Parallel robot neck and humanoid robot

Abstract

The utility model discloses a parallel robot neck and humanoid robot, parallel robot neck includes neck branch, a plurality of neck branch is around arrangement, and the adjacent neck branch is mutually arranged and shows the angle, ring spare, including first ring spare and second ring spare, all neck branch one end common assembly first ring spare, and the other end of all neck branch common assembly second ring spare, wherein, neck branch includes screw rod and screw nut, still includes the shell of wrapping screw rod and screw nut, and one end of screw rod is connected with speed reducer motor, and the one side of screw nut has the rectangular boss of radial outer convex, and the inner wall of shell has the guide rectangular groove, and rectangular boss and guide rectangular groove movable assembly, and screw nut has the linear translation freedom along guide rectangular groove. Adopt the utility model through the rectangular boss of screw nut and shell guide groove cooperation, limit screw nut autorotation, and the linear telescopic movement of neck branch is accurately converted to the rotation of screw rod.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a parallel robot neck and humanoid robot. Background Technology

[0002] The neck of a humanoid robot, as the core hub connecting the torso and head, must simultaneously meet the requirements of motion flexibility, load-bearing capacity, and structural compactness in order to achieve key functions such as head posture adjustment and sensor installation and adaptation.

[0003] Some existing robot neck structures suffer from insufficient rigidity and low load capacity, making them unable to stably support the weight and workload of the head module. On the other hand, if the traditional parallel robot structure is adopted, its size is too large and its range of motion is limited, making it difficult to meet the design requirements of lightweight and miniaturized humanoid robots.

[0004] As humanoid robots are increasingly used in service, industry, and scientific research, the overall performance requirements for neck structures are continuously rising. The humanoid robot industry needs a compact, flexible, and stable parallel robot-type neck structure to adapt to the high-performance application scenarios of humanoid robots. Utility Model Content

[0005] The problem to be solved by this utility model is to provide a parallel robot neck and humanoid robot.

[0006] To solve the above problems, on the one hand, this utility model provides a parallel robot neck. To achieve the above objectives, the technical solution adopted by this utility model to solve its technical problems is as follows: A parallel robot neck includes: neck legs, a plurality of neck legs arranged in a ring, adjacent neck legs arranged at an angle to each other; and an annular component, including a first annular component and a second annular component, one end of all neck legs being fitted with the first annular component and the other end of all neck legs being fitted with the second annular component; wherein, the neck legs include a lead screw and a lead screw nut, and a housing enclosing the lead screw and the lead screw nut, one end of the lead screw being connected to a geared motor, one side of the lead screw nut having a rectangular protrusion protruding radially outward, the inner wall of the housing having a guide rectangular groove, the rectangular protrusion being movably fitted with the guide rectangular groove, and the lead screw nut having a linear translational degree of freedom along the guide rectangular groove.

[0007] As a further improvement of this utility model, one end of the nut abuts against a tubular push rod, one end of the outer shell is provided with a guide sleeve, the tubular push rod passes through the guide sleeve, and one end of the tubular push rod is assembled with an annular component.

[0008] As a further improvement of this utility model, the outer casing includes a motor housing, the geared motor is located inside the motor housing, and the inner wall of the motor housing has a limiting rectangular groove, which contacts the outer wall of the geared motor and restricts the rotational freedom of the geared motor.

[0009] As a further improvement of this utility model, the motor housing includes a first motor housing and a second motor housing that are radially connected to each other, and the limiting rectangular groove is located on the second motor housing.

[0010] As a further improvement of this utility model, the outer shell includes a motor housing and a push rod housing that are axially connected to each other, and the inner wall of the push rod housing has a guide rectangular groove.

[0011] As a further improvement of this utility model, the tubular push rod has a hollow cavity through which the lead screw passes.

[0012] As a further improvement of this utility model, the outer diameter of the first annular member is larger than the outer diameter of the second annular member, and the neck support legs are all assembled with the outer walls of the first annular member and the second annular member.

