A spherical joint for an elbow of a humanoid robot

Abstract

The utility model discloses a kind of spherical joints for elbow of humanoid robot, it is related to robot field, including upper connector and lower connector, upper connector is used to connect the upper arm of robot, lower connector is used to connect the lower arm of robot, the opposite side of upper connector and lower connector is equipped with connector seat, cross cavity is equipped in connector seat, ball block is equipped between connector seat, two connecting rings are equipped with outside ball block, two connecting rings are big and small and perpendicular to each other, the center point of ball block is as center for two connecting rings, the utility model is connected two connecting rings which are big and small and perpendicular to each other by ball block, then connecting ring is inserted in the cross cavity of connector seat in cross cross mode, ball block is rotatably connected with connecting ring, and connecting ring can relatively move in cross cavity, so that robot elbow can realize multidirectional, multi-angle free rotation, accurately simulate the activity range of human elbow, make robot more natural and smooth when performing various complex actions.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more particularly to a ball joint for the elbow of a humanoid robot. Background Technology

[0002] The elbow joint, as a crucial motion joint in the upper limb of a humanoid robot, directly impacts the robot's mobility and operational precision. Traditional humanoid robot elbow joints typically employ simple hinge joints or low-degree-of-freedom joint designs, limiting their range of motion and flexibility. When performing complex movements, such as simulating the bending, extension, and rotation of the human arm, traditional elbow joints often fail to achieve natural and fluid movements, resulting in stiff and uncoordinated robot actions. For instance, the number of degrees of freedom in existing elbow joint rehabilitation robots does not match that of the human elbow joint, leading to significant differences in the robot's trajectory and hindering effective rehabilitation training. This reflects the insufficient flexibility of traditional elbow joints. Utility Model Content

[0003] The purpose of this invention is to provide a ball joint for the elbow of a humanoid robot, which solves the problem of insufficient flexibility of the elbow joint in existing humanoid robots.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows: A ball joint for the elbow of a humanoid robot includes an upper connector and a lower connector. The upper connector is used to connect the upper arm of the robot, and the lower connector is used to connect the lower arm of the robot. Each of the upper and lower connectors has a connecting seat on its opposite side. The connecting seat has a cross cavity inside, and a ball block is provided between the connecting seats. Two connecting rings are provided on the outside of the ball block. The two connecting rings are of different sizes and are perpendicular to each other. The upper and lower parts of the two connecting rings are inserted into the corresponding cross cavities in a cross-shaped manner. The ball block is rotatably connected to the corresponding connecting rings through short rods around its perimeter. Rotating rods are symmetrically rotatably connected to the inner and outer walls of the cross cavity at the inner and outer walls of the connecting rings. The rotating rods are rolled and attached to the connecting rings.

[0005] Preferably, each connecting ring includes two semicircular rings, which are symmetrically arranged, and the two ends of the two semicircular rings are respectively rotatably connected to the outside of the same two short rods. Designing the connecting rings as two semicircular rings facilitates installation and disassembly, and also provides more flexible space for the movement between the connecting rings, the ball blocks and the connecting seats, which helps to improve the flexibility and reliability of the joints.

[0006] Preferably, the surface of the rotating rod is provided with a rubber coating, which is in close rolling contact with the connecting ring. The rubber coating can reduce wear between the rotating rod and the connecting ring, reduce noise, and at the same time, provide appropriate damping to make the joint movement smoother.

[0007] Preferably, the joint of the two semicircular rings is provided with a protrusion and a groove that cooperate with each other. When the two semicircular rings are joined, the protrusion is embedded in the corresponding groove. The cooperation structure of the protrusion and the groove enhances the connection stability between the two semicircular rings.

[0008] Preferably, the upper and lower connectors are integrally formed with their corresponding connecting seats. The integrally formed structure can improve the overall strength and stability of the joint and reduce the risk of failure caused by loose or damaged connecting parts.

[0009] Preferably, both ends of the semicircular ring are chamfered. The chamfer can guide the parts to connect smoothly and reduce interference and wear caused by sharp edges.

[0010] Preferably, multiple mounting holes are provided on the opposite side of the connector, which facilitates the installation of the joint and allows the joint to be firmly fixed to the robot.

[0011] Compared with the prior art, the advantages of this utility model are as follows: 1. This utility model connects two mutually perpendicular connecting rings of different sizes via a ball block, and then the connecting rings are inserted into the cross cavity of the connecting seat in a cross-shaped manner. The ball block and the connecting ring are rotatably connected, and the connecting rings can move relative to each other within the cross cavity. This allows the robot's elbow to rotate freely in multiple directions and angles, accurately simulating the range of motion of the human elbow. This makes the robot perform various complex actions more naturally and smoothly, improving the robot's motion flexibility and adaptability, and enabling it to better adapt to different working environments and task requirements.

[0012] 2. This utility model achieves free rotation of the robot elbow joint in multiple directions and angles by connecting two semicircular rings together, allowing the semicircular ring at the connecting seat connected to the other connecting ring perpendicular to the rotation direction to move with the connecting seat, and the two ends of the semicircular ring to rotate around the short rod as the center. 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 cross-sectional view of the connecting seat structure of this utility model.

[0015] Figure 3 This is a schematic diagram of the upper connector structure after rotation.

[0016] Reference numerals: 1. Upper connector; 2. Lower connector; 3. Connecting seat; 31. Cross cavity; 4. Ball block; 5. Connecting ring; 51. Semicircular ring; 6. Short rod; 7. Rotating rod; 8. Protrusion; 9. Groove; 11. Mounting hole. Detailed Implementation

[0017] 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.

