A humanoid robot arm rotation angle adjusting mechanism

Abstract

The utility model provides a kind of humanoid robot arm rotation angle adjusting mechanism, which integrates driving lubrication and sealing functions. The joint component is symmetrically provided with a cavity composed of transmission cavity and driving cavity. The joint is driven to rotate by the gear symmetrically arranged on both sides, and simultaneously drives the rack and slide post to reciprocate. The piston cylinder at the bottom of the slide post constitutes a micro pump in the suction cavity, continuously pumps the lubricating oil deposited at the bottom of the cavity to the top transmission gear to realize active circulation lubrication, ensuring sufficient lubrication and heat dissipation. At the same time, the linkage folding air cylinder at the top of the slide post compresses the positive pressure gas to form a positive pressure gas source. This gas source not only maintains the positive pressure of the lubricating oil inside the cavity to effectively prevent dust and water, but also serves as an emergency power source to drive the brake to lock the joint or provide power for other pneumatic components. This design realizes synchronous completion of joint movement, active lubrication and gas pressure reserve with single power input, significantly improves the reliability, integration and autonomy of the mechanism.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a humanoid robot arm rotation angle adjustment mechanism. Background Technology

[0002] Currently, the joint rotation mechanisms of high-performance humanoid robot arms generally adopt a modular joint design. The core of this design is the integration of servo motors, high-precision reducers, encoders, and brakes into a compact unit. The output shaft angle is ultimately adjusted by directly driving the reducer input shaft through the motor. This design uses electricity as the sole drive source, pursuing high power density, high response speed, and high control precision.

[0003] In terms of transmission mechanism lubrication, existing technologies either simply apply grease to the transmission components or use grease-lubricated sealed cavities, that is, filling the joint unit with grease during assembly and then sealing it, aiming for a lifetime of maintenance-free operation. However, regardless of the method, grease lubrication will dry out or separate after long-term use, which will lead to poor lubrication of the transmission components after lubrication failure, exacerbating wear and noise. Utility Model Content

[0004] The purpose of this invention is to solve the problems of unreliable joint lubrication and limited functionality in existing joint lubrication systems. By converting the rotational motion of the joint components into forced circulation of lubricating oil, and by using the rotational motion of the joint components themselves to fill the lubricating oil cavity with positive pressure, active lubrication and sealing without external force are achieved, significantly improving the reliability, lifespan and self-maintenance capability of the joint under complex working conditions.

[0005] The purpose of this utility model is achieved through the following technical solution: a humanoid robot arm rotation angle adjustment mechanism, including a joint component, a drive component, a self-flowing suction component, and a positive pressure inflation component. The joint component includes a base joint, a rotating joint, and a cover. The drive component includes a transmission gear. The self-flowing suction component includes a sliding column. The positive pressure inflation component includes a folding air cylinder. The structure formed by the fastener and the reference joint has a cavity composed of a transmission cavity and a drive cavity on both sides. The cavity can be filled with lubricating oil. The rotating joint is screwed into the reference joint, and its shaft end extends into the transmission cavity and is connected to the transmission gear screwed into the inner wall of the transmission cavity. Each set of transmission chambers also has a U-shaped suction chamber inside. The inlet of the suction chamber is connected to the bottom wall of the transmission chamber, and the outlet is connected to the upper end of the side wall of the transmission chamber. Each set of drive chambers also has a cooperating chamber inside. A rack is slidably connected to the outer wall of the cooperating chamber. The rack on the same side meshes with the transmission gear. A sliding column is fixed to one side of the rack. A piston cylinder is fixed to the bottom end of the sliding column. The piston cylinder is slidably connected to the side away from the inlet of the suction chamber. An elastic gasket facing the piston cylinder is slidably connected to the bottom end of the sliding column. An oil permeable hole is opened at the top end of the piston cylinder. The top of the sliding column is slidably connected to the inner bottom of the cooperating chamber. The top end of the folding air cylinder is fixed to the inner upper end of the cooperating chamber. The top end of the sliding column can compress and relax the folding air cylinder.