[0013] As a further improvement of this utility model, the two ends of the neck support leg are fixed with ball joint fork-shaped seats, the ball joint fork-shaped seats are movably fitted with ball joint shaft seats, the ball joint shaft seats have radial rods for inserting annular parts, and the radial rods are sleeved with bearings.

[0014] As a further improvement of this utility model, the radial rods are fitted with bearings, and each radial rod is fitted with at least two coaxial bearings.

[0015] On the other hand, a humanoid robot includes a parallel robotic neck as described above.

[0016] The beneficial technical effects of using the parallel robot neck of this application are: Several neck support legs are arranged around each other at an angle, and are assembled with the first and second ring components at both ends to form a stable parallel support chain layout, which significantly improves the overall rigidity of the neck structure, effectively enhances its load-bearing capacity, and can stably support the weight of the head module and the working load.

[0017] The neck outrigger transmits power through a lead screw and nut. The rectangular protrusion of the nut precisely matches the guide rectangular groove on the inner wall of the outer shell. Due to the sliding assembly between the rectangular protrusion and the guide rectangular groove, the nut does not rotate on its own axis, but instead converts the rotation of the lead screw into the linear extension and retraction motion of the neck outrigger. The movement trajectory of the nut is strictly limited to ensure smooth linear translation along the guide rectangular groove.

[0018] The overall structure can effectively control the volume of the structure while ensuring motion performance, which can meet the design requirements of lightweight and miniaturized humanoid robots.

[0019] This parallel branch layout improves overall rigidity. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a perspective view of one embodiment of the neck of the parallel robot of this utility model; Figure 2 This is an exploded view of one embodiment of the neck of the parallel robot of this utility model; Figure 3 This is a perspective view of a single neck support leg in one embodiment of the parallel robot neck of this utility model. Figure 4 This is a perspective view of a single neck support leg in one embodiment of the parallel robot neck of this utility model. Figure 5 This is an assembly drawing of the geared motor, lead screw, lead nut, push rod, and guide sleeve of one embodiment of the parallel robot neck of this utility model; Figure 6 This is an assembly drawing of the lead screw and lead nut for one embodiment of the neck of the parallel robot of this utility model; Figure 7 This is a perspective view of the push rod housing of one embodiment of the parallel robot neck of this utility model; Figure 8 This is an assembly drawing of the first motor housing and the second motor housing of one embodiment of the parallel robot neck of this utility model.

[0022] 1-First annular component; 2-Second annular component; 3-Neck support leg; 4-Spherical hinge bearing; 401-Radial rod; 5-Spherical hinge fork-shaped seat; 6-Outer shell; 601-Push rod outer shell; 6011-Guide rectangular groove; 602-First motor outer shell; 603-Second motor outer shell; 6031-Limiting rectangular groove; 7-Gear motor; 8-Lead screw; 9-Lead nut; 901-Rectangular protrusion; 10-Tubular push rod; 11-Guide sleeve; 12-Bearing. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to specific embodiments: To achieve the purpose of this utility model, please refer to Figures 1 to 8 A parallel robot neck includes: neck legs 3, several neck legs 3 arranged in a ring, with adjacent neck legs 3 forming an acute angle with each other; and an annular component, including a first annular component 1 and a second annular component 2, with one end of all neck legs 3 shared by the first annular component 1 and the other end of all neck legs 3 shared by the second annular component 2. Each neck leg 3 includes a lead screw 8 and a lead nut 9, and also includes a housing enclosing the lead screw 8 and the lead nut 9. One end of the lead screw 8 is connected to a reduction motor 7. Figure 6 As shown, one side of the nut 9 has a rectangular protrusion 901 that protrudes radially outward, as... Figure 7 As shown, the inner wall of the outer shell has a guide rectangular groove 6011, the rectangular protrusion 901 is movably assembled with the guide rectangular groove 6011, and the nut 9 has a linear reciprocating translational degree of freedom along the guide rectangular groove 6011.

