A humanoid robot wrist structure

Abstract

The utility model discloses a humanoid robot wrist structure, including wrist joint pneumatic machine, palm connecting piece, forearm connecting piece, forearm bone, the wrist joint pneumatic machine of this wrist is double -cylinder pneumatic machine, and double -cylinder is located wrist joint both sides, and double -cylinder adopts the fixed connection of ventilation connecting pipe between, and the fixed connection of double -cylinder pneumatic machine's rotary shaft and palm connecting piece, and the connection of double -cylinder pneumatic machine's shell and forearm bone between adopts forearm connecting piece, and the gas pressure from 2 air inlet and outlet of one enters the gas chamber of the same gas pressure of double -cylinder, and the rotary shaft is pushed, and the rotary shaft drives palm connecting piece to rotate. The intermediate position between double -cylinder, and the suitable position of palm connecting piece and forearm bone are installed constraint pull wire frame B, constraint pull wire frame A and constraint pull wire frame C respectively, and the joint pull wire of hand is passed from constraint pull wire frame, and enters forearm bone, realizes the purpose of installing the joint power of hand outside hand.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, and in particular to a humanoid robot wrist structure. Background Technology

[0002] Currently, the power units of humanoid robotic hands are generally installed in the palm and finger joints. To improve the strength of the hand joints and increase the degree of freedom of movement, the power unit can be installed in the forearm, using a cable to transmit power. For example, utility model patent number 2021212200131 describes a humanoid robotic hand structure. This hand is similar to a human, with five fingers, each with multiple joints, and is driven by a cable. The cable-driven power unit can be installed on the arm. In this case, the cable connecting the power unit needs to pass through the wrist and connect to the joints of the hand to transmit the force of the power unit to the joints of the hand.

[0003] The joints of current humanoid robots' hands and arms are generally powered by pure electric motors, resulting in relatively low force. Weightlifting was not included in the 2025 World Humanoid Robotics Games held in my country. Under the same volume conditions, pneumatic power is more likely to generate greater force than pure electric power. Summary of the Invention

[0004] In view of the above situation, the purpose of this utility model is to provide a humanoid robot wrist structure, which uses air pressure as power and meets the requirement that the pull wires of each joint of the hand pass through the wrist.

[0005] To achieve the above objectives, a humanoid robot wrist structure is provided, comprising a wrist joint pneumatic actuator, a palm connector, a forearm connector, and a forearm bone; and

[0006] The wrist joint pneumatic motor is a dual-cylinder pneumatic motor, with two cylinders located on either side of the wrist joint, namely cylinder A and cylinder B. A single-cylinder shaft is installed inside each cylinder. Both the inner wall of the cylinder and the outer wall of the single-cylinder shaft have a protrusion. The combination of the cylinder and the single-cylinder shaft divides the internal space of the cylinder into two air chambers.

[0007] The cylinder head plate consists of cylinder head plate A and cylinder head plate B. Cylinder head plate A is installed at the end of the cylinder near the wrist joint, and cylinder head plate B is installed at the other end. The two cylinder head plates B are fixedly connected by two ventilation pipes. The shaft is constructed by fixing two single-cylinder shafts of a twin-cylinder pneumatic motor together using a shaft connector. The ventilation pipes are hollow tubes, and each of the two ventilation pipes connects to a chamber at both ends of the cylinder with the same air pressure pushing direction.

[0008] Cylinder A has two air inlets and outlets. Each air inlet and outlet is connected to one air chamber of cylinder A via an air hole. Air pressure enters the air chamber of cylinders A and B in the same direction through the air inlet and outlet, driving the shaft to rotate.

[0009] A constraint wire frame B is installed at the position of the axis connecting the two single-cylinder shafts of the twin-cylinder pneumatic motor; and

[0010] The outer shell of the wrist joint pneumatic motor is fixedly connected to the forearm bone using a forearm connector; and

[0011] The shaft of the wrist joint pneumatic motor is fixedly connected to the palm connector. When the shaft rotates, it drives the palm connector to rotate.

