Modularized joint quick-release structure of humanoid robot

Abstract

The utility model belongs to the technical field of humanoid robots and discloses a humanoid robot modular joint quick-release structure which comprises a trunk seat, a steering engine seat is inserted into one end of the trunk seat, the trunk seat comprises a shoulder shell, a butt joint pile is fixed to one end of the interior of the shoulder shell, a butt joint opening is fixed to one end of the butt joint pile, and the butt joint opening is fixed to the other end of the butt joint pile. A pin groove is formed in the bottom end of the inner wall of the butt joint opening, and a telescopic groove is formed in the center of the top end of the butt joint opening. According to the joint quick-release structure, the shoulder shell part is fixed to the trunk part of the robot, the butt-joint pile is carried, the butt-joint port of the butt-joint pile can be connected with a steering engine base in an inserted mode for use, a threaded rod is driven by rotating a rotary cap, a pull ring frame connected to the middle of the threaded rod can be lifted and slide, and an upper limiting pile at the bottom of the threaded rod descends; and the purpose that the upper limiting pile and the lower limiting pile lock the inserted plug pile at the same time is achieved, the rapid mounting and fixing process is achieved, and the convenience in the dismounting and mounting process is improved.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, specifically a modular joint quick-release structure for humanoid robots. Background Technology

[0002] Humanoid robots, also known as bionics, are robots designed to mimic human appearance and behavior, especially those with similar physiques to humans. Until recently, the concept of humanoid robots was mainly confined to the realm of science fiction. However, advancements in robotics have enabled the design of functional and lifelike humanoid robots with basic human-like body structures such as heads, torsos, and limbs. Some designs further refine details such as facial features or skin to achieve a higher degree of realism. Current technological development has transcended the traditional realm of science fiction, and their comprehensive capabilities are being systematically validated through competitions such as robot marathons and sports meets. The joints of a robot are the main structures connecting its limbs to its torso.

[0003] The joints connecting the limbs and torso of a humanoid robot mainly rely on joint servo motors to provide driving force to the torso. However, the use of rotary servo motors makes it difficult to quickly disassemble or install such servo joints when connecting the limbs and torso. This leads to difficulties in disassembly and assembly for users during subsequent use and maintenance, reducing maintenance efficiency. To address this, we propose a modular quick-release joint structure for humanoid robots. Utility Model Content

[0004] The summary section of this application is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0005] The purpose of this invention is to provide a modular joint quick-release structure for humanoid robots to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a modular joint quick-release structure for a humanoid robot, including a torso base, one end of which is connected to a servo motor base. The torso base includes a shoulder shell, and one end of the shoulder shell is fixed with a docking post. One end of the docking post is fixed with a mating interface, and the bottom of the inner wall of the mating interface has a pin groove. The top center of the mating interface has a telescopic groove, and the inner wall of the telescopic groove is fitted with an upper limit post. Limit grooves are formed on both outer walls of the upper limit post. A threaded rod is threaded onto the top of the upper limit post, and reverse threads are distributed around the bottom of the threaded rod. A bearing bracket is fixed to the top of the threaded rod, and a nut is spun onto the top of the bearing bracket. A pull ring bracket is threaded to the middle of the threaded rod, and a lower limit post is fixed to the center of the bottom inner wall of the pull ring bracket. The pull ring bracket slides up and down with the inside of the docking post through a sliding groove around its perimeter.

[0007] Furthermore, the pull ring frame slides up and down with the inner groove through the threaded rod connected at the top, and the lower limit stake at the bottom of the pull ring frame is aligned with the upper limit stake at the top and bottom.

[0008] Furthermore, the upper limit stake is limited and slidably engaged with the inner wall of the expansion groove through a limiting groove, and the top of the upper limit stake is connected to the bottom of the threaded rod by a reverse thread.

[0009] Furthermore, the top end of the threaded rod is fixedly connected to the rotating cap, and the threaded rod forms a rotating structure with the docking pile through the bearing bracket.

[0010] Furthermore, the pin slot is fixedly connected to the inner wall of the interface, and the docking pin is inserted into one end of the servo mount through the interface.

[0011] Furthermore, the servo mount includes a joint housing, and a servo is fixed to the inner wall of the joint housing. A plug post is fixed to one side of the inner wall of the joint housing, and internal insertion holes are opened on the upper and lower sides of the plug post. A pin is fixed to one end of the plug post, and the pin is aligned with the pin groove on the inner wall of the interface.

