A humanoid robot joint structure convenient to disassemble

Abstract

The utility model discloses a kind of joint structure of humanoid robot of convenient disassembly, it is related to robot field, this kind of joint structure of humanoid robot of convenient disassembly includes first branch arm, its end portion is formed with recess, recess both sides inner wall are all fixed with bearing by interference fit;This kind of joint structure of humanoid robot of convenient disassembly is positioned drive motor by the step groove cooperation clamping block and clamping groove of connecting seat, the quick locking and release of drive motor are realized using the limiting post, spring and baffle ring of positioning assembly, without disassembling bolt one by one, the problem of complicated disassembly of motor in prior art is solved, maintenance efficiency is greatly improved, while ensuring connection stability.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a humanoid robot joint structure that is easy to disassemble. Background Technology

[0002] The core component of a humanoid robot's joint is the drive motor, which controls the angle changes between the two arms. In traditional humanoid robot joint structures, the motor is often fixed at multiple points using flanges and multiple bolts.

[0003] However, the motor, as a core component, needs to be replaced regularly for maintenance. This connection method requires tightening and loosening multiple bolts one by one each time it is disassembled and assembled. The operation is cumbersome, time-consuming and labor-intensive, and it is difficult to adapt to the actual needs of high-frequency maintenance. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, the purpose of this utility model is to provide a humanoid robot joint structure that is easy to disassemble, thus solving the problem of cumbersome disassembly and assembly steps for the drive motors of existing humanoid robot joints.

[0005] To address the problems in the existing technology, the technical solution of this utility model is as follows:

[0006] A humanoid robot joint structure that is easy to disassemble includes a first arm, the end of which has a groove, and a rotating shaft is rotatably connected to the inner wall of the groove via a bearing. A second arm is provided in the groove, the end of which is fixed to the rotating shaft. The two ends of the rotating shaft pass through the two sides of the end of the first arm and extend to the two sides of the first arm.

[0007] A connecting seat is fixed on one side of the outer wall of the first arm. The connecting seat is coaxial with the rotating shaft. The inner cavity of the connecting seat has a stepped groove structure. A drive motor is inserted into the inner cavity of the connecting seat. The drive motor abuts against the shoulder of the inner cavity of the connecting seat. The output end of the drive motor is connected to the rotating shaft. A positioning component for positioning the drive motor is provided on the side wall of the connecting seat.

[0008] Optionally, the inner wall of the connecting seat opposite to the first support arm is chamfered, and the inner wall of the connecting seat is provided with multiple slots at equal angles around the axis of the connecting seat. One end of the slot connects to the shoulder of the inner cavity of the connecting seat, and a block is fixed on the outer wall of the drive motor near the connecting seat for each slot. The block is inserted into the slot.

[0009] Optionally, the positioning component includes multiple sliding grooves formed inside the connecting seat. Each sliding groove is directly opposite a slot and its two ends are respectively connected to the slot and the outer wall of the connecting seat. The axis of the sliding groove is radially coincident with that of the connecting seat. A slidable limiting post is provided inside the sliding groove, which is elastically connected to the inner wall of the sliding groove by a spring. A limiting groove is provided at the corresponding limiting post of the slot. A retaining ring is threaded to the outside of the connecting seat. Under the action of the retaining ring, the end of the limiting post abuts against the inner side of the limiting groove.

[0010] Optionally, the slide groove is shaped like a wide belly and a narrow opening. A slip ring is fixed at one end of the limiting post near the axis of the connecting seat. The slip ring is slidably nested in the inner wall of the slide groove. A spring is sleeved on the outside of the limiting post and its two ends are respectively connected to the slip ring and the inner wall of the slide groove. Both ends of the limiting post are hemispherical and can pass through the openings at both ends of the slide groove. The inner wall of the retaining ring facing away from the first support arm is inclined. A rotating ring is fixed on the outside of the retaining ring. The rotating ring is shaped like a plum blossom.

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

[0012] This utility model uses the stepped groove of the connecting seat to position the drive motor in conjunction with the locking block and the locking groove. It utilizes the limiting post, spring and retaining ring of the positioning component to achieve quick locking and releasing of the drive motor. There is no need to disassemble and install bolts one by one, which solves the problem of cumbersome motor disassembly and assembly in the prior art, greatly improves maintenance efficiency, and ensures connection stability. 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 groove structure of this utility model.

[0015] Figure 3 This is a schematic diagram of the card slot structure of this utility model.

[0016] Figure 4 This is a schematic diagram of the shoulder position of this utility model.

[0017] Figure 5 This is a partial sectional view of the connector of this utility model.

[0018] Figure 6 This is a schematic diagram of the rotating ring structure of this utility model.

[0019] Reference numerals in the attached drawings: 1. First arm; 2. Groove; 3. Rotating shaft; 4. Second arm; 5. Connecting seat; 501. Shoulder; 6. Drive motor; 7. Slot; 8. Block; 9. Slide groove; 10. Limiting post; 11. Slip ring; 12. Spring; 13. Limiting groove; 14. Retaining ring; 15. Rotating ring. Detailed Implementation

[0020] 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.

