Joint module of humanoid robot
By incorporating an arc-shaped plate and a buffer structure into the joint module, the problem of rotary motor wear caused by excessive bending of the forearm mechanism is solved, resulting in a longer service life and a more stable blocking effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING VISION QIUSUO ARTIFICIAL INTELLIGENCE TECHNOLOGY CO LTD
- Filing Date
- 2025-08-06
- Publication Date
- 2026-06-23
AI Technical Summary
Existing joint modules cannot effectively limit excessive bending of the forearm mechanism, leading to excessive wear on the rotary motor and reducing the service life of the joint module.
A blocking component, including an arc plate and a buffer structure, is set in the joint module. The arc plate limits the bending range of the forearm mechanism, and the buffer rod and buffer spring absorb the impact force. The blocking range is adjusted in combination with the drive component and the adjustment block.
It effectively limits the bending range of the forearm mechanism, reduces the wear of the rotary motor, increases the service life of the joint module, and enhances the stability and applicability of the blocking process.
Smart Images
Figure CN224391177U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of humanoid robot technology, and in particular to a joint module for a humanoid robot. Background Technology
[0002] With the rapid development of technology, humanoid robots are increasingly widely used in various fields such as industrial production and service industries. The flexibility and motion precision of their limbs are important indicators for measuring their performance. In the structure of the robotic arm of a humanoid robot, the joint module that connects the upper arm mechanism and the lower arm mechanism is particularly important. It needs to control the rotation of the lower arm mechanism relative to the upper arm mechanism in order to realize various movements of the robotic arm.
[0003] The joint modules in the prior art typically include a drive rotary motor and a connecting structure. The rotary motor drives the forearm mechanism to rotate relative to the upper arm mechanism, thereby completing actions such as bending.
[0004] The forearm mechanism of a humanoid robot integrates many precision sensors and mechanical grippers that control its behavior, which makes the forearm mechanism itself heavy. However, existing joint modules cannot limit the excessive bending of the forearm mechanism. During the testing phase of the humanoid robot, due to the need to perform repeated motion tests, the excessively bent forearm mechanism will continuously apply a load beyond the design range to the rotary motor of the joint module, which will lead to excessive wear of the rotary motor and reduce the service life of the joint module, which is a significant shortcoming. Utility Model Content
[0005] To improve the service life of the joint module, this application provides a joint module for a humanoid robot.
[0006] The joint module of the humanoid robot provided in this application adopts the following technical solution:
[0007] A joint module for a humanoid robot, configured on a humanoid robot robotic arm, is used to connect a large arm mechanism and a small arm mechanism. It includes a device housing disposed at the end of the large arm mechanism, a rotary motor disposed inside the device housing, and the output shaft of the rotary motor extending out of the device housing and connected to the rotating end of the small arm mechanism. A blocking assembly is disposed on the outer surface of the device housing, the blocking assembly including a connecting plate, and an arc-shaped plate disposed on the connecting plate, the arc-shaped plate being located within the rotation range of the small arm mechanism.
[0008] By adopting the above technical solution, during the testing phase, when the rotary motor drives the forearm mechanism to rotate, the arc plate can physically block the rotation of the forearm mechanism, thereby effectively limiting the bending range of the forearm mechanism, reducing the possibility of excessive wear of the rotary motor due to excessive bending of the forearm mechanism, and thus improving the service life of the joint module.
[0009] Optionally, the outer surface of the device housing is provided with a mounting groove, and the blocking assembly further includes a mounting plate disposed in the mounting groove. The connecting plate and the arc-shaped plate are both disposed on the mounting plate, and the mounting plate is fixed inside the mounting groove by magnetic attraction.
[0010] By adopting the above technical solution, the magnetic attraction between the mounting plate and the mounting slot enables the blocking component to be easily detachable. During the testing phase where the bending range of the forearm mechanism needs to be limited, the mounting plate is inserted into the mounting slot and fixed by magnetic attraction to ensure that the arc plate can play a normal blocking role. During the formal use phase where no restriction is required, the magnetic fixation is canceled and the mounting plate is removed, so that the joint module is restored to an unblocked state.
