Humanoid robot leg and joint unit

Abstract

The utility model provides a kind of humanoid robot leg and joint unit, the joint unit includes motor, the motor is provided with output shaft and shell;Its characterized in that, the rear portion of the shell is provided with the first mounting site of installing first bearing, the shell is also provided with second mounting site, and the second mounting site is used to connect with the drive object of the motor.This utility model, power itself body is as the axle body of sleeve bearing, can weaken the reaction force that the drive object in the lower part of joint unit is received in movement through bearing, shell and the like multiple isolation structures, at least most is borne by bearing, can effectively protect motor shaft and the transmission structure inside motor, improve the stability and service life of joint component, and have integrated structure.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, and more particularly to humanoid robot legs and joint units. Background Technology

[0002] Humanoid robots' legs tend to have their joint motors located inside the joints, but this also presents a greater challenge in terms of the motors' impact resistance. For example, at the knee joint, some humanoid robots have the motor output shaft directly fixed to the lower leg, while the motor housing is fixed to the thigh via a connecting structure. In this way, when the robot walks or runs, the impact force from the ground is directly transmitted to the motor shaft, posing a greater challenge to the motor shaft and the internal transmission structure of the motor. Utility Model Content

[0003] The purpose of this invention is to provide a joint unit for a robot leg and a humanoid robot leg that can be adapted to the joint position of the robot leg and can reduce the impact on the internal structure of the motor.

[0004] Therefore, according to the first aspect of this utility model, the present utility model adopts the following technical solution:

[0005] A joint unit for a robot leg includes a motor, the motor having an output shaft and a housing; characterized in that a first mounting portion for mounting a first bearing is provided at the rear of the housing, and the housing also has a second mounting portion for connecting to a drive object of the motor.

[0006] Based on the above technical solutions, this utility model may also adopt the following further technical solutions, which may be used in combination:

[0007] The rear part of the housing is provided with a stepped surface for mounting the first bearing, which serves as the first part.

[0008] The first mounting part is located behind the second mounting part.

[0009] The output shaft includes an extension section that extends from inside the housing to outside the housing, and a third mounting portion for mounting a second bearing is provided on the portion outside the housing. The output shaft also has a fourth mounting portion for connecting to the mounting base of the motor.

[0010] The fourth mounting part is located in front of the third mounting part.

[0011] The outer end of the output shaft and the fourth mounting part form a step shape, and the fourth mounting part is provided with a screw connection hole that is the same as the axial direction of the output shaft for installation.

[0012] According to a second aspect of this utility model, this utility model provides a humanoid robot leg that utilizes the aforementioned joint unit. To this end, this utility model adopts the following technical solution:

[0013] A humanoid robot leg includes a knee joint, characterized in that the knee joint employs the aforementioned joint unit, the driving object is a lower leg or a fixed attachment on the lower leg, a second mounting part is fixedly connected to the driving object, a first bearing is mounted on a first mounting part, the first bearing is disposed between the outer shell and the mounting base, and the mounting base is a thigh or a fixed attachment on the thigh; the output shaft includes an extension section extending from inside the outer shell to outside the outer shell, and a third mounting part for mounting a second bearing is disposed on the portion outside the outer shell, the second bearing is mounted on the third mounting part, the second bearing is disposed between the extension section and the driving object, the output shaft also has a fourth mounting part, the fourth mounting part is fixedly connected to the mounting base, and the motor is concealed within the joint position between the thigh and the lower leg.

[0014] Based on the above technical solutions, this utility model may also adopt the following further technical solutions, which may be used in combination:

[0015] The rear part of the housing is provided with a stepped surface for mounting the first bearing as the first mounting part; the second mounting part and the fourth mounting part are both screw holes on the output shaft axis. The housing of the motor is set as a cylindrical body, and the mounting base is respectively provided with a connecting hole that mates with the first bearing, a connecting hole that mates with the extension section of the connecting shaft, and the drive object is respectively provided with a connecting hole that mates with the second bearing and a connecting hole that connects with the housing.

