Multi-angle bending humanoid robot joint

Abstract

The utility model discloses a kind of multi-angle bending humanoid robot joints, it is related to robot field.A kind of multi-angle bending humanoid robot joint, including robot joint body, rotating member is provided on the robot joint body, the one end of the robot joint body is provided with driving part, the end of the driving part is equipped with connecting block, further include: setting on the robot joint body lubricating assembly, its one end is connected with connecting block, for lubricating rotating member place;The utility model passes through setting lubricating assembly on the robot joint body, when driving part drives, lubricating assembly is driven to run synchronously, provides power source, sends lubricating oil to rotating member place, lubricates operation to it, saves the trouble of manual maintenance addition by artificial, saves labor intensity, and in this process cooperation cooling component can be assisted cooling at driving part place, effectively prolong its service life, reduce the occurrence of failure phenomenon.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically, it relates to a multi-angle bending humanoid robot joint. Background Technology

[0002] In the field of humanoid robots, joint design is key to their motion performance and practical functions. Its design is similar to human movement and relies on the precise control and coordination of rotary actuators and linear actuators.

[0003] For example, patent application number CN202322775595.5, application date: 2023-10-16, discloses a joint structure for a humanoid robot and the humanoid robot itself. The robot includes a support frame and a rotating shaft connected to a drive motor structure. The support frame has a receiving space at its core, and the rotating shaft is placed within this receiving space. The rotating shaft and the support frame are rotatably connected, allowing them to rotate relative to each other under the drive of the drive motor structure. The support frame has a first connecting section along its radial outer wall for connecting a first servo, and the rotating shaft has a second connecting section along its radial outer wall for connecting a second servo. This invention adopts an integrated design of the servo and the joint, achieving improved motion strength of the humanoid robot joints, simplified joint installation, and overall lightweighting of the humanoid robot joints through a simple and reliable structural method. It has good feasibility and practicality.

[0004] However, the above-mentioned patent still has the following drawbacks. Although the above-mentioned device simplifies the mechanical structure and reduces the weight of the joint, some necessary rotating gear parts need to be lubricated in time to keep the structure running smoothly. However, the existing technology still requires manual maintenance, which increases the labor intensity of the workers. Utility Model Content

[0005] The technical problem to be solved by this invention is to overcome the shortcomings of the prior art and provide a multi-angle bending humanoid robot joint that can overcome or at least partially solve the above problems.

[0006] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by this utility model is as follows: a multi-angle bending humanoid robot joint, including a robot joint body, a rotating component disposed on the robot joint body, a driving part disposed at one end of the robot joint body, a connecting block installed at the end of the driving part, and further including: a lubrication component disposed on the robot joint body, one end of which is connected to the connecting block for lubricating the rotating component; a cooling component disposed on the lubrication component to assist in cooling the driving part when the lubrication component reciprocates.

[0007] Furthermore, the lubrication assembly includes a cam fixed to one end of the connecting block, a limiting block being attached to the surface of the cam, a slide rod being fixed to one end of the limiting block, a piston being fixed to the end of the slide rod, the piston being slidably connected inside the connecting box, and a return spring being fixed between the limiting block and the connecting box, the return spring being sleeved on the surface of the slide rod.

[0008] Furthermore, the connecting box is provided with a storage component, which includes a storage cavity opened inside the connecting box. One end of the connecting box is provided with a cover plate, and an extraction tube is provided inside the storage cavity. One end of the extraction tube passes through the connecting box and communicates with the rodless cavity inside the connecting box. A one-way valve is provided on the extraction tube.

[0009] Furthermore, the top of the connecting box is connected to a delivery pipe, and a one-way valve is provided at the connection between the delivery pipe and the connecting box. One end of the delivery pipe passes through the robot joint body and is connected to the buffer cavity. The buffer cavity is opened in the robot joint body, and a spray pipe is provided at one end of the buffer cavity. An overflow valve is provided on the spray pipe.

[0010] Furthermore, the connecting box has a rod chamber inside, and an air supply pipe is connected to the bottom of the connecting box. An arc-shaped rod is fixed to one end of the air supply pipe, and jet nozzles with equal spacing are installed on the surface of the arc-shaped rod. A one-way valve is provided between the air supply pipe and the connecting box.

[0011] Furthermore, a mounting plate is fixed to one side of the connecting box, and the mounting plate is fixedly mounted on the robot joint body by screws.