[0006] The process of using the technical solution formed by this utility model is as follows: The drive mechanism transmits power to the transmission gears. The two sets of transmission gears rotate synchronously and in the same direction, and respectively form a transmission connection with the two ends of the rotating joint shaft. This can drive the rotating joint to stably adjust the rotation angle relative to the reference joint, thus forming the rotation movement of the arm joint within a certain angle range. Since the transmission mechanism associated with the transmission gear is located in the cavity composed of the transmission chamber and the drive chamber, and the inside of the cavity is filled with lubricating oil, the transmission mechanism associated with the transmission gear can be immersed in the lubricating oil, providing sufficient and continuous lubrication. The forward and reverse rotation of the transmission gear within a certain range can not only drive the arm joint to rotate within a certain angle range, but also form the rack to reciprocate linear movement within a certain range. The rack drives the piston cylinder to move together through the sliding column. The piston cylinder is located at the end of the suction chamber away from the inlet, so that when the piston cylinder moves away from the inlet of the suction chamber, a negative pressure will be generated behind it. At this time, under the combined action of the pressure difference and its own elastic force towards the piston cylinder, the sealing gasket will stick tightly to the top of the piston cylinder and seal the oil permeation hole. The negative pressure will draw the lubricating oil deposited at the bottom of the transmission chamber into the cavity through the inlet of the suction chamber. Furthermore, one-way valves are installed at both the inlet and outlet ends of the suction chamber, allowing lubricating oil to enter from the outlet end of the suction chamber and flow out from the outlet end of the suction chamber only. When the piston cylinder moves toward the inlet of the suction chamber, it will exert pressure on the lubricating oil drawn into the suction chamber. At this time, the gasket is pushed open by the oil pressure and separates from the piston cylinder. The lubricating oil flows out from the oil hole, flows through the outlet of the suction chamber, and flows out through the upper end of the inner wall of the transmission chamber. This process can continuously draw up the old oil at the bottom of the transmission chamber and re-spray it onto the moving parts such as the transmission gear located at the top. The top of the sliding column reciprocates linearly within the cooperating cavity. When the sliding column moves upward, its top presses against the folded air cylinder installed at the upper end of the cooperating cavity, causing the folded air cylinder to compress and expel the air inside. When the slide column moves downward, the pressure on the folding air cylinder is released, and the folding air cylinder returns to its original shape by its own elasticity, drawing in air from the outside to prepare for the next compression and inflation. One of the air outlets of the folding air pump is connected in one direction to the inner cavity of the drive chamber. When the pressure inside the cavity composed of the transmission chamber and the drive chamber is too low, the connection channel between the folding air pump and the inner cavity of the drive chamber will be opened automatically to fill the drive chamber with positive pressure gas.

[0007] By adopting the above technical solution, this utility model can achieve the following beneficial effects: (1) This utility model uses the rotation of the joint component itself to synchronously drive the self-flowing suction component, continuously pumping the lubricating oil deposited at the bottom of the transmission cavity to the transmission component associated with the transmission gear at the top. This breaks the situation of oil deposition and poor lubrication at the top in traditional oil bath lubrication. This design ensures that the lubricating oil can actively flow to the gear contact surface that needs lubrication, reducing dry friction and wear. (2) This utility model achieves three-phase functions of rotation of the joint component itself, circulation of lubricating oil in the transmission cavity and drive cavity and positive pressure inflation with only one input power. The internal moving parts of the mechanism have a high reuse rate. There is no need to set up an independent motor or driver for the lubrication and sealing system. The lubrication pump and positive pressure generating device are cleverly integrated inside the transmission cavity and drive cavity without significantly increasing the external size of the joint and the overall complexity. The space utilization rate is high. (3) The positive pressure inflation component of this utility model moves to fill the inner cavity of the drive cavity with gas, so that the pressure ratio inside the transmission cavity and the drive cavity is higher than the pressure of the external environment. This positive pressure environment can effectively prevent external dust, moisture and corrosive gas from entering the mechanism. It is crucial for robots working in complex and unstructured environments, making the lubricating oil less likely to be contaminated and the transmission components less likely to rust, thereby greatly extending the maintenance interval and service life of the mechanism. (4) The frequency of lubrication of the self-flowing suction component of this utility model is directly linked to the rotation of the joint component. The faster or more frequently the transmission gear drives the joint component to rotate, the faster the lubricating oil circulates, achieving a lubrication effect that can be supplied on demand. The forced circulation of lubricating oil also accelerates the dissipation of frictional heat of the transmission components associated with the transmission gear, avoiding local overheating and improving the service life and reliability of the joint as a whole. Attached Figure Description

