Joint structure of humanoid robot

Abstract

The utility model discloses a joint structure of a humanoid robot, and relates to the field of robot joint structures, the joint structure of the humanoid robot comprises a shoulder piece, a first support frame is fixed on the inner wall of an opening of the shoulder piece, and the inner wall of the first support frame is rotatably connected with an upper cover arm through a bearing; a plurality of air outlets are formed in the side wall of the upper cover arm side by side at equal intervals; according to the joint structure of the humanoid robot, heat dissipation of the driving motors at the upper joint and the lower joint can be completed through one air inlet fan, the load of the arm structure is reduced, and operation energy consumption is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robot joint structures, and more particularly to a joint structure for a humanoid robot. Background Technology

[0002] Humanoid robots typically have motors at both ends of their arms. The upper motor drives the arm to rotate at the shoulder, while the lower motor's output is often connected to a gripper to hold objects. This gripper then drives the gripped object to rotate. Traditionally, the joint structure connecting the arm and shoulder of such humanoid robots often uses an independent cooling system for each motor. This undoubtedly increases the overall cost of the robot. Furthermore, the added cooling fan structure increases the weight of the robot arm, leading to higher energy consumption and poorer energy efficiency. Utility Model Content

[0003] To overcome the shortcomings of existing technologies, the purpose of this utility model is to provide a joint structure for humanoid robots that solves the problem that the joint structure of humanoid robots in traditional technologies requires a separate heat dissipation structure, resulting in heavy load on the arm structure and increased energy consumption during operation.

[0004] To address the problems in the existing technology, the technical solution of this utility model is as follows:

[0005] A joint structure for a humanoid robot includes a shoulder member. An upper cover arm is rotatably connected to the inner wall of the open end of the shoulder member via a bearing. A first drive motor is fixed to the inner wall of the upper cover arm, and the output end of the first drive motor is fixed to the inner wall of the open end. A lower cover arm is sleeved and fixed to the lower end of the upper cover arm. A second drive motor is fixed to the bottom of the lower cover arm. A first air inlet is opened at the bottom of the lower cover arm. An air intake fan is fixed to the bottom surface of the lower cover arm directly opposite the first air inlet. A second air inlet is formed on the side wall of the lower cover arm, and an air outlet is opened on the side wall of the upper cover arm.

[0006] Optionally, a through hole is provided on one side of the upper cover arm, which is directly opposite the output end of the first drive motor. The output end of the first drive motor is in contact with the inner wall of the through hole, and the output end of the first drive motor passes through the upper cover arm through the through hole.

[0007] Optionally, a first support frame is fixed to the inner wall of the opening, and the upper cover arm is rotatably connected to the inner wall of the first support frame through bearings installed on both sides, wherein the axis of the bearing, the through hole axis, and the output end axis of the first drive motor coincide.

[0008] Optionally, the bottom of the lower cover arm is provided with a mounting groove, a second support frame is fixed in the middle of the inner wall of the mounting groove, a second drive motor is fixed at the lower end of the inner wall of the second support frame, and a first air inlet is opened in the middle of the top plate of the second support frame, and the first air inlet is connected to the inner cavity of the lower cover arm.

[0009] Optionally, the top plate has mounting slots at all four corners, and the outer periphery of the intake fan has four mounting holes at equal angular intervals. The mounting holes and mounting slots are aligned, and the intake fan is fixed to the second support frame by inserting bolts into the mounting holes and mounting slots.

[0010] Optionally, the second air inlet is inclined upward from the outside of the lower cover arm to the inside of the lower cover arm. There are two sets of the second air inlets, which are symmetrically distributed on the side wall of the lower cover arm. Each set of the second air inlets is arranged side by side at equal intervals.