[0016] The first mounting part is located behind the second mounting part; the fourth mounting part is located in front of the third mounting part; the outer end of the output shaft and the fourth mounting part form a step shape; the fourth mounting part is provided with a screw connection hole that is the same as the axial direction of the output shaft for installation; the mounting base is provided with a connection hole for the outer end, and the diameter of the connection hole matches the diameter of the outer end of the output shaft.

[0017] This utility model also provides a technical solution for applying the above-mentioned joint unit to other parts of the humanoid robot's leg. To this end, this utility model adopts the following technical solution:

[0018] A humanoid robot leg includes a hip joint, characterized in that the hip joint includes the aforementioned joint unit, a second mounting portion is fixedly connected to the driving object, a first bearing is mounted on a first mounting portion, and the first bearing is disposed between the outer shell and the mounting base; the output shaft includes an extension section extending from inside the outer shell to outside the outer shell, and a third mounting portion for mounting a second bearing is disposed on the portion outside the outer shell, the second bearing is mounted on the third mounting portion, and the second bearing is disposed between the extension section and the driving object; the output shaft also includes a fourth mounting portion, the fourth mounting portion being fixedly connected to the mounting base.

[0019] Based on the above technical solutions, this utility model may also adopt the following further technical solutions, which may be used in combination:

[0020] The rear part of the housing is provided with a stepped surface for mounting the first bearing as the first mounting part; the second mounting part and the fourth mounting part are both screw holes on the output shaft axis. The housing of the motor is set as a cylindrical body, and the mounting base is respectively provided with a connecting hole that mates with the first bearing, a connecting hole that mates with the extension section of the connecting shaft, and the drive object is respectively provided with a connecting hole that mates with the second bearing and a connecting hole that connects with the housing.

[0021] The first mounting part is located behind the second mounting part; the fourth mounting part is located in front of the third mounting part; the outer end of the output shaft and the fourth mounting part form a step shape; the fourth mounting part is provided with a screw connection hole that is the same as the axial direction of the output shaft for installation; the mounting base is provided with a connection hole for the outer end, and the diameter of the connection hole matches the diameter of the outer end of the output shaft.

[0022] An ankle power assembly is provided, comprising a second motor having an output shaft and a housing. A fifth mounting portion is located at the rear of the housing of the second motor, and this fifth mounting portion is fixedly connected to a mounting base of the second motor. The output shaft of the second motor includes an extension section extending from inside the housing to outside. A sixth mounting portion for mounting a third bearing is located on the portion outside the housing. The third bearing is mounted on the sixth mounting portion. The third bearing is positioned between the extension section of the second motor's output shaft and the mounting base of the second motor. The output shaft of the second motor is connected to a drive linkage of the foot.

[0023] This utility model also provides a humanoid robot leg, including a knee joint using the above-described technical solution and a hip joint using the above-described technical solution.

[0024] By adopting the technical solution of this utility model, the power body itself is used as the shaft of the sleeve bearing, which can reduce the reaction force of the driving object under the joint unit during movement through multiple isolation structures such as bearings and housings. At least most of it is borne by the bearing, which can effectively protect the motor shaft and the transmission structure inside the motor, improve the stability and service life of the joint components, and has an integrated structure. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of an embodiment of the humanoid robot leg provided by this utility model, viewed from one angle.

[0026] Figure 2 A side view of an embodiment of the humanoid robot leg provided by this utility model.

[0027] Figure 3 for Figure 2 AA sectional view.

[0028] Figure 4 An exploded view of the structure of an embodiment of this utility model.

[0029] Figure 5 An exploded view of the knee joint in an embodiment provided by this utility model.

