Multi-joint flexible rotating humanoid robot

Abstract

The utility model discloses a multi-joint flexible rotating humanoid robot, which belongs to the technical field of humanoid robots, and comprises a robot body, a first support arm rotationally connected with the robot body, a second support arm rotationally connected with one end, far away from the robot body, of the first support arm, and an accommodating hole, the containing hole is formed in the outer wall of the first supporting arm and internally provided with an oil storage tank; the oil feeding block is fixedly connected to the inner wall of the accommodating hole; the second supporting arm rotates to drive the transmission part to drive the sliding block to slide in the first sliding groove, so that lubricating oil in the oil feeding block is squeezed into the lubricating groove through the through groove to lubricate the joint, and the situation that the lubricating oil consumption of the joint is relatively high when the robot operates continuously at high load for a long time is avoided; therefore, the friction between joint movement parts is increased, and the movement of joints is no longer stable and accurate.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a multi-joint flexible rotating humanoid robot. Background Technology

[0002] Currently, humanoid robots are gradually emerging in the field of technology. Taking a multi-jointed, flexible humanoid robot as an example, it has demonstrated strong potential and broad application prospects, especially in manufacturing. Humanoid robots, with their human-like bipedal locomotion and hand-operated capabilities, can play a crucial role in scenarios such as parts assembly, equipment maintenance, and quality inspection. For instance, humanoid robots can assist or replace workers in performing high-precision, high-risk tasks such as welding and painting, improving efficiency while reducing human error and safety hazards.

[0003] Existing robots can rotate flexibly through their multi-joint design to carry objects. By flexibly adjusting the posture of their arms and body, robots can complete the carrying task in the most labor-saving way, reducing energy consumption and improving work efficiency. However, when robots run under high load and for long periods of continuous operation, the joint lubricant is consumed relatively quickly, which leads to increased friction between the moving parts of the joints, making the joint movement less smooth and precise. Utility Model Content

[0004] The purpose of this invention is to solve the problem that joint lubricating oil is consumed relatively quickly during high-load, long-term continuous operation in the prior art, and to propose a multi-joint flexible rotating humanoid robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A multi-jointed, flexible, rotating humanoid robot includes a robot body and a first support arm rotatably connected thereto. A second support arm is rotatably connected to the end of the first support arm away from the robot body. The robot also includes: a receiving hole formed on the outer wall of the first support arm, with an oil storage tank disposed inside the receiving hole; an oil supply block fixedly connected to the inner wall of the receiving hole, with a sliding groove first formed inside the oil supply block, and a slider slidably connected inside the sliding groove first; a one-way pipe disposed between the oil supply block and the oil storage tank; a lubrication groove formed on the inner wall of the first support arm, with a through groove formed on the inner wall of the lubrication groove, the through groove communicating with the sliding groove first; and a transmission unit disposed inside the first support arm.

[0007] Furthermore, a first spring is fixedly connected between the outer wall of the slider and the inner wall of the groove.

[0008] Furthermore, the transmission part includes a receiving groove opened inside the first support arm, a first gear rotatably connected to the inner wall of the receiving groove, and a ratchet fixedly connected to the outer wall of the first gear.

[0009] Furthermore, a fixing ring is fixedly connected to the outer wall of the second support arm, and a second spring is fixedly connected to the inner wall of the fixing ring. A pawl that cooperates with a ratchet is fixedly connected to the end of the second spring away from the inner wall of the fixing ring, and the pawl is rotatably connected to the outer wall of the second support arm.

[0010] Furthermore, a second gear is rotatably connected to the inner wall of the receiving groove, and a first pulley is fixedly connected to the outer wall of the second gear.

[0011] Furthermore, a worm gear is rotatably connected to the inner wall of the receiving groove, and a second pulley is fixedly connected to one end of the worm gear. The second pulley and the first pulley are connected by a synchronous belt for transmission.

[0012] Furthermore, the first support arm has a second sliding groove inside, and a reciprocating lead screw is slidably connected inside the second sliding groove. The outer wall of the reciprocating lead screw is threaded with a worm wheel that cooperates with the worm gear.

[0013] Compared with the prior art, this utility model provides a multi-joint flexible rotating humanoid robot, which has the following beneficial effects:

[0014] 1. This multi-joint flexible rotating humanoid robot uses the rotation of the second support arm to drive the transmission unit to move the slider inside the slide groove. This allows the lubricating oil inside the oil supply block to be squeezed into the lubrication groove through the through groove to lubricate the joints. This avoids the problem that the lubricating oil in the joints will be consumed relatively quickly when the robot is running under high load for a long time, which would lead to increased friction between the moving parts of the joints and make the joint movement less smooth and precise.

