Humanoid robot servo driver with high-precision position control

Abstract

The utility model provides a humanoid robot servo driver with high-precision position control, which relates to the technical field of servo driving and comprises a mounting frame, a servo motor arranged at the bottom of the mounting frame, a support arranged at the bottom of the servo motor, connecting frames arranged on two sides of the servo motor, sliding blocks arranged on the surfaces of the two connecting frames, and a servo motor arranged on the support. Two sliding grooves are formed in the surface of the support, movable grooves are formed in the surfaces of the two connecting frames, the support can smoothly move upwards, and when clamping grooves of the sliding grooves in the surface of the support move to the positions of the two clamping blocks, reset springs in the movable grooves push the movable frames and drive the clamping blocks on the movable frames to penetrate out of the sliding blocks again. The clamping blocks are arranged on the connecting frame and installed in the clamping grooves in the sliding grooves in the surface of the support, so that the support is clamped by the clamping blocks so as to be fixed to the connecting frame, installation of the support is completed, and the defects that in the installation process, all parts need to be accurately aligned, then bolts are screwed one by one, and the matching positions of keys are adjusted are overcome.

Description

TECHNICAL FIELD

[0001] The utility model relates to servo drive technical field especially relates to a high accuracy position control humanoid robot servo driver. BACKGROUND

[0002] According to the underwater robot joint servo motor of Chinese open (announcement) no. CN220492761U discloses a kind of underwater robot joint servo motor, including driving motor, driving motor is arranged in sealed shell, the output shaft of driving motor is connected with rudder disc outside sealed shell, sealed shell is arranged on motor support frame, the outside of sealed shell is provided with threading cover, the cable of driving motor is led out through threading cover;Sealed shell includes sealed cabin, the both ends of sealed cabin are provided with rear end cover and front end cover, output shaft and front end cover are sequentially provided with dynamic sealing fixed plate, flood plug and bearing between.The characteristics of high integration, small size, large torque are had;It is applicable to be installed in small and medium-sized underwater robot, underwater vehicle and underwater manipulator and other scenes needing servo control.

[0003] The above-mentioned technology and the bionic robot joint of prior art are installed on the joint servo motor, usually adopt bolt connection, key connection mode.Make in the installation process, need accurately align each component, then tighten bolt one by one, adjust the matching position of key, this series of operations need professional technical personnel to spend a lot of time to complete, thereby greatly improve the labor cost. UTILITY MODEL CONTENTS

[0004] The utility model aims at solving the shortcomings that in prior art, need accurately align each component in the installation process, then tighten bolt one by one, adjust the matching position of key, and proposes a kind of high accuracy position control humanoid robot servo driver.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a kind of high accuracy position control humanoid robot servo driver, including mounting bracket, the bottom of the mounting bracket is equipped with servo motor, the bottom of the servo motor is equipped with bracket, the both sides of the servo motor are equipped with connecting frame, the surface of two connecting frames is equipped with sliding block, the surface of the bracket is equipped with two sliding grooves, the surface of two connecting frames is equipped with movable slot, the inside of two movable slots is equipped with moving frame, the surface of two moving frames is equipped with clamping block, the inside of two movable slots is equipped with two return springs, the middle of the surface of two sliding grooves and two movable slots is equipped with guide hole, the both sides of two guide holes on the surface of two sliding grooves are equipped with clamping groove, the side of two movable slots close to servo motor is equipped with cover plate, the both sides of the bracket are equipped with guide rod.

[0006] Preferably, the servo motor is mounted on the bottom surface of the mounting frame, and the servo motor is screwed to the mounting frame, both of the connecting frames are mounted on both sides of the servo motor, and the connecting frames are screwed to the servo motor.

[0007] Preferably, both of the sliding blocks are arranged on the surface of the connecting frame away from the servo motor, and the sliding blocks are integrally formed with the connecting frame, both of the movable grooves are arranged on the surface of the connecting frame close to the servo motor, and the movable grooves are in parallel with the sliding blocks.

[0008] Preferably, both of the moving frames and the four reset springs are evenly arranged in the two movable grooves, and both of the cover plates are screwed to the connecting frames, and the four reset springs are fixed in the two movable grooves through the two cover plates.