[0011] Optionally, the arc-shaped plate is provided with a plurality of buffer rods, and the connecting plate is provided with buffer grooves corresponding to the plurality of buffer rods. The buffer rods slide in cooperation with the corresponding buffer grooves, and a buffer spring is provided in the buffer groove. The elastic force of the buffer spring drives the buffer rods to move away from the connecting plate.
[0012] By adopting the above technical solution, when the forearm mechanism rotates to contact the arc plate, the buffer rod will be squeezed and slide along the buffer groove towards the connecting plate. At this time, the buffer spring is compressed and generates a reverse elastic force. The elastic deformation of the buffer spring absorbs the impact force when the forearm mechanism hits the arc plate, thereby reducing the impact damage to the arc plate and the forearm mechanism and ensuring a smoother blocking process.
[0013] Optionally, a limiting block is provided at the end of the buffer rod, and a limiting groove is provided on the inner side wall of the buffer groove to slide with the limiting block. The elastic force of the buffer spring drives the limiting block to abut against the end of the limiting groove.
[0014] By adopting the above technical solution, the sliding fit between the limiting block and the limiting groove effectively limits the sliding stroke of the buffer rod, preventing the buffer rod from disengaging from the buffer groove under the elastic force of the buffer spring, thereby ensuring that the buffer rod and the buffer groove maintain a stable sliding fit relationship and guaranteeing the integrity and reliability of the buffer structure.
[0015] Optionally, the outer surface of the mounting plate is provided with an adjustment groove, and the connecting plate is provided with an adjustment block that is slidably connected in the adjustment groove. A driving component is provided in the adjustment groove, and the driving component drives the adjustment block to move closer to or away from the rotating end of the forearm mechanism along the adjustment groove.
[0016] By adopting the above technical solution, the tester drives the adjustment block to move along the adjustment groove through the driving component. The adjustment block drives the arc plate on the connecting plate to move towards the rotating end of the forearm mechanism, thereby changing the blocking position of the arc plate on the rotation path of the forearm mechanism. This changes the limiting range of the arc plate, meeting the different requirements for bending amplitude under different test scenarios, thus improving the applicability of the blocking component on the joint module.
[0017] Optionally, the driving component is a stud rotatably connected inside the adjusting groove, the adjusting block is threadedly connected to the stud, both the adjusting block and the adjusting groove have square cross-sections, and the end of the stud extends to the outer surface of the mounting plate and is provided with a rotating block.
[0018] By adopting the above technical solution, during adjustment, the tester holds the rotating block and rotates the stud. Under the constraint of the cross-section of the adjusting groove and the adjusting block, the stud rotates and drives the adjusting block to move within the adjusting groove. At the same time, the tester can adjust the moving direction of the adjusting block by rotating the direction, thereby realizing the adjustment of the limiting range of the arc plate.
[0019] Optionally, a guide block is provided at one end of the connecting plate away from the adjusting block, and a guide groove is provided on the mounting plate to slide with the guide block, the guide groove being parallel to the adjusting groove.
[0020] By adopting the above technical solution, the guide block and guide groove provide additional support and guidance for the movement of the connecting plate, effectively reducing the tilting or displacement of the connecting plate due to uneven force during the movement, and ensuring that the position of the arc plate is accurate and reliable after adjustment.
[0021] Optionally, the arc-shaped plate is a flexible plate.
[0022] By adopting the above technical solution, the flexible arc plate can closely fit the outer surface curvature of the forearm mechanism, increase the contact area between the two, and distribute the contact pressure more evenly, avoiding excessive local stress that could damage the forearm mechanism or the arc plate.