[0015] 2. This multi-joint flexible rotating humanoid robot, through the cooperation of ratchet and pawl, enables the second support arm to drive the first gear to rotate intermittently during operation. Then, through the transmission between the second gear and the first pulley, the worm gear rotates, driving the worm wheel to rotate. Subsequently, the reciprocating screw slides back and forth inside the slide groove to push the slider. The slowing effect of the transmission part ensures that the second support arm only needs a small amount of lubricating oil when it reciprocates a lot, so that the lubricating oil inside the joint tends to be balanced, avoiding the waste caused by excessive lubricating oil replenishment leading to lubricating oil outflow. Attached Figure Description

[0016] Figure 1 This is a three-dimensional front view structural diagram of a multi-joint flexible rotating humanoid robot proposed in this utility model;

[0017] Figure 2This is a schematic diagram of the structure of the first support arm in a multi-joint flexible rotating humanoid robot proposed in this utility model;

[0018] Figure 3 This is a cross-sectional structural diagram of the oil supply block of a multi-joint flexible rotating humanoid robot proposed in this utility model;

[0019] Figure 4 This is a structural schematic diagram of the cross-sectional portion of the first support arm in a multi-joint flexible rotating humanoid robot proposed in this utility model.

[0020] Figure 5 This utility model proposes a multi-joint flexible rotating humanoid robot. Figure 4 Enlarged structural diagram of region A in the middle;

[0021] Figure 6 This is a schematic diagram of the lubrication groove part in a multi-joint flexible rotating humanoid robot proposed in this utility model;

[0022] Figure 7 This utility model proposes a multi-joint flexible rotating humanoid robot. Figure 6 A magnified structural diagram of region B in the middle.

[0023] In the diagram: 1. Robot body; 2. First support arm; 3. Second support arm; 4. Receiving hole; 5. Oil tank; 6. Oil supply block; 7. One-way pipe; 8. Slide groove one; 9. First spring; 10. Slider; 11. Receiving groove; 12. Fixing ring; 13. Second spring; 14. Pawl; 15. First gear; 16. Ratchet; 17. Second gear; 18. First pulley; 19. Synchronous belt; 20. Second pulley; 21. Worm gear; 22. Slide groove two; 23. Reciprocating screw; 24. Worm gear; 25. Lubrication groove; 26. Through groove. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0025] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] Reference Figures 1-7 A multi-joint flexible rotating humanoid robot includes a robot body 1 and a first support arm 2 rotatably connected thereto. A second support arm 3 is rotatably connected to the end of the first support arm 2 away from the robot body 1. The robot body 2 also includes an outer wall with a receiving hole 4, an oil storage tank 5 inside the receiving hole 4, an oil supply block 6 fixedly connected to the inner wall of the receiving hole 4, a sliding groove 8 inside the oil supply block 6, a slider 10 slidably connected inside the sliding groove 8, a one-way pipe 7 between the oil supply block 6 and the oil storage tank 5, a lubrication groove 25 inside the inner wall of the first support arm 2, a through groove 26 inside the lubrication groove 25, the through groove 26 communicating with the sliding groove 8, and a transmission part inside the first support arm 2.

[0027] A first spring 9 is fixedly connected between the outer wall of the slider 10 and the inner wall of the slide groove 8. The rotation of the second support arm 3 drives the transmission part to drive the slider 10 to slide inside the slide groove 8, so that the lubricating oil inside the oil block 6 is squeezed into the lubrication groove 25 through the through groove 26 to lubricate the joint. This avoids the problem that the lubricating oil in the joint will be consumed relatively quickly when the robot is running under high load for a long time, which would lead to increased friction between the moving parts of the joint and make the joint movement less smooth and precise.

[0028] The transmission unit includes a receiving groove 11 opened inside the first support arm 2, a first gear 15 rotatably connected to the inner wall of the receiving groove 11, and a ratchet 16 fixedly connected to the outer wall of the first gear 15.

[0029] A fixing ring 12 is fixedly connected to the outer wall of the second support arm 3. A second spring 13 is fixedly connected to the inner wall of the fixing ring 12. A pawl 14 that cooperates with a ratchet 16 is fixedly connected to the end of the second spring 13 away from the inner wall of the fixing ring 12. The pawl 14 is rotatably connected to the outer wall of the second support arm 3.

[0030] The inner wall of the receiving groove 11 is rotatably connected to a second gear 17, and the outer wall of the second gear 17 is fixedly connected to a first pulley 18.

[0031] A worm gear 21 is rotatably connected to the inner wall of the receiving groove 11. A second pulley 20 is fixedly connected to one end of the worm gear 21. The second pulley 20 and the first pulley 18 are connected by a synchronous belt 19.

