Humanoid robot joint structure

Abstract

The utility model relates to the technical field of humanoid robot joints, and discloses a humanoid robot joint structure. A fixing plate is arranged on the upper surface of the connecting block, a plurality of bolts are arranged on the upper surface of the fixing plate, an oil injection port is fixedly connected to the upper surface of the fixing plate, an oil injection port cover plate is arranged at the upper end of the oil injection port, an oil injection pipeline is arranged at the lower end of the oil injection port, and an oil injection nozzle is arranged at the lower end of the oil injection pipeline. The lubricating oil injection nozzle structure is a detachable lubricating oil injection nozzle structure of a humanoid robot joint structure. During use, a bolt penetrates through the fixing plate to be in threaded connection with the upper end of the connecting block, then the oil injection port cover plate is opened, and lubricating oil is injected into the oil injection port and then discharged from the oil injection nozzle through the oil injection pipeline. In the long-time operation process of numerous parts in a robot joint, abrasion can be caused by mutual friction, and the service life and the movement performance of the joint are affected.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of humanoid robot joints, and particularly relates to a humanoid robot joint structure. BACKGROUND

[0002] There are various humanoid robot joint structures, and common ones are harmonic reducer joint structures, which utilize a flexible gear, a rigid gear and a wave generator to cooperate to realize high-precision speed reduction transmission and enable the joint to move flexibly; and RV reducer joint structures, which have high rigidity and large torque characteristics and guarantee stable operation of the robot joint under different working conditions.

[0003] For example, the patent with the publication number CN220864049U discloses a joint structure of a humanoid robot and the humanoid robot, which comprises a support frame, a rotating shaft connected with a driving motor structure, a containing space formed in the shaft core of the support frame, the rotating shaft arranged in the containing space of the support frame and rotationally connected with the support frame so that the two can rotate relative to each other under the driving of the driving motor structure, a first connecting section arranged on the radial outer wall of the support frame and used for connecting a first servo, and a second connecting section arranged on the radial outer wall of the rotating shaft and used for connecting a second servo. The humanoid robot joint structure has the advantages of integrated design of the servo and the joint, simple and reliable structure, improved motion strength of the humanoid robot joint, simplified installation process of the joint, and realized lightweight of the humanoid robot joint as a whole, and has good feasibility and practicability.

[0004] However, the humanoid robot joint in the patent does not have a special oil injection nozzle structure, and it is very difficult to add lubricating oil to the joint. The operator can only drop lubricating oil on the joint gap, but it is difficult to ensure that the lubricating oil reaches the key lubricating position accurately, so that the friction coefficient between the internal components of the joint is difficult to effectively reduce, and the wear of the components is accelerated. UTILITARIAN CONTENT

[0005] The application aims to solve the problem of avoiding component wear, and provides a humanoid robot joint structure.

[0006] The technical scheme adopted by the application is as follows: a humanoid robot joint structure, comprising a connecting block, an upper surface of the connecting block is provided with a fixed plate, an upper surface of the fixed plate is provided with a plurality of bolts, the upper surface of the fixed plate is fixedly connected with an oil injection port, an upper end of the oil injection port is provided with an oil injection port cover plate, a lower end of the oil injection port is provided with an oil injection pipeline, and a lower end of the oil injection pipeline is provided with an oil injection nozzle.

[0007] By adopting the technical scheme, the detachable lubricating oil injection nozzle structure of the humanoid robot joint structure is provided. In use, the detachable lubricating oil injection nozzle structure is screwed to the upper end of the connecting block through the bolt penetrating the fixing plate, the oil injection port cover plate is opened, the lubricating oil is poured into the oil injection port, and then the lubricating oil is discharged from the oil injection nozzle through the oil injection pipeline. During long-time operation, the mutual friction between the numerous components in the robot joint can cause wear, affecting the service life and motion performance of the joint. Through the detachable lubricating oil injection nozzle structure, the operator can conveniently inject lubricating oil into the joint interior according to the established maintenance period, so that the lubricant can be uniformly distributed at each part needing lubrication, which can effectively reduce the friction coefficient, ensure smooth rotation of the joint, reduce wear of the components, and prolong the overall service life of the joint. When the oil injection nozzle cannot normally perform the oil injection work due to long-time use or accidental damage, the detachable feature of the oil injection nozzle can be used to directly replace a new oil injection nozzle; the operation is simple and fast, the entire joint structure does not need to be complicatedly disassembled and reassembled, the maintenance process is more efficient, and the robot can be restored to the normal working state as soon as possible.