[0023] In summary, this application includes at least one of the following beneficial technical effects:
[0024] 1. By setting up a blocking component, during the testing phase, when the rotary motor drives the forearm mechanism to rotate, the arc plate can physically block the rotation of the forearm mechanism, thereby effectively limiting the bending range of the forearm mechanism, reducing the possibility of excessive wear of the rotary motor due to excessive bending of the forearm mechanism, and thus improving the service life of the joint module.
[0025] 2. By setting a buffer rod and a buffer spring, when the forearm mechanism rotates to contact the arc plate, the buffer rod will be squeezed and slide along the buffer groove towards the connecting plate. At this time, the buffer spring is compressed and generates a reverse elastic force. The elastic deformation of the buffer spring absorbs the impact force when the forearm mechanism hits the arc plate, thereby reducing the impact damage to the arc plate and the forearm mechanism and ensuring a smoother blocking process.
[0026] 3. This application sets up a driving component and an adjusting block. The tester drives the adjusting block to move along the adjusting groove through the driving component. The adjusting block drives the arc plate on the connecting plate to move towards the rotating end of the forearm mechanism, thereby changing the blocking position of the arc plate on the rotation path of the forearm mechanism. This changes the limiting range of the arc plate and meets the different requirements for bending amplitude under different test scenarios, thus improving the applicability of the blocking component on the joint module. Attached Figure Description
[0027] Figure 1 This is a schematic diagram of the structure of this application.
[0028] Figure 2 This is a schematic diagram of the blocking component in an embodiment of this application.
[0029] Figure 3 This is a cross-sectional view of the connecting plate in an embodiment of this application.
[0030] Figure 4 This is a schematic diagram of the structure of the connecting plate and the mounting plate in the embodiments of this application.
[0031] Explanation of reference numerals in the attached drawings: 01, boom mechanism; 011, connecting seat; 012, swing motor; 013, boom body; 02, forearm mechanism; 021, rotating seat; 022, linear motor; 023, forearm body; 1, equipment housing; 101, mounting slot; 2, blocking assembly; 21, mounting plate; 211, adjusting slot; 212, guide slot; 22, connecting plate; 221, adjusting block; 222, guide block; 23, arc plate; 3, buffer rod; 31, limiting block; 4, buffer slot; 41, limiting slot; 5, buffer spring; 6, stud; 61, rotating block. Detailed Implementation
[0032] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.
[0033] This application discloses a joint module for a humanoid robot.
[0034] Reference Figure 1A joint module for a humanoid robot includes a housing 1, which is configured on a robotic arm for connecting a large arm mechanism 01 and a small arm mechanism 02. In this embodiment, the large arm mechanism 01 includes a connecting seat 011 connected to the humanoid robot's torso. A swing motor 012 is fixedly installed on the connecting seat 011. The output shaft of the swing motor 012 is mounted on a large arm torso 013. The housing 1 is fixedly installed on the large arm torso 013.
[0035] Reference Figure 1 A rotary motor (not shown in the figure) is installed inside the equipment housing 1. The output shaft of the rotary motor extends out of the equipment housing 1 and is connected to the rotating end of the forearm mechanism 02. In this embodiment, the forearm mechanism 02 includes a rotating seat 021 fixedly installed on the output shaft of the rotary motor. A linear motor 022 is installed on the rotating seat 021. The output shaft of the linear motor 022 is fixedly connected to the forearm body 023.
[0036] Reference Figure 1 and Figure 2 The outer surface of the equipment housing 1 is provided with a blocking component 2, which includes a mounting plate 21, a connecting plate 22 and an arc plate 23. The outer surface of the equipment housing 1 is provided with a mounting groove 101 that is inserted and matched with the mounting plate 21. The mounting plate 21 is fixed inside the mounting groove 101 by magnetic attraction. The connecting plate 22 is set on the mounting plate 21. The arc plate 23 is set on the side of the connecting plate 22 near the output shaft of the rotary motor. The arc plate 23 is located in the rotation range of the forearm mechanism 02. The arc plate 23 is made of flexible material to fit the curvature of the forearm body 023.
