A humanoid robot joint assembly positioning device

Abstract

The utility model discloses a humanoid robot joint subassembly positioner, including driver, both ends of driver all are fixedly connected with output shaft, be equipped with outer thread on the output shaft outer wall, the output shaft is screwed and is connected with the screw -in nut, one end of screw -in nut is fixedly connected with the locating sleeve, be equipped with the through -hole on the locating sleeve, the outside of locating sleeve is equipped with the connecting plate, the fixedly connected with support frame on the connecting plate, be equipped with the limit rotary groove on the support frame, the screw rod is rotatably connected in the limit rotary groove, both ends on screw rod all are screwed and are connected with the moving plate, one end side wall on moving plate is fixedly connected with the clamping block, this humanoid robot joint subassembly positioner, through the setting of clamping fixed component can be convenient to realize the assembly between the robot connecting arm, replaces traditional many bolt mounting mode, and the operation is simple and convenient.

Description

Technical Field

[0001] This utility model relates to the field of robot-related products, specifically a positioning device for joint components of a humanoid robot. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as work or movement through programming and automatic control. Humanoid robots, on the other hand, are robots that mimic human appearance and behavior, possessing a high level of intelligence. They typically have similar body structures and motor abilities to humans. The joint actuators of humanoid robots are a key element in the innovation and optimization of robot hardware, serving as the core components for achieving movement. Their high cost and weight determine the output capacity and dynamic performance limits of the robot's joints. Many large-angle rotary joints typically use geared motors as the primary drive, with the motor's output shaft providing power and rotation angle to the joint connecting plates on both sides.

[0003] However, many existing robot joint connection methods use pins or bolts to connect the joint connecting plate to the actuator output shaft. Although this achieves the connection effect, the traditional connection method is not convenient enough. Each bolt needs to be assembled in the appropriate position and tightened, which is a rather cumbersome operation. Utility Model Content

[0004] The purpose of this invention is to provide a humanoid robot joint component positioning device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a humanoid robot joint component positioning device, comprising a driver, both ends of which are fixedly connected to an output shaft, the outer wall of which is provided with an external thread, a screw-in nut being threaded onto the output shaft, one end of which is fixedly connected to a positioning sleeve, the positioning sleeve having a through hole, a connecting plate being fitted onto the outer side of the positioning sleeve, a support frame being fixedly connected to the connecting plate, the support frame having a limiting rotation groove, a threaded rod being rotatably connected within the limiting rotation groove, both ends of which are threadedly fitted with movable plates, a locking block being fixedly connected to one side wall of the movable plate, a locking groove corresponding to the locking block being provided on the side wall of the positioning sleeve, a rotating rod being rotatably inserted into one end of the support frame, one end of which is fixedly connected to the threaded rod, and a rotating block being fixedly connected to the other end of the rotating rod, a stop rod being slidably inserted into one end of the rotating block, and multiple stop grooves corresponding to the stop rod being provided on the side wall of the support frame.

[0006] As a preferred embodiment of this invention, the thread directions on both sides of the center point of the horizontal axial section of the threaded rod are set in opposite directions.

[0007] As a preferred embodiment of this utility model, a rubber sleeve is fixedly sleeved on one end of the stop rod, and a spring is sleeved on the stop rod, with the two ends of the spring abutting against the rubber sleeve and the rotating block, respectively.

[0008] In a preferred embodiment of this invention, the limiting rotation groove on the support frame is a strip groove, and the side wall of the moving plate is in contact with the inner wall of the limiting rotation groove.

[0009] As a preferred embodiment of this invention, a pad is fitted onto the output shaft, and the pad is positioned between the screw-in nut and the driver.

[0010] As a preferred embodiment of this invention, the plurality of stop grooves on the side wall of the support frame are arranged in a circular array, and the adjacent stop grooves are equidistant from each other.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] The humanoid robot joint component positioning device is installed inside the robot's forearm via a driver. The screw-in nut is threaded onto the output shaft of the driver, and the connecting plate connecting the robot's upper arm is fitted onto the positioning sleeve. At this time, the moving plate is placed on both sides of the positioning sleeve.