[0030] Figure 6 A schematic diagram of an embodiment of the present invention when the ankle joint is implemented in another way. Detailed Implementation

[0031] Referring to the accompanying drawings, this utility model provides a humanoid robot leg, including a knee joint 100, wherein the knee joint 100 adopts a joint unit structure with the following structure:

[0032] The system includes a first motor 1, which has an output shaft 11 and a housing 12. The rear of the housing 12 has a first mounting portion 121 for mounting a first bearing 13. The housing 12 also has a second mounting portion 122, which is connected to the drive object of the first motor 1, i.e., to the lower leg 200 (e.g., a structural component of the lower leg) or a fixing accessory on the lower leg (a connecting bracket, seat, etc. attached to the lower leg structural component), for example, by screws. The first bearing 13 is mounted on the first mounting portion 121. The first bearing 13 is positioned between the housing 12 and the mounting base. The housing 12 and the mounting base, i.e., the thigh 300, are respectively connected to the first bearing 13, and the connection method can be an interference fit. The output shaft 11 includes an extension section 111 that extends from inside the housing 12 to outside the housing 12. A third mounting portion 113 for mounting a second bearing 14 is provided on the portion 112 outside the housing. The second bearing 14 is mounted on the third mounting portion 113. The second bearing 14 can be mounted on the extension section 111. The second bearing 14 is located between the extension section 111 and the driven object, which improves the connection reliability of the joint and avoids the impact of gaps on the smoothness of movement. The output shaft 11 also has a fourth mounting portion 114, which is fixedly connected to the mounting base, for example, by screws. The first motor 1 is hidden in the joint position between the thigh and the calf.

[0033] The third mounting part 113 and the driving object are respectively connected to the second bearing 14, and the connection method can be an interference fit connection.

[0034] Preferably, both the second mounting portion 122 and the fourth mounting portion 114 are screw holes; the axis of the screw holes is the same as the axis of the output shaft 11. The housing 12 of the first motor 1 is configured as a cylindrical body, and the mounting base is respectively provided with a connecting hole 301 that mates with the first bearing 13, a connecting hole 302 that mates with the outer end 115 of the connecting shaft (i.e., the outer end of the extension section), and the driving object is respectively provided with a connecting hole 201 that mates with the second bearing 14, and a connecting hole 202 that connects to the housing 12. This facilitates the aforementioned concealed configuration.

[0035] In this embodiment, the fourth mounting portion 114 of the extension section and the outer end portion 115 of the extension section form a stepped shape, and the diameter of the connecting hole 302 and the diameter of the outer end portion 115 of the output shaft are basically the same, which matches perfectly and plays a further stabilizing role.

[0036] The rear of the outer casing 12 is provided with a stepped surface for mounting the first bearing 123, serving as the first mounting portion 121. This stepped surface is a circumferential surface used for mounting the first bearing 123, and a vertical stepped surface perpendicular to it is used to limit the first bearing 123. The first mounting portion 121 is located behind the second mounting portion 122, and the fourth mounting portion 114 is located in front of the third mounting portion 113. This allows the first motor 1 to be conveniently concealed within the joint between the thigh and calf. Simultaneously, the thigh provides more stable support for the knee and calf joints, and the reaction force on the knee joint is more easily transmitted.

[0037] The joint unit scheme described above for use in the knee joint can also be applied, alone or simultaneously, to other joints in the humanoid robot leg, achieving similar technical effects. For example, it can be applied to the hip joint.

[0038] The hip joint is equipped with a forward power component 400, a lateral swing force component 500, and a rotational power component 600. The thigh forward power component 400 is mounted on the hip mounting base 401. The rotation axis of the forward power component of the left thigh is obliquely downward to the left, and the rotation axis of the forward power component of the right thigh is obliquely downward to the right. The output shaft of the forward power component 400 is connected to the swing mounting base 501.

[0039] The lateral swing force assembly 500 can adopt the joint unit scheme of this utility model, wherein the output shaft 31 of the motor 3 is connected to the swing mounting base 501 (that is, the swing mounting base is its mounting base, and the connection method is similar to that of the knee joint, also using screws to connect to the swing mounting base 501, the swing mounting base 501 is provided with a connecting hole 502, the diameter of the connecting hole 502 is exactly matched with the outer end of the output shaft 31, and the outer end of the output shaft 31 forms a step shape with the fourth mounting part on its inner side), the motor housing 32 is connected to the lateral swing mounting base 601 (the connection method is similar to that of the knee joint, also using screws to connect to the connecting hole of the lateral swing mounting base 601), and its rotation axis is in the front-back direction. The rear part of the motor housing 32 is provided with a first mounting part to install a bearing 33, the bearing 33 is provided between the housing 32 and the connecting hole of the swing mounting base 501, and a connecting part is provided on the extension of the motor output shaft 31 to install a bearing 34, the bearing 34 being located between the extension of the motor output shaft 31 and the connecting hole of the lateral swing mounting base 601.