[0011] Compared with the prior art, the advantages of this utility model are as follows:

[0012] This invention features air vents at the joints of a humanoid robot arm and two air inlets at the bottom and sides of the arm. A single intake fan is sufficient to cool the drive motors at both joints: when the fan operates, it circulates air outside the lower second drive motor, dissipating its heat; the generated hot air is blown into the lower casing wall, and its flow forces the outer air through the second side air inlet into the lower casing wall, lowering the temperature of the hot air; subsequently, the airflow passes over the upper first drive motor, carrying away its heat, and finally, the hot air is discharged through the air vents at the joints, reducing the load on the arm structure and lowering operating energy consumption. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0014] Figure 2 This is a schematic diagram of the shoulder structure of this utility model.

[0015] Figure 3 This is a schematic diagram of the first support frame structure of this utility model.

[0016] Figure 4 This is a schematic diagram of the perforation location in this utility model.

[0017] Figure 5 This is a schematic diagram showing the position of the intake fan in this utility model.

[0018] Figure 6 This is a schematic diagram showing the location of the first air inlet of this utility model.

[0019] Figure 7 This is a schematic diagram of the second air inlet structure of this utility model.

[0020] Reference numerals: 1. Shoulder piece; 2. Opening; 3. First support frame; 4. Upper cover arm; 5. Air outlet; 6. First drive motor; 7. Perforation; 8. Lower cover arm; 801. Opening; 9. Mounting groove; 10. Second support frame; 11. Top plate; 12. First air inlet; 13. Mounting slot; 14. Intake fan; 15. Mounting hole; 16. Second air inlet; 17. Second drive motor. Detailed Implementation

[0021] 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.

[0022] Please see Figures 1 to 7 This embodiment provides a joint structure for a humanoid robot, including a shoulder member 1. A first support frame 3 is fixed to the inner wall of the opening 2 of the shoulder member 1. An upper cover arm 4 is rotatably connected to the inner wall of the first support frame 3 via bearings. Multiple air vents 5 are evenly spaced and arranged side by side on the side wall of the upper cover arm 4. A first drive motor 6 is fixed to the inner wall of the upper cover arm 4. A through hole 7 is provided on one side of the upper cover arm 4, directly opposite the output end of the first drive motor 6. The output end of the first drive motor 6 is in contact with the inner wall of the through hole 7. The output end of the first drive motor 6 passes through the through hole 7 and is fixed to the inner wall of the opening 2. The axis of the bearing, the axis of the through hole 7, and the axis of the output end of the first drive motor 6 coincide. By driving the first drive motor 6 to rotate, the upper cover arm 4 can be driven to rotate on the first support frame 3, thereby realizing the movement of the arm.

[0023] A lower cover arm 8 is fitted and fixed to the lower end of the upper cover arm 4. A mounting groove 9 is formed at the bottom of the lower cover arm 8. An opening 801 is formed in the middle of the inner wall of the mounting groove 9, connecting to the inner cavity of the lower cover arm 8. A second support frame 10 is fixed in the middle of the inner wall of the mounting groove 9. A second drive motor 17 is fixed to the lower end of the inner wall of the second support frame 10. A first air inlet 12 is opened in the middle of the top plate 11 of the second support frame 10. The top plate 11 is placed inside the opening 801. The first air inlet 12 connects to the inner cavity of the lower cover arm 8. The four corners of the top plate 11... Each of the two mounting slots 13 is provided. An air intake fan 14 is provided on the bottom surface of the top plate 11. Four mounting holes 15 are formed at equal angles on the outer periphery of the air intake fan 14. The mounting holes 15 are aligned with the mounting slots 13. The air intake fan 14 is fixed to the second support frame 10 by inserting bolts into the mounting holes 15 and mounting slots 13. Two sets of second air inlets 16 are symmetrically provided on the side wall of the lower cover arm 8. Each set of second air inlets 16 is arranged side by side at equal intervals. The second air inlets 16 are inclined from the outside of the lower cover arm 8 to the inside of the lower cover arm 8. By setting the air intake fan 14 upwards during heat dissipation, air from the second drive motor 17 is drawn into the first air intake 12, causing airflow outside the first drive motor 6 and cooling it. Once inside the lower cover arm 8, the air intake fan 14 blows directly into the inner cavity of the upper cover arm 4, causing the air to flow vertically upwards within both the upper and lower cover arms 4 and 8. The lower pressure in areas of high airflow force outside air to enter the lower cover arm 8 through the second air intake 16, mixing with the previously heated air and lowering the temperature of the mixture. The flowing air then reaches the first drive motor 6, carrying its heat, and is discharged through the air outlet 5. The inclined arrangement of the second air intake 16 ensures that the air from the intake fan 14 flows completely vertically upwards, preventing exhaust from the second air intake 16. This allows one intake fan 14 to cool two drive motors, saving on equipment manufacturing costs, reducing the robot arm's weight, and conserving operating energy.