[0012] Furthermore, the joint housing is connected to the mating interface via a plug post, and the pin slot is electrically connected to the pin on one side of the plug post.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] This quick-release joint structure is fixed to the robot's torso via the shoulder shell and is equipped with a docking post. It can be used to connect to the servo mount through the docking post's interface. By rotating the screw cap, the threaded rod can be driven to lift and slide the pull ring frame connected in the middle of the threaded rod, while the upper limit post at the bottom of the threaded rod descends. This achieves the purpose of locking the inserted plug post with both the upper and lower limit posts, thus achieving a quick installation and fixing process and improving the convenience of disassembly and installation.

[0015] The joint shell of this quick-release joint structure is inserted into the inner wall of the interface through the plug post. At the same time, the electrical connection after the pin and pin slot are inserted is provided. The pin slot is connected to the robot body wiring to provide power and data transmission. The inner holes opened at the top and bottom of the plug post correspond to the upper limit post and the lower limit post, respectively, so as to maintain the connection stability. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the modular joint three-dimensional structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the cross-sectional structure of the docking pile of this utility model;

[0018] Figure 3 This is a three-dimensional structural diagram of the pull ring frame of this utility model;

[0019] Figure 4 This is a three-dimensional structural diagram of the threaded rod of this utility model;

[0020] Figure 5 This is a three-dimensional structural diagram of the servo mount of this utility model.

[0021] In the diagram: 1. Torso base; 101. Shoulder shell; 102. Docking post; 103. Docking interface; 104. Pin slot; 105. Telescopic groove; 106. Upper limit post; 107. Limiting groove; 108. Threaded rod; 109. Reverse thread; 110. Bearing bracket; 111. Rotary cap; 112. Pull ring bracket; 113. Lower limit post; 114. Inner slide groove; 2. Servo mount; 201. Joint shell; 202. Servo; 203. Plug post; 204. Inner insertion hole; 205. Pin. Detailed Implementation

[0022] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0023] It should also be noted that, for ease of description, only the parts relevant to the utility model are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0024] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0025] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0026] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] This utility model provides, for example Figure 1-5 The diagram illustrates a modular quick-release joint structure for a humanoid robot, comprising a torso base 1, with a servo motor mount 2 inserted into one end of the torso base 1. The torso base 1 includes a shoulder shell 101, and a docking post 102 is fixed to one end of the shoulder shell 101. A mating interface 103 is fixed to one end of the docking post 102, and a pin slot 104 is formed at the bottom of the inner wall of the mating interface 103. A telescopic groove 105 is formed at the center of the top of the mating interface 103, and an upper limit post 106 is fitted to the inner wall of the telescopic groove 105. The upper limit post 106 has two... A limiting groove 107 is provided on the outer side wall. A threaded rod 108 is threadedly sleeved at the top of the upper limit stake 106. Reverse threads 109 are distributed around the bottom of the threaded rod 108. A bearing bracket 110 is fixed at the top of the threaded rod 108. A swivel cap 111 is axially connected to the top of the bearing bracket 110. A pull ring bracket 112 is threadedly connected to the middle of the threaded rod 108. A lower limiting stake 113 is fixed at the center of the inner wall of the bottom end of the pull ring bracket 112. The pull ring bracket 112 slides up and down with the inside of the docking stake 102 through the inner sliding groove 114 around its perimeter.

[0028] To provide ease of operation during the installation and removal of this quick-release joint structure, such as Figure 1-5 As shown, this quick-release joint structure is fixed to the robot's torso via the shoulder shell 101 and mounted on the docking post 102. It can be used to connect to the servo mount 2 via the docking interface 103 of the docking post 102. By rotating the screw cap 111 to drive the threaded rod 108, the pull ring frame 112 connected in the middle of the threaded rod 108 can be raised and slid, while the upper limit post 106 at the bottom of the threaded rod 108 is lowered. This forms the purpose of locking the inserted plug post 203 with the upper limit post 106 and the lower limit post 113 at the same time, achieving a quick installation and fixing process and improving the convenience of disassembly and installation.

[0029] The aforementioned threaded rod 108 adopts a bidirectional thread design with a reverse thread 109, so that when rotating, it can simultaneously drive the pull ring frame 112 to slide upward and the upper limit stake 106 at the bottom to slide downward, thereby completing the locking after installation more quickly.

[0030] like Figure 5 As shown, the servo mount 2 includes a joint housing 201, and a servo 202 is fixed to the inner wall of the joint housing 201. A plug post 203 is fixed to one side of the inner wall of the joint housing 201, and the plug post 203 has internal insertion holes 204 on the upper and lower sides. A pin 205 is fixed to one end of the plug post 203, and the pin 205 is aligned with the pin groove 104 on the inner wall of the interface 103.