[0040] In the lateral swing force assembly 500, the structures of bearings 33 and 34 are the same as those of bearings 13 and 14 mentioned above. The screw connection holes are also arranged along the axial direction of the output shaft, which is consistent with the knee joint design. The rotating connection part, i.e., the bearing, is located outside the fixed connection part, i.e., the screw connection part.

[0041] The humanoid robot leg is also equipped with an ankle power assembly, which includes a second motor 2. The second motor 2 has an output shaft 21 and a housing 22. A fifth mounting part 25 is provided at the rear of the housing 21 of the second motor. The fifth mounting part 25 is fixedly connected (e.g., screw connection) to the mounting base of the second motor, i.e., the connecting bracket or connecting seat on the lower leg or lower leg structure. The output shaft 21 of the second motor includes an extension section 211, which extends from inside the housing of the second motor to outside the housing. A sixth mounting part for mounting a third bearing 23 is provided on the part outside the housing 22. The third bearing 23 is mounted on the sixth mounting part (its inner ring is interference-fitted with the sixth mounting part). The third bearing 23 is provided between the extension section 211 of the second motor output shaft and the mounting base of the second motor (i.e., the connecting hole 203 on the lower leg). Figure 4 The output shaft 21 of the second motor 2 is connected to the drive linkage 24 of the foot 700. Thus, the bearing can also bear the impact of the reaction force during movement, reducing the impact on the internal structure of the motor.

[0042] Reference Figure 6 For the foot area, the ankle joint may not be required, while the result for the upper leg is the same as the aforementioned structure.

[0043] Unless otherwise specified, in this utility model, terms such as "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "axial" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are 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, the terms used to describe orientation or positional relationships in this utility model are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood in conjunction with the accompanying drawings and according to the specific circumstances.

[0044] Unless otherwise expressly specified and limited, the terms "set," "clamped," and "connected" in this utility model should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of 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.

[0045] The above description is only a specific embodiment of the present utility model, but the structural features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the protection scope of the present utility model.

Claims

1. A joint unit for a robot leg, comprising a motor, the motor having an output shaft and a housing; characterized in that, The rear part of the housing is provided with a first mounting part for mounting the first bearing, and the housing is also provided with a second mounting part for connecting with the drive object of the motor.

2. The joint unit as described in claim 1, characterized in that, The rear part of the housing is provided with a stepped surface for mounting the first bearing, which serves as the first part.

3. The joint unit as described in claim 1, characterized in that, The first mounting part is located behind the second mounting part.

4. The joint unit as described in claim 1, 2, or 3, characterized in that, The output shaft includes an extension section that extends from inside the housing to outside the housing, and a third mounting portion for mounting a second bearing is provided on the portion outside the housing. The output shaft also has a fourth mounting portion for connecting to the mounting base of the motor.

5. The joint unit as described in claim 4, characterized in that, The fourth mounting part is located in front of the third mounting part.

6. The joint unit as described in claim 4, characterized in that, The outer end of the output shaft and the fourth mounting part form a step shape, and the fourth mounting part is provided with a screw connection hole that is the same as the axial direction of the output shaft for installation.

7. A humanoid robotic leg, including a knee joint, characterized in that, The knee joint adopts the joint unit of claim 1, the driving object is the lower leg or a fixed attachment on the lower leg, the second mounting part is fixedly connected to the driving object, a first bearing is mounted on the first mounting part, the first bearing is disposed between the housing and the mounting base, the mounting base is the thigh or a fixed attachment on the thigh; the output shaft includes an extension section, the extension section extends from inside the housing to outside the housing, and a third mounting part for mounting a second bearing is disposed on the portion outside the housing, the second bearing is mounted on the third mounting part, the second bearing is disposed between the extension section and the driving object, the output shaft is also provided with a fourth mounting part, the fourth mounting part is fixedly connected to the mounting base, and the motor is concealed within the joint position between the thigh and the lower leg.