[0024] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A joint structure for a humanoid robot, comprising a shoulder member (1), wherein an upper cover arm (4) is rotatably connected to the inner wall of the opening (2) of the shoulder member (1) via a bearing, characterized in that, The upper cover arm (4) is fixed with a first drive motor (6) on its inner wall. The output end of the first drive motor (6) is fixed with the inner wall of the opening (2). The lower cover arm (8) is sleeved and fixed at the lower end of the upper cover arm (4). The bottom of the lower cover arm (8) is fixed with a second drive motor (17). The bottom of the lower cover arm (8) is provided with a first air inlet (12). An air intake fan (14) is fixed on the bottom surface of the lower cover arm (8) directly opposite the first air inlet (12). A second air inlet (16) is formed on the side wall of the lower cover arm (8). An air outlet (5) is formed on the side wall of the upper cover arm (4).

2. The joint structure of the humanoid robot according to claim 1, characterized in that, A through hole (7) is provided on one side of the upper cover arm (4) at the position opposite to the output end of the first drive motor (6). The output end of the first drive motor (6) is in contact with the inner wall of the through hole (7), and the output end of the first drive motor (6) passes through the upper cover arm (4) through the through hole (7).

3. The joint structure of the humanoid robot according to claim 2, characterized in that, The inner wall of the opening (2) is fixed with a first support frame (3), and the upper cover arm (4) is rotatably connected to the inner wall of the first support frame (3) by bearings installed on both sides. The axis of the bearing, the axis of the through hole (7) and the axis of the output end of the first drive motor (6) coincide.

4. The joint structure of the humanoid robot according to claim 1, characterized in that, The bottom of the lower cover arm (8) is provided with an installation groove (9), and a second support frame (10) is fixed in the middle of the inner wall of the installation groove (9). The second drive motor (17) is fixed at the lower end of the inner wall of the second support frame (10). The first air inlet (12) is opened in the middle of the top plate (11) of the second support frame (10), and the first air inlet (12) is connected to the inner cavity of the lower cover arm (8).

5. The joint structure of the humanoid robot according to claim 4, characterized in that, The top plate (11) has four corners with mounting grooves (13), and the outer periphery of the air intake fan (14) has four mounting holes (15) at equal angles. The mounting holes (15) and the mounting grooves (13) are directly opposite each other. The air intake fan (14) is fixed on the second support frame (10) by inserting bolts into the mounting holes (15) and the mounting grooves (13).

6. The joint structure of the humanoid robot according to claim 1, characterized in that, The second air inlet (16) is inclined upward from the outside of the lower cover arm (8) to the inside of the lower cover arm (8).

7. The joint structure of the humanoid robot according to claim 6, characterized in that, The second air inlet (16) is provided in two sets, and the two sets of second air inlets (16) are symmetrically distributed on the side wall of the lower cover arm (8).

8. The joint structure of the humanoid robot according to claim 7, characterized in that, The second air inlets (16) in each group are arranged side by side at equal intervals.

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