Upper limb structure device of humanoid robot

Abstract

The utility model discloses a kind of upper limb structure devices of humanoid robot, belong to humanoid robot upper limb field, including upper limb rotating component and angle adjusting component, upper limb rotating component includes upper limb big arm, one end of upper limb big arm is fixedly connected with rotating seat, rotating seat is installed with installation cylinder inside, double-shaft motor is installed with inside installation cylinder, the both sides of rotating seat are all set with limit hole, the both ends of double-shaft motor are all fixedly connected with limit shaft, limit shaft is inserted in the inside of limit hole, the both sides of the end of upper limb big arm are installed with two lubricating bearings, angle adjusting component includes transmission gear installed in the inside of upper limb big arm, the utility model is equipped with upper limb rotating component cooperation angle adjusting component, not only can improve the fluency when upper limb big arm rotates and reduce cost loss, simultaneously, by above-mentioned structure mutual cooperation also facilitate to improve the fluency of small arm rotating bending, to be able to enhance the practicability of upper limb structure device further.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot upper limbs, specifically to an upper limb structure device for a humanoid robot. Background Technology

[0002] Humanoid robots, mimicking human form and function, possess walking, operational, and interactive capabilities and are being applied in fields such as industry and medicine. The upper limb structure is a crucial component of humanoid robots. The "Upper Limb Structure Device for a Humanoid Robot" disclosed in application number "CN202420493780.7" represents an increasingly mature technology. This upper limb structure device, through a lubrication mechanism, allows lubricating oil from an oil chamber to be squeezed out through an oil outlet pipe, causing the squeezed-out lubricating oil to drip onto the hinge between the upper limb arm and the rotating seat. This provides timely lubrication for the upper limb arm, preventing jamming during operation and ensuring normal robot function. It also solves the problem of existing robot upper limb structures becoming jammed after prolonged use. "Manual lubrication is required to prevent jamming." However, this upper limb structure has the following drawbacks during use: While lubrication between the upper arm and the rotating seat does ensure smooth arm movement, prolonged lubrication increases costs. Furthermore, the smoothness of arm rotation needs improvement. Therefore, it is necessary to provide an upper limb structure that improves rotational smoothness, reduces costs, and enhances practicality. Additionally, the forearm's stability during angle adjustment is insufficient. Therefore, it is necessary to provide an upper limb structure that significantly improves angle adjustment stability and enhances practicality. Utility Model Content

[0003] The present invention provides an upper limb structure device for a humanoid robot, which aims to solve the problems of the need to improve the smoothness and stability of angle adjustment of existing upper limb structure devices, as well as the excessive cost.

[0004] To achieve the above objectives, this utility model provides an upper limb structure device for a humanoid robot, including an upper limb rotation component and an angle adjustment component; The upper limb rotation assembly includes an upper limb upper arm, one end of which is fixedly connected to a rotating seat. An installation cylinder is installed inside the rotating seat, and a dual-axis motor is installed inside the installation cylinder. Limiting holes are opened on both sides of the rotating seat, and limiting shafts are fixedly connected to both ends of the dual-axis motor. The limiting shafts are inserted into the limiting holes. Two lubricated bearings are installed on both sides of the end of the upper limb upper arm. An angle adjustment assembly includes a transmission gear installed inside the upper arm of the upper limb, a half gear meshing with one side of the transmission gear, a transmission mechanism installed at the upper end of the transmission gear, and an electric telescopic shaft movably installed at the end of the upper arm of the upper limb. Both the transmission gear and the half gear are rotatably connected inside a lubricated bearing.

[0005] As a preferred embodiment of this utility model, a positioning groove is provided at the upper end of the upper limb upper arm, and a protective shell is installed at the upper end of the upper limb upper arm, the protective shell being installed on the surface of the transmission mechanism.

[0006] As a preferred embodiment of this utility model, several arc-shaped locking blocks are fixedly connected to both ends of the dual-axis motor, and several arc-shaped locking grooves are opened on the inner walls of both ends of the mounting cylinder, with the several arc-shaped locking blocks locked inside the arc-shaped locking grooves.