[0012] As a further improvement to the above solution, a static sealing gasket is provided between the cylinder and the cylinder head plate of the wrist joint pneumatic motor, an O-ring dynamic sealing ring is provided between the single cylinder shaft and the cylinder head plate, and a strip-shaped dynamic sealing element is provided on the contact surface between the cylinder and the single cylinder shaft.

[0013] As a further improvement to the above scheme, the constraint wire frame B is a rectangular frame composed of cylinders, and a cylinder is wrapped around the cylinders around the rectangular frame, and the cylinder can roll on the cylinder.

[0014] As a further improvement to the above solution, a rolling bearing is fixedly installed at the center of the cylinder head plate A, and the rolling bearing is mounted on the shaft of the single cylinder shaft.

[0015] As a further improvement to the above solution, the pivot fixing plate of the palm connector is fixed on the pivot, and the constraint wire frame A is fixedly installed in the middle position of the palm connector. The constraint wire frame A is a rectangular frame composed of cylinders, and the frame is provided with holes separated by cylinders, not less than the number of wires of each joint of the hand, and cylinders are fitted on the cylinders around the holes, and the cylinders can roll on the cylinders.

[0016] As a further improvement to the above solution, the forearm connector consists of a connecting plate and a forearm fixing ring. One end of the connecting plate is fixed to the cylinder head plate B, and the other end is fixed to the forearm fixing ring. The forearm fixing ring is fitted onto the forearm bone.

[0017] As a further improvement to the above scheme, the forearm bone is a cylindrical forearm skeleton, with a constraint wire frame C set at the cylindrical opening near the wrist joint pneumatic motor end. The constraint wire frame C has holes separated by cylinders, not less than the number of wires for each joint of the hand, and cylinders are fitted around the cylinders around the holes, and the cylinders can roll on the cylinders.

[0018] The beneficial effects of this utility model compared to the prior art are:

[0019] 1. This utility model discloses a humanoid robot wrist structure, which is simple in structure and combined with the utility model patent number 2021212200131, a humanoid robot hand structure, which can realize the installation of the power of the humanoid robot hand outside the wrist, which is beneficial to improve the flexibility of the hand and increase the gripping power of the hand. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the wrist in this utility model;

[0021] Figure 2 This is a three-dimensional schematic diagram of the wrist joint pneumatic motor in this utility model;

[0022] Figure 3 This is a three-dimensional schematic diagram of the internal structure of the wrist joint pneumatic motor in this utility model;

[0023] Figure 4 This is a three-dimensional schematic diagram of the rotating shaft of this utility model;

[0024] Figure 5 This is a top view of the rotating shaft structure of this utility model;

[0025] Figure 6 This is a three-dimensional schematic diagram of cylinder A in this utility model;

[0026] Figure 7 This is a three-dimensional schematic diagram of cylinder B in this utility model;

[0027] Figure 8 This is a three-dimensional schematic diagram of cylinder head plate A in this utility model;

[0028] Figure 9 This is a three-dimensional schematic diagram of the cylinder head plate B and the ventilation connecting pipe assembly in this utility model;

[0029] Figure 10 This is a three-dimensional schematic diagram of the palm connector in this utility model;

[0030] Figure 11 This is a three-dimensional schematic diagram of the forearm connector in this utility model;

[0031] Figure 12 This is a three-dimensional schematic diagram of the forearm bone in this utility model;

[0032] Figure 13 This is a three-dimensional schematic diagram of the rotating shaft connector of this utility model;

[0033] In the diagram: 1. Wrist joint pneumatic motor, 11. Cylinder A, 111. Air inlet / outlet, 12. Cylinder B, 13. Cylinder head plate A, 131. Rolling bearing, 14. Cylinder head plate B, 141. Vent connection pipe, 15. Static gasket, 16. Strip dynamic seal, 17. O-ring dynamic seal, 18. Air hole, 19. Shaft, 191. Single cylinder shaft, 192. Shaft connector, 193. Constraint cable frame B, 2. Palm connector, 21. Palm fixation bracket, 22. Shaft fixing plate, 23. Constraint cable frame A, 3. Forearm connector, 31. Connecting plate, 32. Forearm fixing ring, 4. Forearm bone, 41. Constraint cable frame C. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0035] Example 1:

[0036] Reference Figures 1 to 13 This utility model is implemented as follows: a humanoid robot wrist structure, comprising a wrist joint pneumatic motor 1, a palm connector 2, a forearm connector 3, and a forearm bone 4; and

[0037] The wrist joint pneumatic motor 1 is a dual-cylinder pneumatic motor, with two cylinders located on both sides of the wrist joint, namely cylinder A11 and cylinder B12. A single-cylinder shaft 191 is installed inside each cylinder. Both the inner wall of the cylinder and the outer wall of the single-cylinder shaft 191 have a protrusion. The combination of the cylinder and the single-cylinder shaft 191 divides the internal space of the cylinder into two air chambers; and

[0038] The cylinder head plate consists of cylinder head plate A13 and cylinder head plate B14. Cylinder head plate A13 is installed at the end of the cylinder near the wrist joint, and cylinder head plate B14 is installed at the other end of the cylinder. The two cylinder head plates B14 are fixedly connected by two ventilation connecting pipes 141. The rotating shaft 19 is composed of two single-cylinder rotating shafts 191 of a twin-cylinder pneumatic motor, which are fixedly connected by a rotating shaft connector 192. The ventilation connecting pipes 141 are hollow pipes, and each of the two ventilation connecting pipes 141 connects to the air chambers of the two cylinders at the same time, with the same air pressure pushing direction.

[0039] Cylinder A11 is provided with two air inlets and outlets 111. Each air inlet and outlet 111 is connected to one air chamber of cylinder A11 via an air hole 18. Air pressure enters the air chamber of cylinder A11 and cylinder B12 in the same direction through the air inlet and outlet 111, driving the rotating shaft 19 to rotate; and

[0040] A constraint wire frame B193 is installed at the position of the axis connecting the two single-cylinder shafts 191 of the twin-cylinder pneumatic motor; and

[0041] The outer shell of the wrist joint pneumatic motor 1 is fixedly connected to the forearm bone 4 by a forearm connector 3; and

[0042] The rotating shaft 19 of the wrist joint pneumatic motor 1 is fixedly connected to the palm connector 2. When the rotating shaft 19 rotates, it drives the palm connector 2 to rotate.

[0043] Reference Figures 1-9 A static sealing gasket 15 is provided between the cylinder and the cylinder head plate of the wrist joint pneumatic motor 1, an O-ring dynamic sealing ring 17 is provided between the single cylinder shaft 191 and the cylinder head plate, and a strip-shaped dynamic sealing element 16 is provided on the contact surface between the cylinder and the single cylinder shaft 191.

[0044] Reference Figures 1-5 The constraint wire frame B193 is a rectangular frame made of cylinders, and a cylinder is wrapped around the cylinders around the rectangular frame. The cylinder can roll on the cylinder.

[0045] Reference Figures 1 to 8 A rolling bearing 131 is fixedly installed at the center of the cylinder head plate A13, and the rolling bearing 131 is mounted on the shaft of the single cylinder shaft 191.

[0046] Reference Figures 1-10 The pivot fixing plate 22 of the palm connector 2 is fixed on the pivot. The constraint wire frame A23 is fixedly installed in the middle position of the palm connector 2. The constraint wire frame A23 is a rectangular frame composed of cylinders. The frame is provided with holes separated by cylinders, not less than the number of wires of each joint of the hand. A cylinder is fitted on the cylinder around the holes. The cylinder can roll on the cylinder.