[0031] To ensure stable use after plugging in, such as Figure 5 As shown, the joint housing 201 of this quick-release joint structure is inserted into the inner wall of the interface 103 through the plug post 203. At the same time, it cooperates with the electrical connection after the pin 205 is inserted into the pin slot 104. The pin slot 104 is connected to the robot torso to provide power and data transmission. The inner insertion holes 204 opened at the top and bottom of the plug post 203 correspond to the upper limit post 106 and the lower limit post 113 respectively, thereby maintaining a stable connection.

[0032] In summary, when using this quick-release joint structure, the user first aligns one end of the plug 203 of the servo mount 2 with the interface 103, and then plugs it in. At this time, the electrical connection between the pin 205 of the plug 203 and the pin slot 104 is established. The pin slot 104 is connected to the robot body wiring to provide power and data transmission. Then, the user rotates the cap 111, and the threaded rod 108 fixed at the bottom of the cap 111 rotates. The pull ring bracket 112 connected in the middle of the threaded rod 108 rises with the threaded structure and the inner slide groove 114, and the lower limit pin 113 at the bottom of the pull ring bracket 112 rises at the same time, and is inserted and locked into the inner insertion hole 204 below the plug 203. At the same time, the upper limit pin 106 descends with the threaded connection and is inserted and locked into the inner insertion hole 204 above the plug 203, completing the installation.

[0033] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the utility model involved in the embodiments of this disclosure is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A modular joint quick-release structure for a humanoid robot, comprising a torso base (1), characterized in that, One end of the torso base (1) is connected to a servo mount (2). The torso base (1) includes a shoulder shell (101), and a docking pin (102) is fixed to one end of the shoulder shell (101). One end of the docking pin (102) is fixed to a mating interface (103), and a pin slot (104) is provided at the bottom of the inner wall of the mating interface (103). A telescopic groove (105) is provided at the center of the top of the mating interface (103), and an upper limit pin (106) is fitted to the inner wall of the telescopic groove (105). Limiting grooves (107) are provided on the outer walls of both sides of the upper limit pin (106). The upper limit stake (106) is threaded with a threaded rod (108) at the top, and the bottom of the threaded rod (108) is surrounded by reverse threads (109). The top of the threaded rod (108) is fixed with a bearing bracket (110), and the top of the bearing bracket (110) is axially connected with a swivel cap (111). The middle of the threaded rod (108) is threaded with a pull ring bracket (112), and the bottom inner wall center of the pull ring bracket (112) is fixed with a lower limit stake (113). The pull ring bracket (112) slides up and down with the inside of the docking stake (102) through the inner groove (114) around its perimeter.

2. The modular joint quick-release structure for a humanoid robot according to claim 1, characterized in that, The pull ring frame (112) slides up and down with the inner slide groove (114) through the threaded rod (108) connected to the top end, and the lower limit post (113) at the bottom end of the pull ring frame (112) is aligned with the upper limit post (106) at the top and bottom centers.

3. The modular joint quick-release structure for a humanoid robot according to claim 1, characterized in that, The upper limit post (106) is limited and slidably engaged with the inner wall of the telescopic groove (105) through the limiting groove (107), and the top of the upper limit post (106) is threadedly connected to the reverse thread (109) at the bottom of the threaded rod (108).

4. The modular joint quick-release structure for a humanoid robot according to claim 1, characterized in that, The top end of the threaded rod (108) is fixedly connected to the swivel cap (111), and the threaded rod (108) forms a rotating structure with the docking pile (102) through the bearing bracket (110).

5. The modular joint quick-release structure for a humanoid robot according to claim 1, characterized in that, The pin slot (104) is fixedly connected to the inner wall of the interface (103), and the docking pin (102) is inserted into one end of the servo mount (2) through the interface (103).

6. The modular joint quick-release structure for a humanoid robot according to claim 1, characterized in that, The servo mount (2) includes a joint housing (201), and a servo (202) is fixed to the inner wall of the joint housing (201). A plug post (203) is fixed to one side of the inner wall of the joint housing (201), and an inner insertion hole (204) is provided on the upper and lower sides of the plug post (203). A pin (205) is fixed to one end of the plug post (203), and the pin (205) is aligned with the pin groove (104) on the inner wall of the interface (103).

7. The modular joint quick-release structure for a humanoid robot according to claim 6, characterized in that, The joint housing (201) is connected to the interface (103) via a plug post (203), and the pin slot (104) is electrically connected to the pin (205) on one side of the plug post (203).

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