[0018] Please see Figures 1 to 3 This embodiment provides a ball joint for the elbow of a humanoid robot, including an upper connector 1 and a lower connector 2. The upper connector 1 is used to connect the upper arm of the robot, and the lower connector 2 is used to connect the lower arm of the robot. Each of the upper connector 1 and the lower connector 2 has a connecting seat 3 on its opposite side. The connecting seat 3 has a cross cavity 31 inside, and a ball block 4 is provided between the connecting seats 3. Two connecting rings 5 ​​are provided on the outside of the ball block 4. The two connecting rings 5 ​​are of different sizes and are perpendicular to each other. The upper and lower parts of the two connecting rings 5 ​​are inserted into the corresponding cross cavity 31 in a cross-shaped manner. The ball block 4 is rotatably connected to the corresponding connecting ring 5 by short rods 6 around its perimeter. Rotating rods 7 are symmetrically rotatably connected to the inner wall of the cross cavity 31 at the inner and outer walls of the connecting ring 5. The rotating rods 7 are rolled and attached to the connecting ring 5. When the robot's elbow moves, the ball block 4, driven by the connecting ring 5, achieves multi-angle rotation between the upper connecting seat 1 and the lower connecting seat 2 through the rotational connection with the connecting ring 5 and the relative movement of the connecting ring 5 within the cross cavity 31.

[0019] Each connecting ring 5 includes two semicircular rings 51, which are symmetrically arranged, and the two ends of the two semicircular rings 51 are respectively rotatably connected to the outside of the same two short rods 6. During the movement of ball block 4, the two semicircular rings 51 can rotate relative to each other around the short rod 6 to a certain extent to meet the movement requirements between ball block 4 and connecting seat 3.

[0020] The surface of the rotating rod 7 is coated with a rubber coating. The rubber coating is in close contact with the connecting ring 5 and rolls together. During the movement of the connecting ring 5, rolling friction is generated between the rubber coating and the connecting ring 5. The elasticity of the rubber can buffer part of the impact force, and the frictional properties of the rubber can provide a certain damping effect.

[0021] The two semicircular rings 51 are respectively provided with a protrusion 8 and a groove 9 that cooperate with each other. When the two semicircular rings 51 are connected, the protrusion 8 is embedded in the corresponding groove 9. This structure allows the two semicircular rings 51 to be better positioned and fixed when connected. When one of the upper connecting seat 1 and the lower connecting seat 2 rotates, it will rotate around the center of the ball block 4, causing the corresponding connecting seat 3 to slide on one of the connecting rings 5. At the same time, the semicircular ring 51 of the connecting seat 3 connected to the other connecting ring 5, which is perpendicular to the direction of rotation, will move with the connecting seat 3, and the two ends of the semicircular ring 51 will rotate around the short rod 6.

[0022] The upper connector 1 and the lower connector 2 are integrally formed with the corresponding connecting seat 3. The integral forming design means that there are no additional connecting parts between the upper connector 1, the lower connector 2 and the connecting seat 3, making the overall structure more compact and robust.

[0023] Both ends of the semicircular ring 51 are chamfered. When the two semicircular rings 51 rotate about the short rod 6 as the center, the chamfer can prevent the parts from scratching or wearing each other.

[0024] Multiple mounting holes 11 are provided on the opposite side of the connecting seat 3. Through these mounting holes 11, the connecting seat 3 can be fixedly connected to the upper connecting seat 1 and the lower connecting seat 2. At the same time, the entire elbow ball joint can be easily installed to the corresponding part of the robot.

[0025] 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 ball joint for the elbow of a humanoid robot, comprising an upper connector (1) and a lower connector (2), wherein the upper connector (1) is used to connect the upper arm of the robot, and the lower connector (2) is used to connect the lower arm of the robot, characterized in that, The upper connector (1) and the lower connector (2) are provided with connecting seats (3) on opposite sides. The connecting seats (3) are provided with cross cavities (31). There are ball blocks (4) between the connecting seats (3). There are two connecting rings (5) on the outside of the ball blocks (4). The two connecting rings (5) are one large and one small and are perpendicular to each other. The two connecting rings (5) are centered on the center point of the ball blocks (4). The upper and lower parts of the two connecting rings (5) are inserted into the corresponding cross cavities (31) in a cross-shaped manner. The ball blocks (4) are rotatably connected to the corresponding connecting rings (5) by short rods (6) around them. The inner wall of the cross cavity (31) is symmetrically connected to the inner and outer walls of the connecting rings (5) by rotating rods (7). The rotating rods (7) are rolled and attached to the connecting rings (5).

2. The ball joint for the elbow of the humanoid robot according to claim 1, characterized in that, Each of the connecting rings (5) includes two semicircular rings (51), which are symmetrically arranged, and the two ends of the two semicircular rings (51) are respectively rotatably connected to the outside of the same two short rods (6).

3. The ball joint for the elbow of the humanoid robot according to claim 1, characterized in that, The rotating rod (7) has a rubber coating on its surface, and the rubber coating is in a rolling connection with the connecting ring (5).

4. The ball joint for the elbow of the humanoid robot according to claim 2, characterized in that, The two semicircular rings (51) are respectively provided with a protrusion (8) and a groove (9) that cooperate with each other. When the two semicircular rings (51) are joined together, the protrusion (8) is embedded in the corresponding groove (9).

5. The ball joint for the elbow of the humanoid robot according to claim 1, characterized in that, The upper connector (1) and the lower connector (2) are integrally formed with the corresponding connector (3).

6. The ball joint for the elbow of the humanoid robot according to claim 4, characterized in that, Both ends of the semicircular ring (51) are chamfered.

7. The ball joint for the elbow of the humanoid robot according to claim 1, characterized in that, The connector (3) has multiple mounting holes (11) on each opposite side.

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