[0008] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a structural schematic diagram of the joint component of this utility model; Figure 3 This is a structural schematic diagram of the moving component part of this utility model; Figure 4 This is a schematic diagram of the transmission structure of the drive gear part of this utility model; Figure 5 This is a schematic diagram of the connection structure between the drive cavity and the transmission cavity of this utility model; Figure 6 This is a schematic diagram of the structure of the oscillating stirring component of this utility model; Figure 7 This is an exploded structural diagram of the oscillating stirring component of this utility model; Figure 8 This is a cross-sectional structural diagram of the self-flowing suction assembly of this utility model; Figure 9 This is a schematic diagram of the installation structure of the rack part of this utility model; Figure 10 This is a schematic diagram of the sealing gasket part of this utility model; Figure 11 This is a schematic diagram of the oil-permeable hole portion of this utility model; Figure 12 This is a schematic diagram of the positive pressure inflation component of this utility model.

[0010] Figure label: 1. Joint component; 101. Reference joint; 102. Rotating seat; 103. Rotating joint; 104. Rotating shaft; 105. Cover; 2. Drive assembly; 201. Transmission cavity; 202. Sealing slot; 203. Irregularly shaped sealing gasket; 204. Rotating gear; 205. Drive shaft; 206. Transmission gear; 207. Hollow dual-axis stepper motor; 208. Drive gear; 209. Drive cavity; 210. Drive rotating seat; 211. Drive rotating shaft; 212. Press-fit slot; 3. Oscillating stirring component; 301. Oscillating swivel seat; 302. Oscillating arm; 303. Oscillating blades; 304. Eccentric roller; 305. Rolling chute; 4. Self-flowing suction assembly; 401. Suction chamber; 402. First slide; 403. Suction inlet; 404. Suction outlet; 405. Coordinating chamber; 406. Side slide groove; 407. Rack; 408. Rack slide; 409. Side connecting seat; 410. Sliding column; 411. Second slide; 412. Piston cylinder; 413. Sealing gasket; 414. Sleeve; 415. Compression spring; 416. Oil perforation hole; 5. Positive pressure inflation assembly; 501. Folding air cylinder; 502. One-way air inlet pipe; 503. Air outlet connection pipe; 504. T-junction; 505. Normally open exhaust valve; 506. Air injection pipe; 507. One-way normally closed exhaust valve; 508. Miniature pressure gauge; 6. Oil filler nozzle. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0012] In the description of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation 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.