[0008] In a preferred embodiment, one end of the connecting block is provided with a torque sensor.

[0009] By adopting the technical scheme, the torque sensor is used in the humanoid robot joint structure, which can accurately detect the torque size borne by the joint during motion in real time, whether the torque sensor is affected by the external force under the influence of the external environment or the torque sensor is affected by the external force under the influence of the external environment. The torque sensor can feed back the torque-related data to the control system in time, so that the control system can judge the current force state of the joint according to the data, and then issue corresponding control instructions to the driving motor and other components.

[0010] In a preferred embodiment, one end of the torque sensor is provided with a bearing.

[0011] By adopting the technical scheme, the bearing plays a crucial role in the humanoid robot joint structure. The bearing is installed at the rotating part of the joint, is arranged around the corresponding rotating shaft, can effectively reduce the friction resistance during rotation, and can bear the force from the axial and radial directions, so that the joint can smoothly and stably rotate during operation.

[0012] In a preferred embodiment, one end of the connecting block is provided with a speed reducer.

[0013] By adopting the technical scheme, the speed reducer is a key component for adjusting the rotation speed and torque output by the driving motor, and in the joint structure of the humanoid robot, such as a common harmonic speed reducer or RV speed reducer, the higher rotation speed from the driving motor is reduced to a suitable rotation speed required by joint movement through specific internal mechanical structure cooperation, and the torque is increased at the same time, so that the joint can rotate with suitable power and speed, thereby accurately completing various actions.

[0014] In a preferred embodiment, one end of the speed reducer is provided with a joint shell.

[0015] By adopting the technical scheme, the joint shell is used to wrap all the precise components inside the joint, such as the driving motor, the speed reducer, and the sensor.

[0016] In a preferred embodiment, one side of the joint shell is provided with a shaft coupling, and one side of the joint shell is provided with a shaft coupling rotating motor.

[0017] By adopting the technical scheme, the shaft coupling plays an important role in connecting the joint structure of the humanoid robot, and it mainly connects the output shaft of the driving motor and the input shaft of the speed reducer. The shaft coupling can adapt to certain angle deviation and axial displacement deviation, and at the same time of transmitting torque, it can ensure that the power can be smoothly and effectively transmitted from the driving motor to the speed reducer, which is a key link to ensure smooth transition of power. The shaft coupling rotating motor has a unique function, which can provide additional rotating power for the shaft coupling. In some specific robot action scenarios, when it is necessary to more finely adjust the angle of the joint or to make some special fine adjustment actions of the joint, by controlling the rotation of the shaft coupling rotating motor, the shaft coupling is driven to perform corresponding rotating actions, thereby indirectly affecting the connected components, so that the joint can realize more accurate and delicate angle changes, assist the whole joint to complete more complex and accurate action requirements, and enhance the flexibility and accuracy of the robot joint action.

[0018] In a preferred embodiment, one side of the joint shell is provided with a driving motor.

[0019] By adopting the technical scheme, the driving motor is the core power source of the whole joint movement of the humanoid robot, which receives the electrical signal instructions from the robot control system, converts electrical energy into mechanical energy, and outputs rotating power to drive the joint to perform corresponding rotating actions.

[0020] In a preferred embodiment, the outer surface of the driving motor is provided with a brake.

[0021] By adopting the technical scheme, the brake in the humanoid robot joint structure is mainly used for the following: when the robot needs to keep a specific posture, stop moving in response to an emergency situation, or end a motion according to a program requirement, the brake can timely respond to the instruction of the control system, lock the moving part of the joint through the brake mechanism, and prevent the joint from continuing to rotate due to its own inertia or external force, so as to ensure the stability of the joint posture and the safety and accuracy of the robot.

[0022] In summary, due to the adoption of the technical scheme, the application has the following beneficial effects:

[0023] In the application, a detachable lubricating oil injection nozzle structure for a humanoid robot joint structure is provided. In use, the detachable lubricating oil injection nozzle structure can be screwed to the upper end of the connecting block through the fixed plate and the bolt, the oil injection port cover plate is opened, lubricating oil is poured into the oil injection port, and then the lubricating oil is discharged from the oil injection nozzle through the oil injection pipeline. During long-time operation, the mutual friction between the numerous components in the robot joint can cause wear, affecting the service life and motion performance of the joint. Through the detachable lubricating oil injection nozzle structure, the operator can conveniently inject lubricating oil into the joint interior according to the established maintenance period, so that the lubricant can be uniformly distributed at each part that needs to be lubricated. This can effectively reduce the friction coefficient, ensure smooth rotation of the joint, reduce wear of the components, and thus prolong the overall service life of the joint. When the oil injection nozzle cannot normally perform the oil injection work due to long-time use or accidental damage, the detachable lubricating oil injection nozzle structure can be directly replaced with a new one, which is simple and fast to operate, does not need to disassemble and reassemble the entire joint structure, makes the maintenance process more efficient, and enables the robot to quickly return to the normal working state. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The overall structure in the application is shown in the figure;