[0012] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: The present invention sets a lubrication component on the robot joint body, and drives the lubrication component to run synchronously when the drive unit is driven, providing a power source to deliver lubricating oil to the rotating parts for lubrication operation, eliminating the trouble of manual maintenance and adding, saving labor intensity, and in this process, the cooling component can be used to assist in cooling the drive unit, effectively extending its service life and reducing the occurrence of failures.

[0013] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings. Attached Figure Description

[0014] In the attached diagram:

[0015] Figure 1 This is a schematic diagram of the overall structure of a multi-angle bending humanoid robot joint proposed in this utility model.

[0016] Figure 2 This is a side cross-sectional view of a multi-angle bending humanoid robot joint proposed in this utility model.

[0017] Figure 3 This is a schematic diagram of a partial three-dimensional cross-sectional structure of the joint of a multi-angle bending humanoid robot proposed in this utility model;

[0018] Figure 4 The present utility model proposes Figure 3 Enlarged structural diagram of region B in the middle;

[0019] Figure 5 The present utility model proposes Figure 2 Enlarged structural diagram of region A in the middle;

[0020] Figure 6 This is a partial three-dimensional structural diagram of a cooling component in the joint of a multi-angle bending humanoid robot proposed in this utility model.

[0021] In the diagram: 1. Robot joint body; 10. Drive unit; 11. Rotating component; 12. Connecting block; 3. Lubrication assembly; 31. Cam; 32. Limiting block; 33. Slide rod; 34. Piston; 35. Connecting box; 36. Return spring; 37. Storage chamber; 38. Cover plate; 39. Extraction tube; 40. Delivery tube; 41. Buffer chamber; 42. Spray tube; 50. Rod chamber; 51. Air delivery tube; 52. Arc rod; 53. Jet nozzle. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate this utility model, but are not intended to limit the scope of this utility model. Example 1:

[0023] Reference Figures 1-6 A multi-angle bending humanoid robot joint includes a robot joint body 1, a rotating component 11 on the robot joint body 1, a drive unit 10 at one end of the robot joint body 1, and a connecting block 12 installed at the end of the drive unit 10. It also includes a lubrication component 3 on the robot joint body 1, one end of which is connected to the connecting block 12 for lubricating the rotating component 11; a cooling component is provided on the lubrication component 3 to assist in cooling the drive unit 10 when the lubrication component 3 reciprocates.

[0024] In this invention, during operation, the drive unit 10 can drive the rotating component 11 to move, thereby controlling the overall movement of the robot joint body 1. The rotating component 11 includes a reducer, a sensor system, bearings, a rotary actuator, and a linear actuator, each corresponding to different motion requirements. In the rotary actuator, the motor and reducer are combined. By reducing the motor speed and increasing the torque, the joint is driven to perform extensive rotational movements. This is existing technology and will not be elaborated here. When the drive unit 10 is started, it can drive the lubrication component 3 to run synchronously. The lubrication component 3 can extract and deliver pre-stored lubricant to the rotating component 11 to lubricate the rotating parts, eliminating the trouble of manual operation. At the same time, during this process, the airflow generated by the reciprocating motion of the lubrication component 3 provides auxiliary cooling to the drive unit 10, reducing the occurrence of malfunctions. The drive unit 10 is replaced by a drive motor. Example 2:

[0025] Reference Figures 1-6 A multi-angle bending humanoid robot joint, basically the same as in Embodiment 1, but with a further improvement: the lubrication assembly 3 includes a cam 31 fixed to one end of the connecting block 12, a limiting block 32 attached to the surface of the cam 31, a slide rod 33 fixed to one end of the limiting block 32, a piston 34 fixed to the end of the slide rod 33, the piston 34 slidably connected within the connecting box 35, a return spring 36 fixed between the limiting block 32 and the connecting box 35, the return spring 36 sleeved on the surface of the slide rod 33, a storage component provided on the connecting box 35, the storage component including a storage cavity 37 opened within the connecting box 35, a cover plate 38 provided at one end of the connecting box 35, an extraction tube 39 provided within the storage cavity 37, one end of the extraction tube 39 penetrating the connecting box 35 and communicating with the rodless cavity within the connecting box 35, the extraction tube 39... A one-way valve is provided on the 9th section. A delivery pipe 40 is connected to the top of the connecting box 35. A one-way valve is provided at the connection between the delivery pipe 40 and the connecting box 35. One end of the delivery pipe 40 passes through the robot joint body 1 and is connected to the buffer chamber 41. The buffer chamber 41 is located inside the robot joint body 1. A liquid spray pipe 42 is provided at one end of the buffer chamber 41. An overflow valve is provided on the liquid spray pipe 42. A rod chamber 50 is provided inside the connecting box 35. An air supply pipe 51 is connected to the bottom of the connecting box 35. An arc-shaped rod 52 is fixed at one end of the air supply pipe 51. Air jets 53 are installed on the surface of the arc-shaped rod 52 at equal intervals. A one-way valve is provided between the air supply pipe 51 and the connecting box 35. A mounting plate is fixed on one side of the connecting box 35. The mounting plate is fixed on the robot joint body 1 by screws.