[0021] Please see Figures 1 to 6 This embodiment provides a humanoid robot joint structure that is easy to disassemble, including a first arm 1 with a groove 2 formed at its end. Bearings are fixed to the inner walls of both sides of the groove 2 via an interference fit. A rotating shaft 3 is nested within the inner rings of the two bearings. The bearing arrangement ensures smooth joint rotation. A second arm 4 is housed within the groove 2. The end of the second arm 4 is fixed to the rotating shaft 3 via a key connection. When the rotating shaft 3 rotates, it directly drives the second arm 4 to rotate synchronously, thereby achieving an angle change between the first arm 1 and the second arm 4, completing the basic motion function of the robot joint. Simultaneously, both ends of the rotating shaft 3 pass through the ends of the first arm 1 and extend outwards.

[0022] A connecting seat 5 is welded to the outer wall of one side of the first arm 1. The connecting seat 5 is coaxial with the rotating shaft 3, ensuring that the power transmission path of the output shaft of the drive motor 6 and the rotating shaft 3 is on the same straight line, avoiding the generation of additional torque during power transmission and improving transmission efficiency. The inner cavity of the connecting seat 5 has a stepped groove structure. The connecting seat 5 is used to axially position the drive motor 6. When the drive motor 6 is inserted into the inner cavity of the connecting seat 5, the motor housing will naturally abut against the shoulder 501 of the stepped groove, thereby restricting the axial installation position of the drive motor 6.

[0023] The drive motor 6 serves as the power source for the joint, and its output end is connected to the rotating shaft 3 to transmit power. To achieve circumferential positioning of the drive motor 6 and the connecting seat 5, the inner wall of the connecting seat 5 is provided with multiple slots 7 spaced at equal angles around its axis. One end of each slot 7 connects to the shoulder 501 of the stepped groove. On the outer wall of the end of the drive motor 6 closest to the connecting seat 5, a locking block 8 is fixed at the position corresponding to each slot 7. When the drive motor 6 is inserted into the connecting seat 5, the locking block 8 is inserted into the slot 7. The two work together to restrict the circumferential rotation of the drive motor 6 relative to the connecting seat 5, preventing the motor from rotating due to vibration during operation and ensuring the stability of the power output. In addition, the inner wall of the connecting seat 5 opposite to the first support arm 1 is chamfered. This chamfer can guide the drive motor 6 when it is inserted, reducing the difficulty of alignment during installation and improving assembly efficiency.

[0024] The specific power connection structure between the drive motor 6 and the rotating shaft 3 is as follows: the extended end of the drive motor 6 is fixed with drive teeth, and the end of the rotating shaft 3 near the drive teeth is provided with a toothed groove that matches the drive teeth. The drive teeth and the toothed groove are connected by a clearance fit. This toothed fit structure can achieve efficient power transmission, ensuring that the torque of the drive motor 6 can be directly and stably transmitted to the rotating shaft 3, thereby driving the second support arm 4 to rotate.

[0025] To enable rapid locking and releasing of the drive motor 6, multiple sliding grooves 9 are provided on the inner side of the connecting seat 5. Each sliding groove 9 is directly opposite a slot 7, with one end connected to the slot 7 and the other end connected to the outer wall of the connecting seat 5. The axis of the sliding groove 9 coincides with the radial direction of the connecting seat 5. This arrangement ensures that the limiting post 10 in the sliding groove 9 can move radially and accurately act on the locking block 8 in the slot 7.

[0026] A limiting post 10 is slidably installed within the slide groove 9. Both ends of the limiting post 10 are hemispherical and can pass through the openings at both ends of the slide groove 9. The hemispherical end design ensures smooth force transmission through the arc surface when in contact with the retaining ring 14 and the locking block 8, avoiding jamming. A slip ring 11 is welded and fixed to one end of the limiting post 10 near the axis of the connecting seat 5. The slip ring 11 and the inner wall of the slide groove 9 are slidably nested with a clearance fit. The slide groove 9 is designed with a wider belly and a narrower opening. With the help of the slip ring 11, the sliding stroke of the limiting post 10 can be effectively limited, preventing it from disengaging from the slide groove 9.

[0027] A spring 12 is fitted on the outer side of the limiting post 10. One end of the spring 12 is welded to the outer wall of the slip ring 11, and the other end is welded to the inner wall of the slide groove 9. In its natural state, the spring 12 acts on the slip ring 11, applying a pulling force to the limiting post 10 in a direction away from the axis of the connecting seat 5, causing the inner end of the limiting post 10 to retract into the slide groove 9, thus avoiding affecting the insertion of the drive motor 6. When the limiting post 10 is subjected to external pressure, the spring 12 can be further stretched to store force.