[0013] Example 1: This invention converts the rotational motion of the joint component 1 into forced circulation of lubricating oil and, for example, fills the lubricating oil cavity with positive pressure. Figures 1-12 As shown, the joint component 1 includes a reference joint portion 101 and a cover 105. The cover 105 and the reference joint portion 101 are fixedly connected to form a structure with a cavity composed of a transmission cavity 201 and a drive cavity 209 on both sides of the interior. The cavity can be filled with lubricating oil. The rotating joint portion 103 is screwed to the reference joint portion 101, and its shaft end extends into the transmission cavity 201 and is connected to the transmission gear 206 screwed to the inner side wall of the transmission cavity 201. The same drive mechanism can drive two sets of transmission gears 206 to rotate synchronously. Each set of transmission chambers 201 also has a U-shaped suction chamber 401 inside. The inlet of the suction chamber 401 is connected to the bottom wall of the transmission chamber 201, and the outlet is connected to the upper end of the side wall of the transmission chamber 201. Each set of drive chambers 209 also has a cooperating chamber 405 inside. A rack 407 is slidably connected to the outer wall of the cooperating chamber 405. The rack 407 on the same side meshes with the transmission gear 206. A sliding column 410 is fixed to one side of the rack 407. A piston cylinder 412 is fixed to the bottom end of the sliding column 410. The piston cylinder 412 slides on the side away from the inlet of the suction chamber 401. The bottom end of the sliding column 410 is slidably connected to a gasket 413 that is elastically oriented toward the piston cylinder 412. The top end of the piston cylinder 412 is provided with an oil passage hole 416. The top of the sliding column 410 is slidably connected to the bottom of the inner cavity of the cooperating chamber 405. The top end of the folding air cylinder 501 is fixed to the upper inner end of the cooperating chamber 405. The top end of the sliding column 410 can press and relax the folding air cylinder 501. One of the air outlets of the folding air cylinder 501 is unidirectionally connected to the inner cavity of the drive cavity 209, allowing gas to flow from the folding air cylinder 501 into the drive cavity 209. An oil injection nozzle 6 is also installed in the top wall of the drive cavity 209, which can periodically replenish lubricating oil into the cavity composed of the drive cavity 209 and the transmission cavity 201.

[0014] The working principle is as follows: The rotation of joint component 1 is the basic function of this mechanism, used to realize the rotation of the robot arm joint; The drive mechanism transmits power to the transmission gears 206. The two sets of transmission gears 206 rotate synchronously and in the same direction, and respectively form a transmission connection with the two ends of the rotating shaft of the rotating joint 103. This can drive the rotating joint 103 to stably adjust the rotation angle relative to the reference joint 101, thereby forming a rotational movement of the arm joint within a certain angle range. Since the transmission mechanism associated with the transmission gear 206 is located in the cavity formed by the transmission cavity 201 and the drive cavity 209, and the cavity is filled with lubricating oil, the transmission mechanism associated with the transmission gear 206 can be immersed in the lubricating oil to provide sufficient and continuous lubrication. The forward and reverse rotation of the transmission gear 206 within a certain range can not only drive the arm joint to rotate within a certain angle range, but also form the rack 407 to reciprocate linearly within a certain range. The rack 407 drives the piston cylinder 412 to move together through the slide column 410. The piston cylinder 412 is located at the end of the suction chamber 401 away from the inlet, so that when the piston cylinder 412 moves away from the inlet of the suction chamber 401, a negative pressure will be generated behind it. At this time, the sealing gasket 413 will be tightly attached to the top of the piston cylinder 412 under the dual action of the pressure difference and its own elastic force towards the piston cylinder 412, sealing the oil passage 416. The negative pressure will draw the lubricating oil deposited at the bottom of the transmission chamber 201 into the chamber through the inlet of the suction chamber 401. Furthermore, one-way valves are installed at both the inlet and outlet ends of the suction chamber 401, allowing lubricating oil to enter from the outlet end of the suction chamber 401 and flow out from the outlet end of the suction chamber only. When the piston cylinder 412 moves toward the inlet of the suction chamber 401, the pressure in the chamber near the inlet end of the suction chamber 401 will rise rapidly due to the one-way valve installed at the inlet end of the suction chamber 401. This high pressure acts on the bottom of the sealing gasket 413, and the sealing gasket 413 is pushed open by the oil pressure and separated from the piston cylinder 412. The lubricating oil flows out from the oil hole 416, forming a pressure relief channel. The compressed oil flows naturally to the outlet of the suction chamber 401 with lower resistance and flows out through the upper end of the inner wall of the transmission chamber 201. This process can continuously draw up the old oil at the bottom of the transmission chamber 201 and re-spray it onto the moving parts such as the transmission gear 206 located at the top, which greatly improves the lubrication effect. The top of the slide column 410 moves back and forth in a linear motion in the cooperating chamber 405. When the slide column 410 moves upward, its top will press against the folded air cylinder 501 installed at the upper end of the cooperating chamber 405, which will compress the folded air cylinder 501 and expel the air inside it. When the slide column 410 moves downward, the clamping force on the folding air cylinder 501 is relaxed. The folding air cylinder 501 returns to its original shape by its own elasticity and draws in air from the outside to prepare for the next compression and inflation. One of the air outlets of the folding air pump 501 is unidirectionally connected to the inner cavity of the drive chamber 209. When the pressure inside the cavity composed of the transmission chamber 201 and the drive chamber 209 is too low, the communication channel between the folding air pump 501 and the inner cavity of the drive chamber 209 will be automatically opened to fill the drive chamber 209 with positive pressure gas, which helps to prevent the intrusion of external dust. Furthermore, the gas injected into the transmission chamber 201 and the drive chamber 209 by the folding air cylinder 501 is only used to ensure that the transmission chamber 201 and the drive chamber 209 have a pressure that is higher than that of the external environment to a certain extent. This pressure is set within a safe and controllable range and will not affect the piston cylinder 412's suction of lubricating oil in the suction chamber 401.