[0009] Preferably, both of the clamping blocks on the surface of the moving frame are integrally formed with the moving frame, and both of the clamping blocks are arranged at both ends of the moving frame, and one end of each of the clamping blocks penetrates through the sliding block on the surface of the connecting frame.

[0010] Preferably, both of the sliding grooves are arranged on the surface of the support close to the servo motor, and the sliding blocks on the surface of the connecting frame are arranged in the sliding grooves on the surface of the support.

[0011] Preferably, the guide holes on the surface of the sliding grooves are arranged in one-to-one correspondence with the guide holes on the surface of the movable grooves, both of the guide rods are arranged in the guide holes, and both of the clamping grooves on the surface of the sliding grooves are arranged in one-to-one correspondence with the clamping blocks.

[0012] Beneficial effects

[0013] In the utility model, the sliding grooves on the surface of the support are aligned with the sliding blocks on the connecting frames on both sides of the servo motor, the support is pushed upward, the sliding blocks on the surface of the connecting frame are arranged in the sliding grooves on the surface of the support, in the installation process of the support, the support moving upward will make the clamping blocks penetrating through the sliding blocks re-enter the movable grooves of the connecting frame, so that the support can be smoothly moved upward, when the clamping grooves on the surface of the support are moved to the positions of the clamping blocks, the reset springs in the movable grooves push the moving frames and drive the clamping blocks on the moving frames to re-penetrate through the sliding blocks and be arranged in the clamping grooves on the surface of the support, so that the support is clamped by the clamping blocks and is fixed on the connecting frame, thereby the installation of the support is completed, and the defects that each component needs to be accurately aligned and then the bolts are tightened one by one and the matching positions of the keys are adjusted are solved. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is the isometric view of the utility model;

[0015] Figure 2 It is the right view of the utility model;

[0016] Figure 3 A-A section view of the present application Figure 2 A-A section view of the present application

[0017] Figure 4 A-A section view of the present application A-A section view of the present application

[0018] A-A section view of the present application Figure 5 A-A section view of the present application Figure 4 A-A section view of the present application A-A section view of the present application

[0019] A-A section view of the present application Figure 6 A-A section view of the present application A-A section view of the present application

[0020] Legend:

[0021] 1, mounting frame; 2, servo motor; 3, support; 4, connecting frame; 5, sliding block; 6, sliding groove; 7, movable slot; 8, moving frame; 9, clamping block; 10, reset spring; 11, cover plate; 12, clamping groove; 13, guide hole; 14, guide rod. DETAILED DESCRIPTION

[0022] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the following will further describe the present application in combination with specific embodiments and drawings, but the following embodiments are only preferred embodiments of the present application, not all. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.

[0023] The specific embodiments of the present application will be described below in combination with the drawings. Embodiment one:

[0025] Refer to Figures 1-6The utility model provides a high-precision position control humanoid robot servo driver, including mounting frame 1, the bottom of mounting frame 1 is equipped with servo motor 2, the bottom of servo motor 2 is equipped with support 3, both sides of servo motor 2 are equipped with connecting frame 4, the surface of two connecting frame 4 is equipped with sliding block 5, the surface of support 3 is equipped with two sliding grooves 6, the surface of two connecting frame 4 is equipped with movable slot 7, the inside of two movable slot 7 is equipped with moving frame 8, the surface of two moving frame 8 is equipped with clamping block 9, the inside of two movable slot 7 is equipped with two reset springs 10, the middle of two sliding grooves 6 and two movable slot 7 surfaces are equipped with guide hole 13, both sides of two guide holes 13 on the surface of two sliding grooves 6 are equipped with clamping slot 12, the side of two movable slot 7 close to servo motor 2 is equipped with cover plate 11, both sides of support 3 are equipped with guide rod 14, servo motor 2 is installed on the bottom surface of mounting frame 1, and servo motor 2 is screw connected with mounting frame 1, two connecting frame 4 are installed on both sides of servo motor 2, and connecting frame 4 are screw connected with servo motor 2, two sliding blocks 5 are set up on the surface of connecting frame 4 away from servo motor 2 side, and sliding block 5 is integrally formed with connecting frame 4, two movable slot 7 are set up on the surface of two connecting frame 4 close to servo motor 2 side, and movable slot 7 is parallel with sliding block 5, two moving frame 8 and four reset springs 10 are evenly installed in two movable slot 7, and two cover plates 11 are screw connected with connecting frame 4, four reset springs 10 are fixed in two movable slot 7 through two cover plates 11, two clamping blocks 9 on the surface of two moving frame 8 are integrally formed with moving frame 8, and two clamping blocks 9 are set up on both ends of moving frame 8, one end of two clamping blocks 9 penetrates out the sliding block 5 on the surface of connecting frame 4, two sliding grooves 6 are set up on the surface of support 3 close to servo motor 2 side, and the sliding block 5 on the surface of two connecting frame 4 is installed in the sliding groove 6 on the surface of support 3, the guide hole 13 on the surface of two sliding grooves 6 is set up in one-to-one correspondence with the guide hole 13 on the surface of two movable slot 7, two guide rods 14 are installed in guide hole 13, two clamping slots 12 on the surface of two sliding grooves 6 are set up in one-to-one correspondence with the position of two clamping blocks 9.