[0007] As a preferred embodiment of this utility model, two mounting holes are provided on both sides of the end of the upper arm, and the two lubricating bearings are installed inside the mounting holes.

[0008] In a preferred embodiment of this utility model, the transmission mechanism includes a first synchronous pulley mounted on the upper end of the transmission gear, a servo motor installed inside the positioning groove, and a second synchronous pulley mounted on the output end of the servo motor, wherein the second synchronous pulley and the first synchronous pulley are meshed together.

[0009] As a preferred embodiment of this utility model, a fastening screw hole is provided on the side surface of the half gear, and a fastening bolt is fixedly connected to the upper end of the electric telescopic shaft, with the fastening bolt threaded into the inside of the fastening screw hole.

[0010] As a preferred embodiment of this utility model, the surface of the half gear is provided with an annular groove, and the upper end of the electric telescopic shaft is fixedly connected with a positioning ring, which is engaged inside the annular groove.

[0011] Compared with the prior art, the beneficial effects of this utility model are: When the upper arm of the upper limb is rotating for angle adjustment, the mounting cylinder is first connected to the upper body of the robot. Then, the dual-axis motor is started to rotate the two limit shafts at both ends. At this time, the mounting cylinder is used for positioning. As the dual-axis motor rotates with the limit shafts, it can rotate the rotating seat to adjust the angle. At the same time, when the transmission gear rotates with the half gear, the presence of the lubricating bearing can not only reduce the friction and reduce the operating load of the transmission mechanism, but also avoid the use of lubricating oil, thus reducing cost losses. Compared with the upper limb structure device in the existing technology "An upper limb structure device for a humanoid robot", this utility model can not only ensure the smooth operation of the upper limb arm through the cooperation of the above structures, but also reduce cost losses, thereby improving the ease of use of the upper limb structure. When the forearm of the upper limb structure bends and rotates, the servo motor in the transmission mechanism is first started to drive the second synchronous pulley to rotate, which in turn drives the first synchronous pulley to rotate with the synchronous belt. This drives the transmission gear to rotate clockwise or counterclockwise. When the transmission gear drives the half gear to rotate, the electric telescopic shaft can be bent. Compared with the upper limb structure in the existing technology "An upper limb structure device for a humanoid robot", the bending effect achieved by the gear meshing of this utility model can significantly improve the rotational stability of the upper limb structure, thereby enhancing the practicality of the upper limb structure. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a disassembled view of the upper limb rotation component structure of this utility model; Figure 3 This is a schematic diagram of the transmission mechanism structure of this utility model; Figure 4 This is a schematic diagram of the electric telescopic shaft structure of this utility model.

[0013] In the diagram: 100, upper limb rotating assembly; 101, upper limb upper arm; 102, rotating seat; 103, mounting cylinder; 104, dual-axis motor; 105, limiting hole; 106, limiting shaft; 107, lubricating bearing; 111, positioning groove; 112, protective shell; 121, arc-shaped locking block; 122, arc-shaped locking groove; 131, mounting hole; 200, angle adjustment assembly; 201, transmission gear; 202, half gear; 203, transmission mechanism; 204, electric telescopic shaft; 2031, first synchronous pulley; 2032, servo motor; 2033, second synchronous pulley; 2034, synchronous belt; 211, fastening screw hole; 212, fastening bolt; 221, annular groove; 222, positioning ring. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0015] Please see Figures 1-4 This utility model provides an upper limb structure device for a humanoid robot, including an upper limb rotation component 100 and an angle adjustment component 200; The upper limb rotation assembly 100 includes an upper limb upper arm 101. One end of the upper limb upper arm 101 is fixedly connected to a rotating seat 102. An installation cylinder 103 is installed inside the rotating seat 102. A dual-axis motor 104 is installed inside the installation cylinder 103. Limiting holes 105 are opened on both sides of the rotating seat 102. Limiting shafts 106 are fixedly connected to both ends of the dual-axis motor 104. The limiting shafts 106 are inserted into the limiting holes 105. Two lubricating bearings 107 are installed on both sides of the end of the upper limb upper arm 101. Angle adjustment assembly 200 includes a transmission gear 201 installed inside the upper arm 101. A half gear 202 is meshed with one side of the transmission gear 201. A transmission mechanism 203 is installed at the upper end of the transmission gear 201. An electric telescopic shaft 204 is movably installed at the end of the upper arm 101. Both the transmission gear 201 and the half gear 202 are rotatably connected inside the lubricated bearing 107.