[0024] To facilitate the demonstration of the internal structure, compared to Figure 3 , Figure 4 The second motor housing 603 is concealed.

[0025] To facilitate the demonstration and understanding of the internal structure, Figure 3 , Figure 4 , Figure 5 , Figure 6 It is a process of gradual disassembly, with the number of parts gradually decreasing.

[0026] The beneficial effects of adopting the above technical solution are as follows: By arranging several neck support legs 3 in a ring shape and at an angle to each other, and assembling them together with the first ring component 1 and the second ring component 2 to form a parallel branch layout, the overall rigidity and load-bearing capacity of the neck structure can be significantly improved, and the weight of the head module and the working load can be stably supported. At the same time, the rectangular protrusion 901 of the lead screw 9 is movably assembled with the guide rectangular groove 6011 on the inner wall of the outer shell 6, which strictly restricts the rotation of the lead screw 9, converting the rotation of the lead screw 8 into linear translational motion, ensuring that the motion trajectory is accurate and stable.

[0027] In some other embodiments of this utility model, one end of the nut 9 abuts against the tubular push rod 10, one end of the outer shell is provided with a guide sleeve 11, the tubular push rod 10 passes through the guide sleeve 11, and one end of the tubular push rod 10 is assembled with the annular part.

[0028] The guide sleeve 11 has a circular hole in the middle for the tubular push rod 10 to pass through. In addition, a portion of the nut 9 extends into the guide sleeve 11.

[0029] The beneficial effects of adopting the above technical solution are: one end of the nut 9 abuts against the tubular push rod 10 and is guided by the guide sleeve 11 at one end of the outer shell 6, so that the tubular push rod 10 can smoothly transmit the thrust to the ring part, reducing friction and shaking during the movement, enhancing the stability and reliability of the extension and retraction of the neck support leg 3, thereby improving the overall movement accuracy.

[0030] In some other embodiments of this utility model, the outer casing includes a motor housing, the geared motor 7 is located inside the motor housing, and the inner wall of the motor housing has a limiting rectangular groove 6031. The limiting rectangular groove 6031 contacts the outer wall of the geared motor 7 and restricts the rotational freedom of the main body of the geared motor 7.

[0031] The beneficial effects of adopting the above technical solution are: it effectively restricts the rotational degree of freedom of the geared motor 7, prevents the motor from loosening or deviating during operation, and ensures more efficient and reliable power transmission.

[0032] like Figure 8 As shown, in some other embodiments of this utility model, the motor housing includes a first motor housing 602 and a second motor housing 603 that are radially connected to each other, and a limiting rectangular groove 6031 is located on the second motor housing 603.

[0033] The beneficial effects of adopting the above technical solution are: this split design facilitates the installation and maintenance of the geared motor 7, while the limiting rectangular groove 6031 can accurately position the geared motor 7, simplify the assembly process, and improve production efficiency and structural consistency.

[0034] like Figure 7 , Figure 8 As shown, in some other embodiments of the present invention, the outer shell includes a motor housing and a push rod housing 601 that are axially connected to each other, and the inner wall of the push rod housing 601 has a guide rectangular groove 6011.

[0035] The beneficial effects of adopting the above technical solution are: it reduces manufacturing complexity, ensures the integrity and precision of the wire nut 9 guiding structure, and helps to control volume and improve structural compactness.

[0036] In some other embodiments of the present invention, the tubular push rod 10 has a hollow cavity through which the lead screw 8 passes.

[0037] The beneficial effects of adopting the above technical solution are: it enables the lead screw 8 to move freely inside the push rod, avoids interference, saves space, makes the neck support leg 3 structure more compact, and is conducive to realizing the lightweight design of humanoid robots.

[0038] like Figure 2As shown, in some other embodiments of this utility model, the outer diameter of the first annular member 1 is larger than the outer diameter of the second annular member 2, and the neck support leg 3 is assembled with the outer wall of the first annular member 1 and the second annular member 2.

[0039] The beneficial effects of adopting the above technical solution are: this design of large and small rings enhances the support base of the ring component and improves the uniformity of load distribution.