[0026] The mounting frame 1 (corresponding to the top end mechanical arm) serves as the connection basis of the entire servo driver and the top end mechanical arm, providing a stable mounting plane for the servo motor 2 and ensuring the stability of the servo motor 2 during operation. The servo motor 2 is the core power source, converting electrical energy into mechanical energy, and outputting precise torque and speed through rotation to achieve high-precision control of the robot joint position. Its built-in encoder monitors the motor's rotation angle and speed in real time, providing feedback to the control system to achieve closed-loop control and ensure the accuracy of the mechanical arm's movement. The bracket 3 (corresponding to the bottom end mechanical arm) is connected to the connecting frame 4, achieving quick connection and separation with the bottom end mechanical arm. The connecting frame 4 is installed on both sides of the servo motor 2, serving as a connection between the servo motor 2 and the bracket 3. One side is fixed to the servo motor 2 with screws, and the other side is connected to the bracket 3 through structures such as the sliding block 5 and the movable slot 7. The connecting frame 4 ensures the stable connection between the servo motor 2 and the bracket 3. The sliding block 5 is integrated with the connecting frame 4 and located on the side away from the servo motor 2. During installation, the sliding block 5 slides along the sliding groove 6 on the surface of the bracket 3, providing guidance for the relative movement of the connecting frame 4 and the bracket 3, ensuring the accuracy and smoothness of the installation process, allowing the bracket 3 to quickly and accurately dock with the connecting frame 4. The sliding groove 6 is located on the side of the bracket 3 close to the servo motor 2 and cooperates with the sliding block 5. The movable slot 7 is parallel to the sliding block 5 and is located on the side of the connecting frame 4 close to the servo motor 2. The movable slot 7 provides installation space for the moving frame 8 and the return spring 10, while limiting the movement range of the moving frame 8. During the quick installation and disassembly process, the movable slot 7 provides the necessary space for the movement of the moving frame 8, allowing it to drive the clamping block 9 to achieve clamping and separation with the bracket 3 clamping slot 12. The moving frame 8 is installed inside the movable slot 7 and can move freely within it. When pushed by the guide rod 14, the moving frame 8 moves within the movable slot 7, driving the clamping block 9 to extend or retract, thereby achieving clamping and separation with the bracket 3 clamping slot 12, completing the fixing and disassembly operation of the bracket 3 and the connecting frame 4. The clamping block 9 is integrated with the moving frame 8 and penetrates the sliding block 5 on the surface of the connecting frame 4. During installation, when the bracket 3 moves upwards, the bracket 3 will hit the clamping block 9 into the movable slot 7, allowing the bracket 3 to smoothly rise. When the bracket 3 rises to a certain position, i.e., the sliding groove 6 clamping slot 12 aligns with the clamping block 9, the clamping block 9 is pushed out by the return spring 10 and clamped into the clamping slot 12, achieving the fixation of the bracket 3 and the connecting frame 4. During disassembly, the guide rod 14 pushes the moving frame 8, causing the clamping block 9 to retract into the movable slot 7, releasing the clamping with the clamping slot 12, facilitating the disassembly of the bracket 3. The return spring 10 is fixed in the movable slot 7 by the cover plate 11 and stores elastic potential energy when compressed. During the installation of the bracket 3, when the clamping slot 12 aligns with the clamping block 9, the return spring 10 releases the elastic potential energy, pushing the moving frame 8, causing the clamping block 9 to extend and clamp into the clamping slot 12, achieving the fixation of the bracket 3.During disassembly, the guide rod 14 pushes the moving frame 8 to overcome the elastic force of the reset spring 10, so that the clamping block 9 is retracted, creating conditions for the disassembly of the support 3. The cover plate 11 is connected with the connecting frame 4 by screws, used to close the movable slot 7 and fix the reset spring 10, ensuring the stability of the position of the reset spring 10 in the movable slot 7, so that it can normally play a role. The guide rod 14 plays a key role in disassembling the support 3. Insert the guide rod 14 into the guide hole 13 at the bottom of the surface of the support 3, and push the guide rod 14 to move along the guide hole 13 and push the moving frame 8. The role of the guide rod 14 is to overcome the elastic force of the reset spring 10, so that the moving frame 8 drives the clamping block 9 to retract into the movable slot 7, thereby releasing the fixation of the support 3 and the connecting frame 4, and realizing the quick disassembly of the support 3. Specific embodiment two:

[0028] Reference Figures 1-6 A high-precision position control humanoid robot servo driver further based on the basic structure in specific embodiment one, as a whole, the servo driver realizes the quick installation and disassembly with the mechanical arm through the cooperative work of each component, while ensuring high-precision position control during operation. During installation, first align the sliding groove 6 on the surface of the support 3 with the sliding block 5 on the connecting frame 4, and then push the support 3 upwards. In this process, the support 3 will hit the clamping block 9 penetrating through the sliding block 5 into the movable slot 7 of the connecting frame 4, so that the support 3 can smoothly rise. When the support 3 rises to a certain position, that is, the clamping groove 12 of the sliding groove 6 is aligned with the clamping block 9, the reset spring 10 in the movable slot 7 pushes the moving frame 8, so that the clamping block 9 extends and clamps into the clamping groove 12, thereby fixing the support 3 on the connecting frame 4, completing the installation of the servo driver and the bottom mechanical arm. At this time, the servo motor 2 can transmit power to the bottom mechanical arm through the connecting frame 4 and the support 3, realizing the driving and control of the robot joints.

[0029] During disassembly, insert the two guide rods 14 into the guide holes 13 at the bottom of the surface of the support 3, and then press the guide rods 14. The guide rod 14 pushes the moving frame 8 through the guide hole 13, so that the moving frame 8 moves to the servo motor 2 direction overcoming the elastic force of the reset spring 10. With the movement of the moving frame 8, the clamping block 9 gradually separates from the clamping groove 12 of the support 3 and retracts into the movable slot 7. When the clamping block 9 completely separates from the clamping groove 12, the support 3 loses the fixation of the clamping block 9, at which time the support 3 can be pulled down. During the downward movement of the support 3, the guide hole 13 on the surface of the support 3 also moves downward because the guide rod 14 remains stationary, and when the top end of the guide hole 13 abuts against the guide rod 14, the guide rod 14 is pulled out. At this time, since the clamping groove 12 of the support 3 has deviated from the position of the clamping block 9, the clamping block 9 is stopped by the support 3 and does not affect the downward movement of the support 3, thereby smoothly completing the disassembly of the support 3. Specific embodiment three:

[0031] ReferenceFigures 1-6 A high-precision position control humanoid robot servo driver, further based on the basic structure in embodiment one, the encoder built-in servo motor 2 monitors the rotation angle and speed of the motor in real time at a very high frequency, and transmits these data to the control system quickly. The control system calculates the deviation between the current position and the target position according to the feedback information. Then, the control system adjusts the input current, voltage and frequency of the servo motor 2 and other parameters based on these deviations, to ensure that the motor can operate according to the predetermined trajectory and accuracy requirements, so as to realize high-precision control of the position of the robot joint.

