, and effectively solving the problem that the knee joint motor of the existing humanoid carrying robot needs a large redundant power.

[0017] The reverse knee joint assembly and the humanoid carrying robot drive the first telescopic arm body, the second telescopic arm body and the third telescopic arm body to perform angle adjustment operation through the first driving motor, the joint driving motor and the second driving motor respectively, and drive the support frame to rotate through the rotary motor, thereby realizing multi-joint and multi-dimensional motion, and improving the flexibility of the humanoid carrying robot to a certain extent. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the premise of not paying creative labor.

[0019] Figure 1 is a structural schematic view of a hyperflexion knee joint assembly of the present application;

[0020] Figure 2 is Figure 1 is a structural schematic view of another perspective of the hyperflexion knee joint assembly of the present application;

[0021] Figure 3 is Figure 1 is an exploded structural schematic view of the hyperflexion knee joint assembly of the present application, comprising a rotating support mechanism;

[0022] Figure 4 is Figure 3 is an exploded structural schematic view of the rotating support mechanism;

[0023] Figure 5 is a structural schematic view of a humanoid carrying robot of the present application.

[0024] In the figure, 10 is a hyperflexion knee joint assembly; 11 is a fixed seat; 111 is a fixed hole; 112 is a through hole; 12 is a first telescopic arm mechanism; 121 is a first drive motor; 122 is a first telescopic arm body; 13 is a joint drive motor; 14 is a second telescopic arm mechanism; 141 is a second telescopic arm body; 142 is a second drive motor; 15 is a rotating support mechanism; 151 is a third telescopic arm body; 152 is a rotating motor; 153 is a support frame; 1531 is a hollow cavity; 1532 is a connecting plate; 16 is an elastic support mechanism; 161 is a support plate; 162 is a connecting piece; 1621 is an annular groove; and 163 is a gas spring. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] Please see Figures 1-4 As shown, the present invention provides a reverse knee joint assembly 10, which mainly includes a fixed base 11, a first telescopic arm mechanism 12, a joint drive motor 13, a second telescopic arm mechanism 14, a rotary support mechanism 15, and an elastic support mechanism 16. The fixed base 11 is fixedly mounted on the chassis assembly of the humanoid handling robot. The first telescopic arm mechanism 12 is rotatably mounted on the fixed base 11 and can be angled relative to the fixed base 11. The joint drive motor 13 is located at the end of the first telescopic arm mechanism 12 away from the fixed base 11. The second telescopic arm mechanism 14 is driven by the joint drive motor 13, and the joint drive motor 13 drives the second telescopic arm mechanism 14 to rotate at an angle. Angle adjustment operation; the rotating support mechanism 15 is rotatably mounted on the second telescopic arm mechanism 14, and the second telescopic arm mechanism 14 drives the rotating support mechanism 15 to perform angle adjustment operation; one end of the elastic support mechanism 16 is fixedly mounted on the first telescopic arm mechanism 12, and the other end is movably mounted on the joint drive motor 13 and connected to the second telescopic arm mechanism 14. When the first telescopic arm mechanism 12 and the second telescopic arm mechanism 14 form an acute angle, that is, when the anti-flexion knee joint assembly 10 performs anti-flexion knee operation, the elastic support mechanism 16 provides support force to the second telescopic arm mechanism 14, thereby greatly reducing the output torque of the joint drive motor 13 to support the second telescopic arm mechanism 14.

[0028] Please see Figures 1-3 As shown, specifically, the fixed base 11 has multiple fixing holes 111 through it, and the fixed base 11 is fixedly installed on the chassis assembly of the humanoid handling robot through the multiple fixing holes 111; the fixed base 11 also has a through hole 112 through it, and one end of the first telescopic arm mechanism 12 is disposed in the through hole 112.

[0029] Please see Figures 1-3As shown, in this embodiment, the first telescopic arm mechanism 12 includes a first drive motor 121 and a first telescopic arm body 122; the first drive motor 121 is fixedly disposed in the through hole 112; the first telescopic arm body 122 is driven by the first drive motor 121, and the first drive motor 121 drives the first telescopic arm body 122 to perform angle adjustment; the joint drive motor 13 is disposed on the other end of the first telescopic arm body 122 opposite to the first drive motor 121. The second telescopic arm mechanism 14 includes a second telescopic arm body 141 and a second drive motor 142; the second telescopic arm body 141 is driven by the joint drive motor 13, and the joint drive motor 13 drives the second telescopic arm body 141 to perform angle adjustment; the second drive motor 142 is disposed on the other end of the second telescopic arm body 141 opposite to the joint drive motor 13, and is driven by the rotary support mechanism 15, and the second drive motor 142 drives the rotary support mechanism 15 to perform angle adjustment.

[0030] Please see Figures 1-4 As shown, in this embodiment, the rotating support mechanism 15 includes a third telescopic arm body 151, a rotary motor 152, and a support frame 153. The third telescopic arm body 151 is connected to a second drive motor 142, which drives the third telescopic arm body 151 to adjust its angle. The rotary motor 152 is fixedly mounted on the third telescopic arm body 151 and moves with the movement of the third telescopic arm body 151. The support frame 153 is movably mounted above the third telescopic arm body 151 and is connected to the rotary motor 152, which drives the support frame 153 to rotate. Specifically, the support frame 153 has a hollow cavity 1531, which can be used to install the electrical components of the humanoid handling robot. Connecting plates 1532 are respectively provided on opposite sides of the support frame 153, and two gripping arm assemblies are respectively mounted on the corresponding connecting plates 1532.