[0047] Reference Figures 1-12 The forearm connector 3 consists of a connecting plate 31 and a forearm fixing ring 32. One end of the connecting plate 31 is fixed to the cylinder head plate B14, and the other end is fixed to the forearm fixing ring 32. The forearm fixing ring 32 is fitted onto the forearm bone 4.

[0048] Reference Figures 1-12 The forearm bone 4 is a cylindrical forearm skeleton. A constraint wire frame C41 is set at the cylindrical opening of the end near the wrist joint pneumatic motor 1. The constraint wire frame C41 is set with holes that are divided by cylinders, not less than the number of wires for each joint of the hand. A cylinder is fitted on the cylinder around the holes, and the cylinder can roll on the cylinder.

[0049] Combination Figures 1 to 13 As shown, the working principle of this utility model is as follows:

[0050] This utility model discloses a humanoid robot wrist structure, including a wrist joint pneumatic motor 1, a palm connector 2, a forearm connector 3, and a forearm bone 4. The wrist joint pneumatic motor 1 is a dual-cylinder pneumatic motor, with two cylinders located on both sides of the wrist joint, namely cylinder A11 and cylinder B12. A single-cylinder rotating shaft 191 is installed inside the cylinder. Both the inner wall of the cylinder and the outer wall of the single-cylinder rotating shaft 191 have a protrusion. The top surface of the protrusion on the inner wall of the cylinder contacts the outer wall of the single-cylinder rotating shaft 191, and the top surface of the protrusion on the outer wall of the single-cylinder rotating shaft 191 contacts the inner wall of the cylinder. The combination of the cylinder and the single-cylinder rotating shaft 191 can divide the internal space of the cylinder into two air chambers. The cylinder is sealed on both sides by cylinder head plates. Cylinder head plate A13 is installed at the end of the cylinder near the wrist joint, and cylinder head plate B14 is installed at the other end of the cylinder. The two cylinder head plates B14 are fixedly connected by two air connection pipes 141. The rotating shaft 19 is composed of two single-cylinder rotating shafts 191 of the dual-cylinder pneumatic motor, which are fixedly connected by a rotating shaft connector 192. The air connection pipes 141 are fixedly connected to the cylinders on both sides of the wrist, making the dual-cylinder pneumatic motor a whole. The air connection pipes 141 are hollow pipes. The two air connection pipes 141 are connected to the air chambers of the cylinders at both ends with the same air pressure pushing direction. Cylinder A11 is provided with two air inlets and outlets 111. Each air inlet and outlet 111 is connected to one air chamber of cylinder A11 through an air hole 18. Air pressure enters the air chambers of cylinders A11 and B12 with the same air pressure pushing direction through the air inlets and outlets 111, driving the rotating shaft 19 to rotate.

[0051] To improve the cylinder sealing effect, a static sealing gasket 15 is installed between the cylinder head plate and the cylinder, an O-ring dynamic sealing ring 17 is installed between the single-cylinder shaft 191 and the cylinder head plate, and a strip-shaped dynamic seal 16 is installed on the contact surface between the cylinder and the single-cylinder shaft 191. To reduce wear between the single-cylinder shaft 191 and the cylinder head plate, a rolling bearing 131 is installed on the cylinder head plate A13, and the rolling bearing 131 is fitted onto the shaft of the single-cylinder shaft 191.

[0052] The forearm connector 3 consists of a connecting plate 31 and a forearm retaining ring 32. Two connecting plates 31 can be used. One end of the connecting plate 31 is fixed to the cylinder head plate B14, and the other end is fixed to the forearm retaining ring 32. The forearm retaining ring 32 of the forearm connector 3 is fixed to the forearm bone 4. The pivot fixing plate 22 of the palm connector 2 is fixed to the pivot, and the palm retainer 21 is used to fix the palm. The pivot 19 is fixed to the palm connector 2. When the pivot 19 rotates, it will drive the palm connector 2 to rotate.