[0028] The locking block 8 has a limiting groove 13 that matches the end of the limiting post 10. When the drive motor 6 is fully inserted into the connecting seat 5, the limiting post 10 can be embedded in the limiting groove 13 under external force. The mechanical locking achieves dual circumferential and axial limiting of the locking block 8, further reinforcing the installation of the drive motor 6.

[0029] A retaining ring 14 is threaded onto the outer side of the connecting seat 5. The inner wall of the retaining ring 14 is inclined, and a plum blossom-shaped rotating ring 15 is fixed to its outer side. When it is necessary to lock the drive motor 6, the retaining ring 14 is tightened by rotating the ring 15. The inclined surface of the retaining ring 14 will gradually press against the outer end of the limiting post 10, forcing the limiting post 10 to move towards the axis of the connecting seat 5 against the elastic force of the spring 12 until its inner end is embedded in the limiting groove 13 of the locking block 8, thus completing the locking. At this time, the limiting post 10 has passed the inclined surface of the retaining ring 14 and is facing the inner wall of the retaining ring 14. Figure 5 As shown in the diagram; during disassembly, unscrew the retaining ring 14 in the opposite direction, and the limiting post 10 will reset under the elastic force of the spring 12, disengaging from the limiting groove 13, allowing the drive motor 6 to be directly pulled out. The plum blossom-shaped rotating ring 15 is easy to grip and apply force, and can be operated without special tools, significantly improving disassembly and assembly efficiency.

[0030] In summary, this invention enables flexible rotation of robot joints while solving the problem of cumbersome disassembly and assembly in traditional bolt connection methods, thus improving the maintenance efficiency of the drive motor 6.

[0031] 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 humanoid robot joint structure that is easy to disassemble, comprising a first arm (1), wherein a groove (2) is formed at the end of the first arm (1), and a rotating shaft (3) is rotatably connected to the inner wall of the groove (2) via a bearing, and a second arm (4) is disposed in the groove (2), wherein the end of the second arm (4) is fixed to the rotating shaft (3), characterized in that, The two ends of the rotating shaft (3) pass through the two sides of the end of the first arm (1) and extend to the two sides of the first arm (1); A connecting seat (5) is fixed on one side of the outer wall of the first arm (1). The connecting seat (5) is coaxially arranged with the rotating shaft (3). The inner cavity of the connecting seat (5) is a stepped groove structure. A drive motor (6) is inserted into the inner cavity of the connecting seat (5). The drive motor (6) abuts against the shoulder (501) of the inner cavity of the connecting seat (5). The output end of the drive motor (6) is connected to the rotating shaft (3). A positioning component for positioning the drive motor (6) is provided on the side wall of the connecting seat (5).

2. The easily detachable humanoid robot joint structure according to claim 1, characterized in that, The inner wall of the connecting seat (5) facing away from the first arm (1) is chamfered.

3. The easily detachable humanoid robot joint structure according to claim 2, characterized in that, The inner wall of the connecting seat (5) is provided with multiple slots (7) at equal angles around the axis of the connecting seat (5). One end of the slot (7) is connected to the shoulder (501) of the inner cavity of the connecting seat (5). On the outer wall of the drive motor (6) near the connecting seat (5), a block (8) is fixed at the position corresponding to each slot (7). The block (8) is inserted into the slot (7).

4. The easily detachable humanoid robot joint structure according to claim 3, characterized in that, The positioning component includes multiple sliding grooves (9) formed inside the connecting seat (5). Each sliding groove (9) is directly opposite a slot (7) and its two ends are connected to the slot (7) and the outer wall of the connecting seat (5) respectively. The axis of the sliding groove (9) coincides with the radial direction of the connecting seat (5). A sliding limit post (10) is provided inside the sliding groove (9), which is elastically connected to the inner wall of the sliding groove (9) by a spring (12). The card block (8) is provided with a limit groove (13) corresponding to the limit post (10). A retaining ring (14) is threadedly connected to the outside of the connecting seat (5). Under the action of the retaining ring (14), the end of the limit post (10) abuts against the limit groove (13).

5. The easily detachable humanoid robot joint structure according to claim 4, characterized in that, The groove (9) is shaped like a large belly and a small opening. The end of the limiting post (10) near the axis of the connecting seat (5) is fixed with a slip ring (11). The slip ring (11) slides and is nested in the inner wall of the groove (9). The spring (12) is sleeved on the outside of the limiting post (10) and its two ends are respectively connected to the slip ring (11) and the inner wall of the groove (9).

6. The easily detachable humanoid robot joint structure according to claim 4, characterized in that, Both ends of the limiting post (10) are hemispherical, and both ends can pass through the openings at both ends of the slide groove (9).

7. The easily detachable humanoid robot joint structure according to claim 4, characterized in that, The retaining ring (14) is inclined on the inner wall of the end opposite to the first arm (1).

8. The easily detachable humanoid robot joint structure according to claim 7, characterized in that, A rotating ring (15) is fixed to the outside of the retaining ring (14), and the rotating ring (15) is shaped like a plum blossom.

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