[0037] During the testing phase, the testers placed the mounting plate 21 inside the mounting slot 101 and fixed it with magnetic attraction. When the rotary motor drives the forearm mechanism 02 to rotate, the arc plate 23 can physically block the rotation of the forearm mechanism 02, thereby effectively limiting the bending range of the forearm mechanism 02 and reducing the possibility of excessive wear of the rotary motor due to excessive bending of the forearm mechanism 02, thus improving the service life of the joint module. After the test, the magnetic fixation was removed and the mounting plate 21 was removed, so that the joint module returned to an unobstructed state.
[0038] Reference Figure 2 and Figure 3Multiple buffer rods 3 are fixedly connected to the end of the arc plate 23 facing the connecting plate 22. In this embodiment, there are three buffer rods 3. The connecting plate 22 is provided with buffer grooves 4 corresponding to the three buffer rods 3. Each buffer groove 4 is provided with a clamping spring. One end of the clamping spring is fixedly connected to the inner side wall of the buffer groove 4 away from the arc plate 23, and the other end is fixedly connected to a limiting block 31. The limiting block 31 is fixedly connected to the end of the buffer rod 3 away from the arc plate 23. The inner side wall of the buffer groove 4 is provided with a limiting groove 41 that slides with the limiting block 31. The elastic force of the buffer spring 5 drives the limiting block 31 to abut against the end of the limiting groove 41 near the arc plate 23.
[0039] Reference Figure 2 and Figure 3 When the forearm mechanism 02 rotates to contact the arc plate 23, the buffer rod 3 will be squeezed and slide along the buffer groove 4 towards the connecting plate 22. At this time, the buffer spring 5 is compressed and generates a reverse elastic force. The elastic deformation of the buffer spring 5 absorbs the impact force when the forearm mechanism 02 hits the arc plate 23, thereby reducing the impact damage to the arc plate 23 and the forearm mechanism 02 and ensuring a smoother blocking process.
[0040] When the forearm mechanism 02 rotates to disengage from the arc plate 23, the elastic force of the buffer spring 5 drives the limiting block 31 to move along the limiting groove 41. The limiting block 31 pushes the buffer rod 3 and the arc plate 23 to automatically reset to the initial position, preparing for the next rotation of the forearm mechanism 02 and avoiding the offset of the blocking position caused by the buffer rod 3 not being reset. At the same time, the limiting groove 41 effectively limits the sliding stroke of the buffer rod 3, preventing the buffer rod 3 from disengaging from the buffer groove 4 under the elastic force of the buffer spring 5.
[0041] Reference Figure 3 and Figure 4 The outer surface of the mounting plate 21 is provided with an adjustment groove 211 and a guide groove 212. The adjustment groove 211 and the guide groove 212 are respectively located on opposite sides of the mounting plate 21. An adjustment block 221 and a guide block 222 are fixedly connected to the connecting plate 22. The adjustment block 221 is slidably connected inside the adjustment groove 211, and the guide block 222 is slidably connected inside the guide groove 212. A driving component is provided inside the adjustment groove 211. The driving component is a stud 6 rotatably connected inside the adjustment groove 211. The adjustment block 221 is threadedly connected to the stud 6. The cross-section of the adjustment block 221 and the adjustment groove 211 is square. The end of the stud 6 extends to the outer surface of the mounting plate 21 and is fixedly connected to a rotating block 61.
[0042] Reference Figure 3 and Figure 4The tester holds the rotating block 61 and rotates the stud 6. Under the cross-sectional constraints of the adjusting groove 211 and the adjusting block 221, the rotation of the stud 6 causes the adjusting block 221 to move within the adjusting groove 211. The adjusting block 221 causes the arc plate 23 on the connecting plate 22 to move away from or closer to the rotating end of the forearm mechanism 02, thereby changing the blocking position of the arc plate 23 on the rotation path of the forearm mechanism 02. When the arc plate 23 is close to the rotating end, the forearm mechanism 02 will contact the arc plate 23 earlier during rotation, and its maximum bending amplitude is reduced. When the arc plate 23 is far from the rotating end, the forearm mechanism 02 can rotate a larger angle before being blocked by the arc plate 23, and the maximum bending amplitude is expanded. This achieves the adjustment of the limiting range of the arc plate 23, meeting the different requirements for bending amplitude under different test scenarios, thus improving the applicability of the blocking component 2 on the joint module.