[0015] The specific structures of joint component 1 and drive component 2 are as follows: Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the rotating seat 102 is fixedly installed on the inner side of the cavity wall of the transmission cavity 201, and a rotating shaft 104 is fixed laterally at one end of the rotating joint 103. The two ends of the rotating shaft 104 are respectively screwed to the rotating seat 102 at different positions. The transmission cavity 201 is symmetrically opened in the main body of the reference joint 101, and the drive cavity 209 is symmetrically fixed inside the cover 105. A sealing groove 202 is opened at the top opening of the transmission cavity 201. The bottom end of the irregular sealing gasket 203 is snapped into the sealing groove 202. A pressing groove 212 is opened at the bottom opening of each set of drive cavities 209. The top end of the irregular sealing gasket 203 is elastically pressed into the pressing groove 212, which can form a seal between the drive cavity 209 and the transmission cavity 201. Rotating gears 204 are fixed at both ends of the rotating shaft 104 that extends into the inner cavity of the transmission cavity 201. A transmission shaft 205 is also installed and fixed on the inner side of the cavity wall of each set of transmission cavities 201. The transmission gear 206 is screwed to the transmission shaft 205, and the transmission gear 206 on the same side meshes with the rotating gear 204. A hollow dual-axis stepper motor 207 is installed and fixed on the inner top of the cover 105. A drive seat 210 is installed and fixed on the inner side of the cavity wall of each drive cavity 209. The drive shaft 211 is screwed into the drive seat 210. The drive gear 208 is inserted into the inner end of the drive shaft 211, and the drive gear 208 on the same side meshes with the transmission gear 206. The two sides of the hollow dual-axis stepper motor 207 are fixed to the outer ends of the drive shaft 211 at different positions through couplings. The couplings can not only transmit torque, but also provide overload protection. After the hollow dual-axis stepper motor 207 is started, it can drive two sets of drive gears 208 located in different drive cavities 209 to rotate synchronously and in the same direction through two sets of drive shafts 211. The drive gears 208 on the same side are connected to the rotating gears 204 through the transmission gears 206, which can form a stable rotational action of the rotating shaft 104 relative to the rotating seat 102, so that the rotating joint 103 relative to the reference joint 101 forms a stable rotational adjustment action within a certain angle range.