[0016] In one specific embodiment, the upper limb rotation component 100, in conjunction with the angle adjustment component 200, not only improves the smoothness of the upper arm 101's rotation and reduces cost losses, but also, through the cooperation of these structures, facilitates the smoothness of the forearm's rotation and bending, thereby enhancing the practicality of the upper limb structure device. In use, the mounting cylinder 103 is first connected to the robot's upper body, and simultaneously the dual-axis motor 104 is started, rotating the two end limit shafts 106. The positioning effect of the mounting cylinder 103 prevents the dual-axis motor 104 from rotating along with it. As the dual-axis motor 104 rotates with the limit shafts 106, it can... The rotating seat 102 can be rotated to adjust the angle. Then, the servo motor 2032 in the transmission mechanism 203 is started to rotate the second synchronous pulley 2033. In conjunction with the synchronous belt 2034, the first synchronous pulley 2031 is rotated, which can drive the transmission gear 201 to rotate clockwise or counterclockwise. The transmission gear 201 drives the half gear 202 to rotate, which in turn controls the bending of the electric telescopic shaft 204. The presence of the lubricating bearing 107 can not only reduce friction and reduce the operating load of the transmission mechanism 203, but also avoid the use of lubricating oil, thereby reducing cost losses and enhancing the practicality of the upper limb structure device.

[0017] Please see Figure 2 The upper end of the upper arm 101 is provided with a positioning groove 111, and a protective shell 112 is installed on the upper end of the upper arm 101. The protective shell 112 is installed on the surface of the transmission mechanism 203.

[0018] In one specific embodiment, the positioning groove 111 can enhance the installation stability of the servo motor 2032, and the protective shell 112 can protect the transmission mechanism 203 and extend its service life.

[0019] Please see Figure 2Several arc-shaped locking blocks 121 are fixedly connected to both ends of the dual-axis motor 104. Several arc-shaped locking grooves 122 are opened on both ends of the inner wall of the mounting cylinder 103. Several arc-shaped locking blocks 121 are locked inside the arc-shaped locking grooves 122.

[0020] In one specific embodiment, the arc-shaped locking block 121 is engaged inside the arc-shaped locking groove 122, thus preventing the dual-axis motor 104 from rotating along with it, thereby improving the smoothness of the rotation of the upper arm 101.

[0021] Please see Figure 2 Two mounting holes 131 are provided on both sides of the end of the upper arm 101, and two lubricating bearings 107 are installed inside the mounting holes 131.

[0022] In one specific embodiment, the mounting hole 131 can enhance the installation stability of the lubricating bearing 107, so as to improve the rotational smoothness of the transmission gear 201 and the half gear 202.

[0023] Please see Figure 3 and Figure 4 The transmission mechanism 203 includes a first synchronous pulley 2031 mounted on the upper end of the transmission gear 201, a servo motor 2032 installed inside the positioning groove 111, a second synchronous pulley 2033 mounted on the output end of the servo motor 2032, and the second synchronous pulley 2033 and the first synchronous pulley 2031 meshing with each other.

[0024] In one specific embodiment, the servo motor 2032 is started to rotate the second synchronous pulley 2033, which, together with the synchronous belt 2034, can rotate the first synchronous pulley 2031, and then rotate the transmission gear 201, ensuring the smooth rotation of the electric telescopic shaft 204.

[0025] Please see Figure 3 and Figure 4 The side surface of the half gear 202 is provided with a fastening screw hole 211, and the upper end of the electric telescopic shaft 204 is fixedly connected with a fastening bolt 212, which is threaded into the inside of the fastening screw hole 211.

[0026] In one specific embodiment, the fastening bolt 212 is threaded into the fastening bolt hole 211, thereby improving the connection tightness between the electric telescopic shaft 204 and the half gear 202 and the ease of disassembly and replacement.