[0026] In this invention, when the piston 34 slides up and down inside the connecting box 35, the lubricant pre-stored in the storage chamber 37 can be drawn into the rodless chamber inside the connecting box 35 through the extraction pipe 39, and then transported to the buffer chamber 41 through the delivery pipe 40. Since a pressure valve is provided on the spray pipe 42, when a certain pressure value is reached, the lubricant is sprayed out through the spray pipe 42, avoiding frequent delivery of lubricating oil and causing waste. Through the above structure, the lubricating oil is automatically added for lubrication maintenance, saving the trouble of manual operation and reducing labor intensity. The contact part between the slide rod 33 and the connecting box 35 has a gap to facilitate the airflow into the rod chamber 50. Then, under the reciprocating motion of the piston 34, the airflow is transported through the air delivery pipe 51 to the arc-shaped rod 52 and sprayed out. The arc-shaped rod 52 points to the drive part 10, thereby providing jet-assisted cooling and heat dissipation to the drive part 10, improving the heat dissipation effect of the drive part 10 and reducing the occurrence of failures due to high temperature.

[0027] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model.

Claims

1. A multi-angle bending humanoid robot joint, comprising a robot joint body (1), wherein a rotating component (11) is provided on the robot joint body (1), a driving part (10) is provided at one end of the robot joint body (1), and a connecting block (12) is installed at the end of the driving part (10), characterized in that, Also includes: A lubrication assembly (3) is provided on the robot joint body (1), one end of which is connected to the connecting block (12) for lubricating the rotating part (11); A cooling component is provided on the lubrication component (3) to assist in cooling the drive unit (10) when the lubrication component (3) reciprocates.

2. The multi-angle bending humanoid robot joint according to claim 1, characterized in that: The lubrication assembly (3) includes a cam (31) fixed to one end of the connecting block (12), a limiting block (32) is attached to the surface of the cam (31), a slide rod (33) is fixed to one end of the limiting block (32), a piston (34) is fixed to the end of the slide rod (33), the piston (34) is slidably connected in the connecting box (35), and a return spring (36) is fixed between the limiting block (32) and the connecting box (35), the return spring (36) is sleeved on the surface of the slide rod (33).

3. The multi-angle bending humanoid robot joint according to claim 2, characterized in that: The connecting box (35) is provided with a storage component, which includes a storage cavity (37) opened in the connecting box (35). One end of the connecting box (35) is provided with a cover plate (38). The storage cavity (37) is provided with an extraction tube (39). One end of the extraction tube (39) passes through the connecting box (35) and communicates with the rodless cavity in the connecting box (35). The extraction tube (39) is provided with a one-way valve.

4. The multi-angle bending humanoid robot joint according to claim 2, characterized in that: The top of the connecting box (35) is connected to a delivery pipe (40). A one-way valve is provided at the connection between the delivery pipe (40) and the connecting box (35). One end of the delivery pipe (40) passes through the robot joint body (1) and is connected to the buffer chamber (41). The buffer chamber (41) is opened inside the robot joint body (1). One end of the buffer chamber (41) is provided with a spray pipe (42). An overflow valve is provided on the spray pipe (42).

5. A multi-angle bending humanoid robot joint according to claim 2, characterized in that: The connecting box (35) has a rod chamber (50) inside. The bottom of the connecting box (35) is connected to an air supply pipe (51). An arc-shaped rod (52) is fixed at one end of the air supply pipe (51). Jet nozzles (53) are installed on the surface of the arc-shaped rod (52) at equal intervals. A one-way valve is provided between the air supply pipe (51) and the connecting box (35).

6. A multi-angle bending humanoid robot joint according to claim 2, characterized in that: A mounting plate is fixed to one side of the connecting box (35), and the mounting plate is fixed to the robot joint body (1) by screws.

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