[0016] The specific structures of the self-flowing suction component 4 and the positive pressure inflation component 5 are as follows: Figure 8 , Figure 9 , Figure 10 , Figure 11 and Figure 12 As shown, the suction chamber 401 is connected to the bottom wall of the transmission chamber 201 through the suction inlet 403, and is connected to the upper end of the inner side wall of the transmission chamber 201 through the suction outlet 404. A first slide block 402 is fixedly installed on the inner wall of the suction chamber 401 away from the suction inlet 403. A second slide block 411 is fixedly installed on the inner bottom end of the cooperating chamber 405. The second slide block 411 on the same side is vertically aligned with the first slide block 402. One end of the sliding column 410 is slidably connected to the first slide block 402, and the other end is slidably connected to the second slide block 411. A side slide groove 406 is fixedly connected to the outer wall of the cooperating cavity 405, and the side slide groove 406 is not connected to the interior of the cooperating cavity 405. A rack slide 408 is fixed to one side of the rack 407, and the rack slide 408 is slidably connected in the side slide groove 406. A side connecting seat 409 is also fixed on one side of the rack 407, and the sliding column 410 is inserted and fixed in the side connecting seat 409; The bottom end of the slide column 410 is fitted with a retaining sleeve 414. One end of the compression spring 415 is secured to the retaining sleeve 414, and the other end is secured to the sealing gasket 413, which can provide support elasticity for the sealing gasket 413 to be tightly attached to the top of the piston cylinder 412. When the sliding column 410 drives the piston cylinder 412 to move toward the suction port 403, the lubricating pressure generated by it is sufficient to overcome the supporting elastic force formed by the sleeve 414 and push the sealing gasket 413 open. Furthermore, within the range formed by the reciprocating linear movement of the slide column 410 along with the rack 407, the top of the ferrule 414 will not touch the first slide block 402 to avoid interference. One-way air inlet pipe 502 is connected to one side of the top of folding air cylinder 501, and only allows gas from the external environment to enter the interior of folding air cylinder 501 through one-way air inlet pipe 502; The top of the folding air cylinder 501 is connected to an air outlet connection pipe 503. A tee 504 is connected to the outlet of the air outlet connection pipe 503. A normally open exhaust valve 505 is installed in the outlet pipe at one end of the tee 504. A one-way normally closed exhaust valve 507 and an air injection pipe 506 are connected in sequence in the outlet pipe at the other end. The outlet end of the air injection pipe 506 extends downward into the inner cavity of the drive chamber 209. A miniature pressure gauge 508 is installed on the top wall of the drive cavity 209 to monitor the pressure of the sealed cavity composed of the drive cavity 209 and the transmission cavity 201, and feeds the monitored value back to the main controller of the humanoid robot in real time. The main controller can automatically open the one-way normally closed exhaust valve 507 and close the normally open exhaust valve 505 according to the monitored value of the miniature pressure gauge 508, so that the sealed cavity composed of the drive cavity 209 and the transmission cavity 201 can be positively pressurized during the rotation adjustment of the arm joint. In non-inflating operation, the one-way normally closed exhaust valve 507 is in the closed state, and the normally open exhaust valve 505 is in the open state. The positive pressure gas generated by the rotation adjustment of the humanoid robot arm joint and the folding air cylinder 501 can be discharged. The outlet of the normally open exhaust valve 505 can be connected to an air storage tank, etc., to collect the positive pressure gas generated by the folding air cylinder 501, so that the humanoid robot can utilize the positive pressure gas, such as to serve other subsystems, or actively release the stored positive pressure gas for blowing cleaning.