[0032] The first support arm 2 has a groove 22 inside, and a reciprocating screw 23 is slidably connected inside the groove 22. The outer wall of the reciprocating screw 23 is threaded with a worm wheel 24 that cooperates with the worm 21. Through the cooperation of the ratchet 16 and the pawl 14, the second support arm 3 drives the first gear 15 to rotate intermittently through the ratchet 16 during operation. Then, through the transmission of the second gear 17 and the first pulley 18, the worm 21 rotates and drives the worm wheel 24 to rotate. This causes the reciprocating screw 23 to slide back and forth inside the groove 22 to push the slider 10. The slowing down of the transmission part ensures that the second support arm 3 only needs to add a small amount of lubricating oil when it reciprocates a lot, so that the lubricating oil inside the joint tends to be balanced and avoids the waste caused by excessive lubricating oil replenishment.

[0033] In this invention, the rotation of the second support arm 3 drives the transmission unit to slide the slider 10 inside the first slide groove 8, so that the lubricating oil inside the oil block 6 is squeezed into the lubrication groove 25 through the through groove 26 to lubricate the joint. This avoids the problem that the joint lubricating oil will be consumed relatively quickly when the robot is running under high load for a long time, which would lead to increased friction between the joint moving parts and make the joint movement less smooth and precise. Through the cooperation of the ratchet 16 and the pawl 14, the second support arm 3 drives the first gear 15 to rotate through the ratchet 16 during work. Then, through the transmission of the second gear 17 and the first pulley 18, the worm 21 rotates and drives the worm wheel 24 to rotate. Then, the reciprocating screw 23 slides back and forth inside the second slide groove 22 to push the slider 10. The slowing down of the transmission unit means that the second support arm 3 will only add a small amount of lubricating oil when it reciprocates a lot, so that the lubricating oil inside the joint tends to be balanced and avoids the waste caused by the excessive addition of lubricating oil.

[0034] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A multi-joint flexible rotary humanoid robot, comprising a robot body (1), and a first supporting arm (2) rotationally connected thereto, a distal end of the first supporting arm (2) being rotationally connected with a second supporting arm (3), characterized in that, Also include: Accommodation hole (4), open in the outer wall of the first support arm (2), the inside of the accommodation hole (4) is provided with oil tank (5); The oil block (6) is fixedly connected to the inner wall of the accommodation hole (4), the oil block (6) is provided with a sliding groove (8) inside, the sliding block (10) is slidably connected inside the sliding groove (8), the oil block (6) and the oil tank (5) are provided with one-way pipe (7); Lubricating groove (25), open in the inner wall of the first support arm (2), the lubricating groove (25) is provided with a through groove (26) in the inner wall, the through groove (26) is communicated with the sliding groove (8); Transmission part, provided in the inside of the first support arm (2).

2. The multi-joint flexible rotary humanoid robot according to claim 1, characterized in that, The outer wall of the sliding block (10) and the inner wall of the sliding groove (8) are fixedly connected with the first spring (9).

3. The multi-joint flexible rotary humanoid robot according to claim 1, wherein The transmission part includes the inside of the first support arm (2) opening the accommodation groove (11), the inner wall of the accommodation groove (11) is rotatably connected with the first gear (15), the outer wall of the first gear (15) is fixedly connected with the ratchet wheel (16).

4. The multi-joint flexible rotary humanoid robot according to claim 1, wherein The outer wall of the second support arm (3) is fixedly connected with the fixed ring (12), the inner wall of the fixed ring (12) is fixedly connected with the second spring (13), the end of the second spring (13) away from the inner wall of the fixed ring (12) is fixedly connected with the ratchet pawl (14) matched with the ratchet wheel (16), the ratchet pawl (14) is rotatably connected with the outer wall of the second support arm (3).

5. The multi-joint flexible rotary humanoid robot according to claim 3, wherein The inner wall of the accommodation groove (11) is rotatably connected with the second gear (17), the outer wall of the second gear (17) is fixedly connected with the first pulley (18).

6. The multi-joint flexible rotary humanoid robot according to claim 3, wherein The inner wall of the accommodation groove (11) is rotatably connected with the worm (21), one end of the worm (21) is fixedly connected with the second pulley (20), the second pulley (20) and the first pulley (18) are drivingly connected through the synchronous belt (19).

7. The multi-joint flexible rotary humanoid robot according to claim 1, wherein The first support arm (2) is provided with a sliding groove (22) inside, the sliding groove (22) is slidably connected with the reciprocating screw rod (23), the outer wall of the reciprocating screw rod (23) is threadedly connected with the worm wheel (24) matched with the worm (21).

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