8. The humanoid robot leg as described in claim 7, characterized in that, The rear part of the housing is provided with a stepped surface for mounting the first bearing as the first mounting part; the second mounting part and the fourth mounting part are both screw holes on the output shaft axis. The housing of the motor is set as a cylindrical body, and the mounting base is respectively provided with a connecting hole that mates with the first bearing, a connecting hole that mates with the extension section of the connecting shaft, and the drive object is respectively provided with a connecting hole that mates with the second bearing and a connecting hole that connects with the housing.

9. The humanoid robot leg as described in claim 7, characterized in that, The first mounting part is located behind the second mounting part; the fourth mounting part is located in front of the third mounting part; the outer end of the output shaft and the fourth mounting part form a step shape; the fourth mounting part is provided with a screw connection hole that is the same as the axial direction of the output shaft for installation; the mounting base is provided with a connection hole for the outer end, and the diameter of the connection hole matches the diameter of the outer end of the output shaft.

10. The humanoid robot leg as described in claim 7, characterized in that, An ankle power assembly is provided, comprising a second motor having an output shaft and a housing. A fifth mounting portion is located at the rear of the housing of the second motor, and this fifth mounting portion is fixedly connected to a mounting base of the second motor. The output shaft of the second motor includes an extension section extending from inside the housing to outside. A sixth mounting portion for mounting a third bearing is located on the portion outside the housing. The third bearing is mounted on the sixth mounting portion. The third bearing is positioned between the extension section of the second motor's output shaft and the mounting base of the second motor. The output shaft of the second motor is connected to a drive linkage of the foot.

11. A humanoid robotic leg, including a hip joint, characterized in that, The hip joint includes the joint unit as described in claim 1, the second mounting portion and the driving object are fixedly connected, a first bearing is mounted on the first mounting portion, and the first bearing is disposed between the housing and the mounting base; the output shaft includes an extension section, the extension section extends from inside the housing to outside the housing, and a third mounting portion for mounting a second bearing is disposed on the portion outside the housing, the second bearing is mounted on the third mounting portion, the second bearing is disposed between the extension section and the driving object, and the output shaft is further provided with a fourth mounting portion, the fourth mounting portion and the mounting base are fixedly connected.

12. The humanoid robot leg as described in claim 11, characterized in that, The rear part of the housing is provided with a stepped surface for mounting the first bearing as the first mounting part; the second mounting part and the fourth mounting part are both screw holes on the output shaft axis. The housing of the motor is set as a cylindrical body, and the mounting base is respectively provided with a connecting hole that mates with the first bearing, a connecting hole that mates with the extension section of the connecting shaft, and the drive object is respectively provided with a connecting hole that mates with the second bearing and a connecting hole that connects with the housing.

13. The humanoid robot leg as described in claim 11, characterized in that, The first mounting part is located behind the second mounting part; the fourth mounting part is located in front of the third mounting part. The outer end of the output shaft and the fourth mounting part form a step. The fourth mounting part is provided with a screw connection hole that is the same as the axial direction of the output shaft for installation. The mounting base is provided with a connection hole for the outer end, and the diameter of the connection hole matches the diameter of the outer end of the output shaft.

14. The humanoid robot leg as described in claim 11, characterized in that, An ankle power assembly is provided, comprising a second motor having an output shaft and a housing. A fifth mounting portion is located at the rear of the housing of the second motor, and this fifth mounting portion is fixedly connected to a mounting base of the second motor. The output shaft of the second motor includes an extension section extending from inside the housing to outside. A sixth mounting portion for mounting a third bearing is located on the portion outside the housing. The third bearing is mounted on the sixth mounting portion. The third bearing is positioned between the extension section of the second motor's output shaft and the mounting base of the second motor. The output shaft of the second motor is connected to a drive linkage of the foot.

15. A humanoid robot leg, characterized in that, This includes the knee joint as described in claim 7, 8, or 9, and the hip joint as described in claim 11, 12, or 13.

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