[0032] In summary:

[0033] 1. The sliding block 5 on the connecting frame 4 is aligned with the sliding groove 6 on the bracket 3, and the bracket 3 is pushed upwards, so that the sliding block 5 on the surface of the connecting frame 4 is installed in the sliding groove 6 on the surface of the bracket 3. During the installation of the bracket 3, the upwardly moving bracket 3 will cause the clamping block 9 penetrating out of the sliding block 5 to be knocked into the movable groove 7 of the connecting frame 4, so that the bracket 3 can be smoothly moved upwards. When the clamping groove 12 of the sliding groove 6 on the surface of the bracket 3 moves to the position of the two clamping blocks 9, the reset spring 10 in the movable groove 7 pushes the moving frame 8 and drives the clamping block 9 on the moving frame 8 to penetrate out of the sliding block 5 again and be installed in the clamping groove 12 in the sliding groove 6 on the surface of the bracket 3. The bracket 3 is clamped by the clamping block 9 and is fixed on the connecting frame 4, so that the installation of the bracket 3 is completed. The shortcomings of needing to accurately align each component during installation, then tightening the bolts one by one, and adjusting the fitting position of the key are solved.

[0034] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can include direct contact between the first and second features, or indirect contact between the first and second features through another feature therebetween. Moreover, the first feature "on", "above" and "above" the second feature includes the first feature directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes the first feature directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0035] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A high-precision position-controlled humanoid robot servo driver comprising a mounting frame (1), characterized in that: The bottom of the mounting frame (1) is provided with a servo motor (2), the bottom of the servo motor (2) is provided with a support (3), both sides of the servo motor (2) are provided with a connecting frame (4), the surface of the two connecting frames (4) is provided with a sliding block (5), the surface of the support (3) is provided with two sliding grooves (6), the surface of the two connecting frames (4) is provided with a movable slot (7), the inside of the two movable slots (7) is provided with a moving frame (8), the surface of the two moving frames (8) is provided with a clamping block (9), the inside of the two movable slots (7) is provided with two reset springs (10), the middle of the surface of the two sliding grooves (6) and the two movable slots (7) is provided with a guide hole (13), both sides of the two guide holes (13) on the surface of the two sliding grooves (6) are provided with a clamping groove (12), one side of the two movable slots (7) close to the servo motor (2) is provided with a cover plate (11), and both sides of the support (3) are provided with a guide rod (14).

2. The humanoid robot servo driver of claim 1, wherein: The servo motor (2) is installed on the bottom surface of the mounting frame (1), and the servo motor (2) is screwed with the mounting frame (1); the two connecting frames (4) are installed on both sides of the servo motor (2), and the connecting frames (4) are screwed with the servo motor (2).

3. The humanoid robot servo drive of claim 1, wherein: Both the sliding blocks (5) are arranged on the surface of the connecting frame (4) away from the servo motor (2), and the sliding blocks (5) are integrally formed with the connecting frame (4); the two movable slots (7) are arranged on the surface of the two connecting frames (4) close to the servo motor (2), and the movable slots (7) are in parallel with the sliding blocks (5).

4. The humanoid robot servo drive of claim 1, wherein: Both the moving frames (8) and the four reset springs (10) are evenly installed in the two movable slots (7), and both the cover plates (11) are screwed with the connecting frames (4); the four reset springs (10) are fixed in the two movable slots (7) through the two cover plates (11).

5. The high-precision position control humanoid robot servo driver according to claim 1, characterized in that: Both the clamping blocks (9) on the surface of the two moving frames (8) are integrally formed with the moving frames (8), and both the clamping blocks (9) are arranged on both ends of the moving frames (8); one end of the two clamping blocks (9) penetrates through the sliding block (5) on the surface of the connecting frame (4).

6. The humanoid robot servo drive of claim 1, wherein: Both the sliding grooves (6) are arranged on the surface of the support (3) close to the servo motor (2), and the sliding blocks (5) on the surface of the two connecting frames (4) are installed in the sliding grooves (6) on the surface of the support (3).

7. The humanoid robot servo drive of claim 1, wherein: The guide holes (13) on the surface of the two sliding grooves (6) are arranged one by one corresponding to the positions of the guide holes (13) on the surface of the two movable slots (7); the two guide rods (14) are installed in the guide holes (13); the two clamping grooves (12) on the surface of the two sliding grooves (6) are arranged one by one corresponding to the positions of the clamping blocks (9).

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