[0043] The implementation principle of the joint module of a humanoid robot in this application embodiment is as follows: During the testing phase, the tester places the mounting plate 21 into the mounting slot 101 and fixes it with magnetic attraction. When the rotary motor drives the forearm mechanism 02 to rotate, the arc plate 23 can physically block the rotation of the forearm mechanism 02, thereby effectively limiting the bending range of the forearm mechanism 02, reducing the possibility of excessive wear of the rotary motor due to excessive bending of the forearm mechanism 02, and thus improving the service life of the joint module.
[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A joint module for a humanoid robot, configured on a humanoid robot robotic arm for connecting a large arm mechanism (01) and a small arm mechanism (02), characterized in that, The device includes a housing (1) located at the end of the boom mechanism (01), a rotary motor is installed inside the housing (1), the output shaft of the rotary motor extends out of the housing (1) and is connected to the rotating end of the forearm mechanism (02), a blocking assembly (2) is provided on the outer surface of the housing (1), the blocking assembly (2) includes a connecting plate (22), an arc plate (23) is provided on the connecting plate (22), and the arc plate (23) is located within the rotation range of the forearm mechanism (02).
2. The joint module of a humanoid robot according to claim 1, characterized in that, The outer surface of the device housing (1) is provided with a mounting groove (101). The blocking component (2) also includes a mounting plate (21) disposed in the mounting groove (101). The connecting plate (22) and the arc plate (23) are both disposed on the mounting plate (21). The mounting plate (21) is fixed inside the mounting groove (101) by magnetic attraction.
3. The joint module of a humanoid robot according to claim 1, characterized in that, The arc plate (23) is provided with a plurality of buffer rods (3), and the connecting plate (22) is provided with buffer grooves (4) corresponding to the plurality of buffer rods (3). The buffer rods (3) slide in cooperation with the corresponding buffer grooves (4). A buffer spring (5) is provided in the buffer groove (4). The elastic force of the buffer spring (5) drives the buffer rods (3) to move away from the connecting plate (22).
4. The joint module of a humanoid robot according to claim 3, characterized in that, The buffer rod (3) is provided with a limiting block (31) at its end. The inner wall of the buffer groove (4) is provided with a limiting groove (41) that slides with the limiting block (31). The elastic force of the buffer spring (5) drives the limiting block (31) to abut against the end of the limiting groove (41).
5. The joint module of a humanoid robot according to claim 2, characterized in that, An adjustment groove (211) is provided on the outer surface of the mounting plate (21). An adjustment block (221) is provided on the connecting plate (22) and is slidably connected in the adjustment groove (211). A driving member is provided in the adjustment groove (211). The driving member drives the adjustment block (221) to move closer to or away from the rotating end of the forearm mechanism (02) along the adjustment groove (211).
6. The joint module of a humanoid robot according to claim 5, characterized in that, The driving component is a stud (6) rotatably connected inside the adjusting groove (211). The adjusting block (221) is threadedly connected to the stud (6). The cross-section of the adjusting block (221) and the adjusting groove (211) are both square. The end of the stud (6) extends to the outer surface of the mounting plate (21) and is provided with a rotating block (61).
7. The joint module of a humanoid robot according to claim 5, characterized in that, A guide block (222) is provided at one end of the connecting plate (22) away from the adjusting block (221). A guide groove (212) is provided on the mounting plate (21) to slide with the guide block (222). The guide groove (212) is parallel to the adjusting groove (211).
8. The joint module of a humanoid robot according to claim 1, characterized in that, The arc-shaped plate (23) is a flexible plate.