[0027] Please see Figure 3 and Figure 4 The surface of the half gear 202 is provided with an annular groove 221, and the upper end of the electric telescopic shaft 204 is fixedly connected with a positioning ring 222, which is engaged inside the annular groove 221.

[0028] In one specific embodiment, when the fastening bolt 212 is threaded into the fastening bolt hole 211, the positioning ring 222 is installed inside the annular groove 221, which can significantly enhance the connection strength between the electric telescopic shaft 204 and the half gear 202.

[0029] Working principle: When using the upper limb structure device, first connect the mounting cylinder 103 to the robot's upper body. Then, start the dual-axis motor 104 to rotate the two end limit shafts 106. The positioning effect of the mounting cylinder 103 prevents the dual-axis motor 104 from rotating. As the dual-axis motor 104 rotates with the limit shafts 106, it can rotate the rotating seat 102 to adjust the angle. At the same time, start the servo motor 2032 in the transmission mechanism 203 to rotate the second synchronous pulley 2033. In conjunction with the synchronous belt 2034, it rotates the first synchronous pulley 2031, thereby driving the transmission gear 201 to rotate clockwise or counterclockwise. The transmission gear 201 drives the half gear 202 to rotate, which in turn controls the bending of the electric telescopic shaft 204. At this time, the presence of the lubricating bearing 107 can not only reduce friction, but also reduce the operating load of the transmission mechanism 203, thus avoiding the use of lubricating oil and reducing cost losses. Therefore, it can enhance the practicality of the upper limb structure device.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] 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. An upper limb structure device for a humanoid robot, characterized in that, include: The upper limb rotation assembly (100) includes an upper limb upper arm (101), one end of which is fixedly connected to a rotating seat (102). An installation cylinder (103) is installed inside the rotating seat (102), and a dual-axis motor (104) is installed inside the installation cylinder (103). Limiting holes (105) are opened on both sides of the rotating seat (102), and limiting shafts (106) are fixedly connected to both ends of the dual-axis motor (104). The limiting shafts (106) are inserted into the limiting holes (105), and two lubricated bearings (107) are installed on both sides of the end of the upper limb upper arm (101). An angle adjustment assembly (200) includes a transmission gear (201) installed inside the upper arm (101), a half gear (202) meshing with one side of the transmission gear (201), a transmission mechanism (203) installed at the upper end of the transmission gear (201), and an electric telescopic shaft (204) movably installed at the end of the upper arm (101). The transmission gear (201) and the half gear (202) are both rotatably connected inside a lubricated bearing (107).

2. The upper limb structure device according to claim 1, characterized in that: The upper end of the upper limb (101) is provided with a positioning groove (111), and a protective shell (112) is installed on the upper end of the upper limb (101). The protective shell (112) is installed on the surface of the transmission mechanism (203).

3. The upper limb structure device according to claim 1, characterized in that: Several arc-shaped locking blocks (121) are fixedly connected to both ends of the dual-axis motor (104), and several arc-shaped locking grooves (122) are opened on both ends of the inner wall of the mounting cylinder (103), and several arc-shaped locking blocks (121) are locked inside the arc-shaped locking grooves (122).

4. The upper limb structure device according to claim 1, characterized in that: Two mounting holes (131) are provided on both sides of the end of the upper arm (101), and the two lubricating bearings (107) are installed inside the mounting holes (131).

5. The upper limb structure device according to claim 2, characterized in that: The transmission mechanism (203) includes a first synchronous pulley (2031) mounted on the upper end of the transmission gear (201), a servo motor (2032) is installed inside the positioning groove (111), and a second synchronous pulley (2033) is installed at the output end of the servo motor (2032). The second synchronous pulley (2033) and the first synchronous pulley (2031) are meshed together.

6. The upper limb structure device according to claim 1, characterized in that: The side surface of the half gear (202) is provided with a fastening screw hole (211), and the upper end of the electric telescopic shaft (204) is fixedly connected with a fastening bolt (212), which is threaded into the inside of the fastening screw hole (211).

7. The upper limb structure device according to claim 1, characterized in that: The surface of the half gear (202) is provided with an annular groove (221), and the upper end of the electric telescopic shaft (204) is fixedly connected with a positioning ring (222), which is engaged inside the annular groove (221).

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