[0013] The humanoid robot joint component positioning device rotates the rotating block to cause the rotating rod to rotate. When the rotating rod rotates, the two moving plates threaded on it move relative to each other, thereby pushing the locking block to move. The locking block will then lock into the corresponding slot on the positioning sleeve to achieve the installation and fixation between the connecting plate and the positioning sleeve.

[0014] This humanoid robot joint component positioning device, through its clamping and fixing component setup, facilitates the assembly of robot connecting arms, replacing the traditional multi-bolt installation method, and is simple and convenient to operate. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a humanoid robot joint component positioning device according to the present invention;

[0016] Figure 2 This is an enlarged view of point A of a humanoid robot joint component positioning device according to the present invention.

[0017] In the diagram: 1. Driver; 2. Output shaft; 3. Screw-in nut; 4. Positioning sleeve; 5. Connecting plate; 6. Support frame; 7. Threaded rod; 8. Moving plate; 9. Locking block; 10. Rotating rod; 11. Rotating block; 12. Stop rod; 13. Rubber sleeve; 14. Spring; 15. Pad. Detailed Implementation

[0018] 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.

[0019] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] Please see Figure 1-2This utility model provides an embodiment of a humanoid robot joint component positioning device, comprising a driver 1, with output shafts 2 fixedly connected to both ends of the driver 1. The output shafts 2 have external threads on their outer walls, and screw-in nuts 3 are threaded onto the output shafts 2. A positioning sleeve 4 is fixedly connected to one end of the screw-in nut 3. The positioning sleeve 4 has a through hole, and a connecting plate 5 is fitted onto the outer side of the positioning sleeve 4. A support frame 6 is fixedly connected to the connecting plate 5, and a limiting rotation groove is provided on the support frame 6. A threaded rod 7 is rotatably connected within the limiting rotation groove. Moving plates 8 are threaded onto both ends of the threaded rod 7. A locking block 9 is fixedly connected to the side wall of one end of the moving plate 8. A locking groove corresponding to the locking block 9 is provided on the side wall of the positioning sleeve 4. A rotating rod 10 is rotatably inserted into one end of the support frame 6. One end of the rotating rod 10 is fixedly connected to the threaded rod 7, and the other end of the rotating rod 10 is fixedly connected to the rotating block 11. A stop rod 12 is slidably inserted on one end of the rotating block 11. The side wall of the support frame 6 is provided with multiple stop grooves corresponding to the stop rod 12. Specifically, the driver 1 is installed in the robot's forearm. The screw-in nut 3 is threaded and sleeved on the output shaft 2 of the driver 1. The connecting plate 5 connecting the robot's upper arm is sleeved on the positioning sleeve 4. At this time, the moving plate 8 is placed on both sides of the positioning sleeve 4. The rotating rod 10 is rotated by rotating the rotating block 11. When the rotating rod 10 rotates, the two moving plates 8 threaded on it move relative to each other and push the locking block 9 to move. The locking block 9 will be locked into the corresponding slot on the positioning sleeve 4 to realize the installation and fixation between the connecting plate 5 and the positioning sleeve 4.

[0022] In this embodiment, the thread directions on both sides of the center point of the horizontal axial section of the threaded rod 7 are set in opposite directions.

[0023] As a technical optimization of this utility model, the rotation of the threaded rod 7 can cause the two moving plates 8 to move relative to each other or in opposite directions under the setting of opposite threads.

[0024] In this embodiment, a rubber sleeve 13 is fixedly sleeved on one end of the stop rod 12, and a spring 14 is sleeved on the stop rod 12. The two ends of the spring 14 abut against the rubber sleeve 13 and the rotating block 11, respectively.

[0025] As a technical optimization of this utility model, the rubber sleeve 13 can be squeezed into the stop groove to fix the stop rod 12, and the rebound force of the spring 14 can make the stop rod 12 firmly locked inside the stop groove.