[0025] Figure 2 The reducer structure in the application is shown in the figure;

[0026] Figure 3 The detachable lubricating oil injection nozzle structure in the application is shown in the figure;

[0027] Figure 4 The driving motor structure in the application is shown in the figure.

[0028] Markings in the figure: 1, connecting block; 2, fixed plate; 3, bolt; 4, oil injection port; 5, oil injection port cover plate; 6, oil injection pipeline; 7, oil injection nozzle; 8, torque sensor; 9, bearing; 10, reducer; 11, joint shell; 12, shaft coupling; 13, shaft coupling rotation motor; 14, driving motor; 15, brake. DETAILED DESCRIPTION

[0029] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0030] Referring to Figures 1-4 ,

[0031] Embodiment:

[0032] Referring to Figures 1-3 , the upper surface of the connecting block 1 is provided with a fixed plate 2, the upper surface of the fixed plate 2 is provided with a plurality of bolts 3, the upper surface of the fixed plate 2 is fixedly connected with an oil injection port 4, the upper end of the oil injection port 4 is provided with an oil injection port cover plate 5, the lower end of the oil injection port 4 is provided with an oil injection pipeline 6, and the lower end of the oil injection pipeline 6 is provided with an oil injection nozzle 7. It is a detachable lubricating oil injection nozzle structure of a humanoid robot joint structure. In use, the fixed plate 2 can be screwed to the upper end of the connecting block 1 through the bolts 3, the oil injection port cover plate 5 is opened, the lubricating oil is poured into the oil injection port 4, and then the lubricating oil is discharged from the oil injection nozzle 7 through the oil injection pipeline 6. During long-time operation, the mutual friction between numerous components inside the robot joint will cause wear, affecting the service life and motion performance of the joint. Through the detachable lubricating oil injection nozzle structure, the operator can conveniently inject lubricating oil into the joint interior according to the established maintenance period, so that the lubricant can be uniformly distributed at each part needing lubrication, which can effectively reduce the friction coefficient, ensure smooth rotation of the joint, reduce wear of the components, and thus prolong the overall service life of the joint. When the oil injection nozzle cannot normally perform oil injection due to long-time use or accidental damage, the detachable feature can be used to directly replace a new oil injection nozzle; the operation is simple and fast, the entire joint structure does not need to be complicatedly disassembled and reassembled, the maintenance process is more efficient, and the robot can be restored to the normal working state as soon as possible.

[0033] Referring to Figure 2 , one end of the connecting block 1 is provided with a torque sensor 8. The torque sensor 8 is used in the joint structure of the humanoid robot, which can accurately detect the torque size borne by the joint during motion in real time, whether it is the force exerted by the robot when grabbing an object or the external force affected by the external environment, the torque sensor will feed back the torque-related data to the control system in time, so that the control system can judge the current force state of the joint according to the data, and then issue corresponding control instructions to the driving motor and other components.

[0034] Referring to Figure 2 , one end of the torque sensor 8 is provided with a bearing 9. The bearing 9 plays a crucial role in the humanoid robot joint structure, which is installed at the rotating part of the joint, arranged around the corresponding rotating shaft, which can effectively reduce the friction resistance during rotation, while bearing the force from the axial and radial directions, ensuring that the joint can rotate smoothly and stably during operation.

[0035] Referring to Figure 2 , one end of the connecting block 1 is provided with a speed reducer 10. The speed reducer 10 is a key component for adjusting the speed and torque output by the driving motor, in the humanoid robot joint structure, such as the commonly used harmonic reducer or RV reducer, through the cooperation of the internal specific mechanical structure, the higher speed transmitted by the driving motor is reduced to the appropriate speed required by the joint movement, and at the same time the torque is increased, so that the joint can rotate with appropriate force and speed, thereby accurately completing various actions.

[0036] Referring to Figure 2 , one end of the speed reducer 10 is provided with a joint shell 11. The joint shell 11 is used to wrap all the precise components inside the joint, such as driving motor, speed reducer, sensor, etc.