[0031] Please see Figures 1-3As shown, the elastic support mechanism 16 includes a support plate 161, a connector 162, and at least one gas spring 163. The support plate 161 is fixedly mounted on the first telescopic arm body 122. The connector 162 is movably mounted on the joint drive motor 13 and connected to the second telescopic arm body 141. One end of the at least one gas spring 163 is fixedly mounted on the support plate 161, and the other end is connected to the connector 162. When the first telescopic arm mechanism 12 and the second telescopic arm mechanism 14 form an acute angle, i.e., the knee flexion joint assembly 10 performs a knee flexion operation, the gas spring 163 is in a compressed state, providing support force to the second telescopic arm mechanism 14, thereby reducing the output torque of the joint drive motor 13 to support the second telescopic arm mechanism 14. In this embodiment, two gas springs 163 are arranged side by side between the support plate 161 and the connector 162; in other embodiments, the number of gas springs 163 can be one, three, four, or other plurality, and the number can be set according to the actual situation. Specifically, the connector 162 is provided with at least one annular groove 1621, and one end of the gas spring 163 is movably disposed on the annular groove 1621.

[0032] Please see Figure 5 As shown, the present invention provides a humanoid transport robot including the anti-flexion knee joint component 10 of any of the above-mentioned components.

[0033] It should be noted that the specific working process of the anti-flexion knee joint assembly and humanoid handling robot of this utility model is as follows: the first telescopic arm body 122, the second telescopic arm body 142, and the third telescopic arm body 151 are driven by the first drive motor 121, the joint drive motor 13, and the second drive motor 142 to perform angle adjustment operations, thereby realizing the movement of multiple joints; when the first telescopic arm body 122 and the second telescopic arm body 142 form an acute angle, that is, the anti-flexion knee joint assembly 10 performs anti-flexion knee operation, the gas spring 163 is in a compressed state to provide support force to the second telescopic arm mechanism 14, thereby greatly reducing the output torque of the joint drive motor 13 to support the second telescopic arm mechanism 14; at the same time, the support frame 153 can be rotated by the rotary motor 152.

[0034] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0035] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A reverse knee joint assembly, characterized in that, include: Fixed base; The first telescopic arm mechanism is rotatably mounted on the fixed base; A joint drive motor is located at the end of the first telescopic arm mechanism away from the fixed base; The second telescopic arm mechanism has its transmission set on the joint drive motor; An elastic support mechanism is provided, with one end fixedly mounted on the first telescopic arm mechanism and the other end movably mounted on the joint drive motor and connected to the second telescopic arm mechanism. When the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, the elastic support mechanism provides support force to the second telescopic arm mechanism.

2. The anti-flexion knee joint assembly according to claim 1, characterized in that, The elastic support mechanism includes a support plate, a connector, and at least one gas spring; the support plate is fixedly mounted on the first telescopic arm mechanism; the connector is movably mounted on the joint drive motor and connected to the second telescopic arm mechanism; at least one gas spring has its two ends connected to the support plate and the connector, respectively; when the first telescopic arm mechanism and the second telescopic arm mechanism form an acute angle, at least one gas spring is compressed to provide support force to the second telescopic arm mechanism.

3. The anti-flexion knee joint assembly according to claim 2, characterized in that, The two gas springs are arranged side by side between the support plate and the connector.

4. A reverse knee joint assembly according to claim 2, characterized in that, The connector is provided with at least one annular groove, and one end of the gas spring is movably disposed on the annular groove.

5. A reverse knee joint assembly according to claim 1, characterized in that, The first telescopic arm mechanism includes a first drive motor, which is fixedly installed in the fixed base; a first telescopic arm body that is drively connected to the first drive motor; and the joint drive motor is installed on the other end of the first telescopic arm body opposite to the first drive motor.

6. A reverse knee joint assembly according to claim 5, characterized in that, The second telescopic arm mechanism includes a second telescopic arm body, which is connected to the joint drive motor; and a second drive motor disposed on the other end of the second telescopic arm body opposite to the joint drive motor, which is connected to the rotary support mechanism.

7. A reverse knee joint assembly according to claim 6, characterized in that, The rotating support mechanism is rotatably mounted on the second telescopic arm mechanism.

8. A reverse knee joint assembly according to claim 7, characterized in that, The rotating support mechanism includes a third telescopic arm body, which is connected to the second drive motor; a rotating motor fixedly mounted on the third telescopic arm body; and a support frame movably mounted above the third telescopic arm body and connected to the rotating motor, wherein the rotating motor drives the support frame to rotate.

9. A reverse knee joint assembly according to claim 8, characterized in that, The support frame is provided with a hollow cavity, and connecting plates are respectively provided on its opposite sides.

10. A humanoid transport robot, characterized in that, Includes the anti-flexion knee joint assembly as described in any one of claims 1-9.

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