[0040] like Figure 3 As shown, in some other embodiments of this utility model, the two ends of the neck support leg 3 are fixed with ball joint fork-shaped seats 5, the ball joint fork-shaped seats 5 are movably assembled with ball joint shaft seats 4, the ball joint shaft seats 4 have radial rods 401 for inserting annular parts, and the radial rods 401 are sleeved with bearings 12.

[0041] The ball joint fork-shaped seat 5 provides one rotational degree of freedom, and the ball joint shaft seat 4 also provides one rotational degree of freedom. The rotation axis of the ball joint fork-shaped seat 5 is perpendicular to the rotation axis of the ball joint shaft seat 4.

[0042] The beneficial effects of adopting the above technical solution are: it realizes multi-degree-of-freedom rotation, enabling the neck to flexibly adapt to complex posture adjustments, while the bearing 12 reduces friction and makes the movement smoother.

[0043] In some other embodiments of this utility model, the radial rod 401 is sleeved with a bearing 12, and each radial rod 401 is sleeved with at least two coaxial bearings 12.

[0044] The beneficial effects of adopting the above technical solution are: it significantly enhances the load capacity and rotational stability of the radial rod 401, reduces the risk of single-point wear, and extends the service life.

[0045] In another embodiment, the number of neck support legs 3 is preferably six.

[0046] A humanoid robot, including the aforementioned parallel robot neck.

[0047] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A parallel robot neck, characterized in that, include: Neck support legs, several neck support legs are arranged in a circle, and adjacent neck support legs are arranged at an angle to each other; The ring-shaped component includes a first ring-shaped component and a second ring-shaped component. One end of all the neck legs is assembled with the first ring-shaped component, and the other end of all the neck legs is assembled with the second ring-shaped component. The neck support leg includes a lead screw and a lead screw nut, as well as a housing that encloses the lead screw and the lead screw nut. One end of the lead screw is connected to a geared motor. One side of the lead screw nut has a rectangular protrusion that bulges outward in a radial direction. The inner wall of the housing has a guide rectangular groove. The rectangular protrusion is movably assembled with the guide rectangular groove. The lead screw nut has a linear translational freedom along the guide rectangular groove.

2. The parallel robot neck according to claim 1, characterized in that: One end of the nut abuts against a tubular push rod, and one end of the housing is provided with a guide sleeve. The tubular push rod passes through the guide sleeve, and one end of the tubular push rod is assembled with an annular component.

3. The parallel robot neck according to claim 1, characterized in that: The housing includes a motor housing, the geared motor is located inside the motor housing, and the inner wall of the motor housing has a limiting rectangular groove, which contacts the outer wall of the geared motor and restricts the rotational freedom of the geared motor.

4. The parallel robot neck according to claim 3, characterized in that: The motor housing includes a first motor housing and a second motor housing that are radially connected to each other, and the limiting rectangular groove is located on the second motor housing.

5. The parallel robot neck according to claim 1, characterized in that: The housing includes a motor housing and a push rod housing that are axially connected to each other, and the inner wall of the push rod housing has a guide rectangular groove.

6. The parallel robot neck according to claim 2, characterized in that: The tubular push rod has a hollow cavity through which the lead screw passes.

7. The parallel robot neck according to claim 1, characterized in that: The outer diameter of the first annular component is larger than the outer diameter of the second annular component, and the neck support legs are all assembled with the outer walls of the first annular component and the second annular component.

8. The parallel robot neck according to claim 1, characterized in that: Both ends of the neck support leg are fixed with ball joint fork-shaped seats, and ball joint shaft seats are movably assembled on the ball joint fork-shaped seats. The ball joint shaft seats have radial rods for inserting annular parts, and bearings are sleeved on the radial rods.

9. The parallel robot neck according to claim 8, characterized in that: Each radial rod is fitted with at least two coaxial bearings.

10. A humanoid robot, characterized in that: Including the parallel robot neck as described in any one of claims 1 to 9.

Images