[0026] In this embodiment, the limiting rotation groove on the support frame 6 is a strip groove, and the side wall of the moving plate 8 is in contact with the inner wall of the limiting rotation groove.

[0027] As a technical optimization of this utility model, the limiting rotation groove limits the side wall of the moving plate 8, so that it maintains lateral movement and does not follow the rotation of the threaded rod 7.

[0028] In this embodiment, a pad 15 is sleeved on the output shaft 2, and the pad 15 is located between the screw-in nut 3 and the driver 1.

[0029] As a technical optimization of this utility model, the pad 15 provides protection between the nut and the driver 1, preventing damage to the outer wall of the driver 1.

[0030] In this embodiment, the multiple stop grooves on the side wall of the support frame 6 are arranged in a circular array, and the adjacent stop grooves are equidistant.

[0031] As a technical optimization of this utility model, multiple stop grooves can support the rotational position of the stop rod 12.

[0032] The working principle of the humanoid robot joint component positioning device is described in detail below: First, the driver 1 is installed in the robot's forearm. The screw-in nut 3 is threaded onto the output shaft 2 of the driver 1. The connecting plate 5 connecting the robot's upper arm is sleeved onto the positioning sleeve 4. At this time, the moving plate 8 is placed on both sides of the positioning sleeve 4. By rotating the rotating block 11, the rotating rod 10 is made to rotate. When the rotating rod 10 rotates, the two moving plates 8 threaded onto it move relative to each other, thereby pushing the locking block 9 to move. The locking block 9 will be locked into the corresponding slot on the positioning sleeve 4 to realize the installation and fixation between the connecting plate 5 and the positioning sleeve 4.

[0033] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A humanoid robot joint assembly positioning device, comprising a driver (1), characterized in that: Both ends of the driver (1) are fixedly connected to output shafts (2). The outer wall of the output shaft (2) is provided with external threads. A screw-in nut (3) is threaded onto the output shaft (2). One end of the screw-in nut (3) is fixedly connected to a positioning sleeve (4). The positioning sleeve (4) is provided with a through hole. A connecting plate (5) is fitted on the outer side of the positioning sleeve (4). A support frame (6) is fixedly connected to the connecting plate (5). The support frame (6) is provided with a limiting rotation groove. A threaded rod (7) is rotatably connected in the limiting rotation groove. The two ends of the threaded rod (7) are... Each end is threaded with a movable plate (8), and a locking block (9) is fixedly connected to one side wall of the movable plate (8). The side wall of the positioning sleeve (4) is provided with a locking groove corresponding to the locking block (9). A rotating rod (10) is rotatably inserted into one end of the support frame (6). One end of the rotating rod (10) is fixedly connected to the threaded rod (7). The other end of the rotating rod (10) is fixedly connected to a rotating block (11). A stop rod (12) is slidably inserted into one end of the rotating block (11). The side wall of the support frame (6) is provided with multiple stop grooves corresponding to the stop rod (12).

2. The humanoid robot joint component positioning device according to claim 1, characterized in that: The threads on both sides of the center point of the horizontal axial section of the threaded rod (7) are set in opposite directions.

3. The humanoid robot joint component positioning device according to claim 1, characterized in that: A rubber sleeve (13) is fixedly sleeved on one end of the stop rod (12), and a spring (14) is sleeved on the stop rod (12). The two ends of the spring (14) abut against the rubber sleeve (13) and the rotating block (11) respectively.

4. The humanoid robot joint component positioning device according to claim 1, characterized in that: The limiting rotation groove on the support frame (6) is a strip groove, and the side wall of the moving plate (8) is in contact with the inner wall of the limiting rotation groove.

5. The humanoid robot joint component positioning device according to claim 1, characterized in that: A pad (15) is fitted on the output shaft (2), and the pad (15) is located between the screw-in nut (3) and the driver (1).

6. The humanoid robot joint component positioning device according to claim 1, characterized in that: The multiple stop grooves on the side wall of the support frame (6) are arranged in a ring array, and the adjacent stop grooves are equidistant.

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