[0037] Referring to Figures 1-2 , one side of the joint shell 11 is provided with a shaft coupling 12, and one side of the joint shell 11 is provided with a shaft coupling rotating motor 13. The shaft coupling 12 plays an important role in connecting the humanoid robot joint structure, which mainly connects the output shaft of the driving motor with the input shaft of the speed reducer. The shaft coupling can adapt to certain angular deviation, axial displacement deviation, etc., while transmitting torque, ensuring that power can be smoothly and effectively transmitted from the driving motor to the speed reducer, which is a key link to ensure smooth power transition. The shaft coupling rotating motor 13 has a unique function, which can provide additional rotating power for the shaft coupling. In some specific robot action scenarios, when it is necessary to more finely adjust the angle of the joint or to make some special fine-tuning actions of the joint, by controlling the rotation of the shaft coupling rotating motor, the shaft coupling is driven to perform corresponding rotating actions, thereby indirectly affecting the connected components, so that the joint can realize more accurate and delicate angle changes, assist the whole joint to complete more complex and accurate action requirements, and enhance the flexibility and accuracy of the robot joint action.

[0038] Referring to Figure 1 , Figure 4 , one side of the joint shell 11 is provided with a driving motor 14. The driving motor 14 is the core power source of the whole humanoid robot joint movement, which receives the electrical signal instructions from the robot control system, converts electrical energy into mechanical energy, and outputs rotating power to drive the joint to perform corresponding rotating actions.

[0039] Referring to Figure 4 The outer surface of the driving motor 14 is provided with a brake 15. The brake 15 is mainly used in the humanoid robot joint structure, when the robot needs to maintain a certain posture, stop action in response to an emergency situation or end a certain action according to the program requirements, the brake can respond to the instruction of the control system in time, through its braking mechanism, lock the moving parts of the joint, prevent the joint from continuing to rotate due to its own inertia or external force, so as to ensure the stability of the joint posture, and ensure the safety and accuracy of the robot action.

[0040] The implementation principle of the humanoid robot joint structure embodiment of the present application is:

[0041] In use, the fixed plate 2 can be screwed to the upper end of the connecting block 1 through the bolt 3, the oil injection port cover plate 5 is opened, the lubricating oil is poured into the oil injection port 4 and discharged from the oil injection nozzle 7 through the oil injection pipeline 6. When the robot joint appears abnormal movement, it is suspected that the problem is in the lubrication, the detachable oil injection nozzle structure facilitates the maintenance personnel to quickly remove it, check whether the inside of the oil injection nozzle and the connected lubricating channel are blocked, damaged or the like, can more accurately locate the fault point, save the time and effort of troubleshooting, speed up the repair progress, reduce the downtime of the robot due to failure, improve the use efficiency of the robot. If the oil injection nozzle is used for a long time or accidentally damaged and cannot normally perform the oil injection work, by using the detachable feature, a new oil injection nozzle can be directly replaced, which is simple and fast, without the need to disassemble and reassemble the entire joint structure, so that the maintenance process is more efficient, and the robot can be restored to normal working state as soon as possible.

[0042] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A humanoid robot joint structure comprising a connecting block (1), characterized in that: The upper surface of the connecting block (1) is provided with a fixed plate (2), the upper surface of the fixed plate (2) is provided with a plurality of bolts (3), the upper surface of the fixed plate (2) is fixedly connected with an oil inlet (4), the upper end of the oil inlet (4) is provided with an oil inlet cover plate (5), the lower end of the oil inlet (4) is provided with an oil pipeline (6), and the lower end of the oil pipeline (6) is provided with an oil nozzle (7).

2. The humanoid robot joint structure of claim 1, wherein: One end of the connecting block (1) is provided with a torque sensor (8).

3. The humanoid robot joint structure of claim 2, wherein: One end of the torque sensor (8) is provided with a bearing (9).

4. The humanoid robot joint structure of claim 1, wherein: One end of the connecting block (1) is provided with a speed reducer (10).

5. The humanoid robot joint structure of claim 4, wherein: One end of the speed reducer (10) is provided with a joint shell (11).

6. The humanoid robot joint structure of claim 5, wherein: One side of the joint shell (11) is provided with a shaft coupling (12), and one side of the joint shell (11) is provided with a shaft coupling rotating motor (13).

7. The humanoid robot joint structure of claim 5, wherein: One side of the joint shell (11) is provided with a driving motor (14).

8. The humanoid robot joint structure of claim 7, wherein: The outer surface of the driving motor (14) is provided with a brake (15).

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