[0017] Example 2: Examples of how the addition of the oscillating stirring component 3 improves the lubricating oil flow efficiency in this invention include... Figure 1 , Figure 6 and Figure 7 As shown, the swing seat 301 is horizontally fixedly installed on the other side of the inner cavity wall of the transmission cavity 201. The middle part of the swing arm 302 is screwed to the swing seat 301. The transmission gear 206 is screwed with an eccentric roller 304. A rolling groove 305 is provided on one side of the main body of the swing arm 302. The eccentric roller 304 is tumbled in the rolling groove 305. The swing blade 303 is fixed to the side of the swing arm 302; When the transmission gear 206 reciprocates within a certain range, the rolling connection formed by the eccentric roller 304 and the rolling groove 305 can drive the swing arm 302 to reciprocate within a certain range, forming the swing blade 303 to stir the lubricating oil in the drive cavity 209 and the transmission cavity 201, thereby accelerating the circulation efficiency of the lubricating oil in the drive cavity 209 and the transmission cavity 201. Furthermore, the stirring action of the swing arm 302 and the swing blade 303 will not interfere with the rotation of the transmission gear 206, the drive gear 208 and the rotating gear 204.

[0018] In addition, in the transmission components located in the inner cavities of the transmission cavity 201 and the drive cavity 209, sealing gaskets or sealing rings are installed at the positions where the transmission cavity 201 and the drive cavity 209 are sealed, so as to ensure that the lubricating oil inside the cavity composed of the transmission cavity 201 and the drive cavity 209 will not leak outward.

[0019] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A humanoid robot arm rotation angle adjustment mechanism, comprising joint components (1), characterized in that: It also includes a drive assembly (2), a self-flowing suction assembly (4), and a positive pressure inflation assembly (5); The joint component (1) includes a base joint (101), a rotating joint (103) and a cover (105); the drive assembly (2) includes a transmission gear (206); the self-flowing suction assembly (4) includes a slide column (410); and the positive pressure inflation assembly (5) includes a folding air cylinder (501). The structure formed by the fastener (105) and the reference joint (101) has a cavity composed of a transmission cavity (201) and a drive cavity (209) on both sides. Lubricating oil can be added to this cavity. The rotating joint (103) is screwed onto the reference joint (101), and its shaft end extends into the transmission cavity (201) and is connected to the transmission gear (206) screwed onto the inner wall of the transmission cavity (201). Each set of transmission cavities (201) also has a suction cavity (401). The inlet of the suction cavity (401) is connected to the bottom wall of the transmission cavity (201), and the outlet is connected to the upper end of the side wall of the transmission cavity (201). Each set of drive cavities (209) also has a cooperating cavity (405). The outer wall of the cooperating cavity (405) is slidably connected to... A rack (407) is connected to a transmission gear (206) on the same side. A slide column (410) is fixed to one side of the rack (407). A piston cylinder (412) is fixed to the bottom end of the slide column (410). The piston cylinder (412) is slidably connected to the side away from the inlet of the suction chamber (401). A gasket (413) with elasticity facing the piston cylinder (412) is slidably connected to the bottom end of the slide column (410). An oil passage hole (416) is opened at the top end of the piston cylinder (412). The top of the slide column (410) is slidably connected to the bottom of the inner cavity (405). The top of the folding air cylinder (501) is fixed to the upper inner end of the inner cavity (405). The top of the slide column (410) can form a pressing and releasing action on the folding air cylinder (501).

2. The humanoid robot arm rotation angle adjustment mechanism according to claim 1, characterized in that: The joint component (1) also includes a rotating seat (102), which is fixedly installed on the inner side of the cavity wall of the transmission cavity (201). One end of the rotating joint (103) is fixed with a rotating shaft (104), and the two ends of the rotating shaft (104) are respectively screwed to the rotating seats (102) at different positions. The transmission cavity (201) is symmetrically opened in the main body of the reference joint (101), and the drive cavity (209) is symmetrically fixed inside the cover (105).

3. The humanoid robot arm rotation angle adjustment mechanism according to claim 2, characterized in that: The drive assembly (2) also includes a sealing groove (202) and a shaped sealing gasket (203). The sealing groove (202) is opened at the top of the transmission cavity (201), and the bottom end of the shaped sealing gasket (203) is snapped into the sealing groove (202). Each drive cavity (209) has a pressing groove (212) at the bottom, and the top end of the shaped sealing gasket (203) is elastically pressed into the pressing groove (212).

4. The humanoid robot arm rotation angle adjustment mechanism according to claim 2 or 3, characterized in that: The drive assembly (2) also includes a drive gear (208) and a drive shaft (211). Rotary gears (204) are fixed to both ends of the rotating shaft (104). A drive shaft (205) is also installed and fixed inside the cavity wall of each transmission chamber (201). A drive gear (206) is screwed onto the drive shaft (205), and the drive gear (206) on the same side meshes with the rotating gear (204). A hollow double-shaft stepper is installed and fixed at the inner top of the cover (105). The motor (207) has a drive seat (210) installed and fixed on the inner side of the cavity wall of each drive cavity (209). The drive shaft (211) is screwed into the drive seat (210). The drive gear (208) is inserted into the inner end of the drive shaft (211), and the drive gear (208) on the same side meshes with the transmission gear (206). The two sides of the shaft end of the hollow dual-axis stepper motor (207) are fixed to the outer ends of the drive shaft (211) at different positions.

5. A humanoid robot arm rotation angle adjustment mechanism according to claim 1, 2 or 3, characterized in that: The self-flowing suction assembly (4) also includes a suction inlet (403), a suction outlet (404), and a compression spring (415). The suction chamber (401) is connected to the bottom wall of the transmission chamber (201) through the suction inlet (403) and to the upper end of the inner side wall of the transmission chamber (201) through the suction outlet (404). A first slide (402) is fixedly installed on the inner wall of the suction chamber (401) away from the suction inlet (403). A second slide (411) is fixedly installed on the inner bottom end of the cooperating chamber (405). One end of the sliding column (410) is slidably connected to the first slide (402). The other end is slidably connected to the second slide (411). The outer wall of the cooperating cavity (405) is fixedly connected to the side slide groove (406). The rack (407) is fixedly connected to the rack slide (408) on one side. The rack slide (408) is slidably connected in the side slide groove (406). The rack (407) is also fixedly connected to the side connecting seat (409) on one side. The slide column (410) is inserted and fixed in the side connecting seat (409). The bottom end of the slide column (410) is fitted with a retainer (414). One end of the compression spring (415) is secured to the retainer (414), and the other end is secured to the sealing gasket (413).

6. A humanoid robot arm rotation angle adjustment mechanism according to claim 1, 2 or 3, characterized in that: The positive pressure inflation assembly (5) also includes a one-way air inlet pipe (502) and a micro pressure gauge (508). The one-way air inlet pipe (502) is connected to one side of the top of the folded air cylinder (501). The other side of the top of the folded air cylinder (501) is connected to an air outlet pipe (503). A tee (504) is connected to the outlet of the air outlet pipe (503). A normally open exhaust valve (505) is installed in the outlet pipe at one end of the tee (504). A one-way normally closed exhaust valve (507) and an air injection pipe (506) are connected in sequence in the outlet pipe at the other end. The outlet end of the air injection pipe (506) extends downward into the inner cavity of the drive chamber (209). The micro pressure gauge (508) is installed on the top wall of the drive chamber (209).

7. A humanoid robot arm rotation angle adjustment mechanism according to claim 1, 2 or 3, characterized in that: An oil injection nozzle (6) is also installed in the top wall of the drive cavity (209).

8. A humanoid robot arm rotation angle adjustment mechanism according to claim 1, 2 or 3, characterized in that: The cavity formed by the drive cavity (209) and the transmission cavity (201) is also provided with a swing stirring component (3). The swing stirring component (3) includes a swing base (301), a swing arm (302) and a swing blade (303). The swing base (301) is fixedly installed on the other side of the inner wall of the transmission cavity (201). The middle part of the swing arm (302) is screwed to the swing base (301). The transmission gear (206) is screwed with an eccentric roller (304). A rolling groove (305) is opened on one side of the main body of the swing arm (302). The eccentric roller (304) is rolled in the rolling groove (305). The swing blade (303) is fixed on the side of the swing arm (302).

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