[0053] A constraint cable frame A23 is fixedly installed at the middle position of the hand connector 2. The constraint cable frame A23 is a rectangular frame composed of cylinders, and the frame has holes separated by cylinders, not less than the number of cable pulls for each hand joint. Cylindrical cylinders are fitted around the cylinders around the holes, allowing them to roll. The fitted cylinders reduce cable wear. A constraint cable frame B193 is installed at the axis connecting the two single-cylinder shafts 191 of the dual-cylinder pneumatic motor. The constraint cable frame B193 is a rectangular frame composed of cylinders, and cylindrical cylinders are fitted around the cylinders around the rectangular frame, allowing them to roll. The forearm bone 4 is a cylindrical forearm skeleton. A constraint cable frame C41 is installed at the cylindrical opening near the wrist joint pneumatic motor 1. The constraint cable frame C41 has holes separated by cylinders, not less than the number of cable pulls for each hand joint, and cylindrical cylinders are fitted around the cylinders around the holes, allowing them to roll. The hand joint pull wires pass through the constraint pull wire frame A23, constraint pull wire frame B193 and constraint pull wire frame C41, and enter the cylinder of the forearm bone 4.

[0054] In summary, this utility model discloses a humanoid robot wrist structure, comprising a wrist joint pneumatic motor 1, a palm connector 2, a forearm connector 3, and a forearm bone 4. Pneumatic power enters one of the two inlet / outlet ports 111 of cylinder A11 into an air chamber in the same direction, driving the rotating shaft 19 to rotate. The rotating shaft 19 then drives the palm connector 2 to rotate. A constraint cable frame B193 is installed at the axis of the dual-cylinder pneumatic motor, and constraint cable frames A23 and C41 are installed at corresponding positions on the palm connector 2 and forearm bone 4, respectively. This allows the cables of each hand joint to pass through the middle of the wrist and enter the cylinder of the forearm bone 4 during wrist movement.

[0055] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A humanoid robot wrist structure, characterized in that, include: Wrist joint pneumatic motor (1), palm connector (2), forearm connector (3), forearm bone (4); and The wrist joint pneumatic motor (1) is a dual-cylinder pneumatic motor, with two cylinders located on both sides of the wrist joint, namely cylinder A (11) and cylinder B (12). A single-cylinder shaft (191) is installed inside the cylinder. Both the inner wall of the cylinder and the outer wall of the single-cylinder shaft (191) have a protrusion. The combination of the cylinder and the single-cylinder shaft (191) divides the internal space of the cylinder into two air chambers; and The cylinder head plate is divided into cylinder head plate A (13) and cylinder head plate B (14). Cylinder head plate A (13) is installed at the end of the cylinder near the wrist joint, and cylinder head plate B (14) is installed at the other end of the cylinder. The two cylinder head plates B (14) are fixedly connected by two ventilation connecting pipes (141). The rotating shaft (19) is composed of two single-cylinder rotating shafts (191) of a twin-cylinder pneumatic motor, which are fixedly connected by a rotating shaft connector (192). The ventilation connecting pipes (141) are hollow pipes. The two ventilation connecting pipes (141) are each connected to the air chambers of the two cylinders with the same air pressure pushing direction. Cylinder A (11) is provided with two air inlets and outlets (111). Each air inlet and outlet (111) is connected to one air chamber of cylinder A (11) via an air hole (18). Air pressure enters the air chambers of cylinder A (11) and cylinder B (12) in the same direction through the air inlet and outlet (111), driving the rotating shaft (19) to rotate; and A constraint wire frame B (193) is installed at the position of the axis connecting the two single-cylinder shafts (191) of the twin-cylinder pneumatic motor; and The outer shell of the wrist joint pneumatic motor (1) is fixedly connected to the forearm bone (4) using a forearm connector (3); and The rotating shaft (19) of the wrist joint pneumatic motor (1) is fixedly connected to the palm connector (2). When the rotating shaft (19) rotates, it drives the palm connector (2) to rotate.

2. The humanoid robot wrist structure according to claim 1, characterized in that, A static sealing gasket (15) is provided between the cylinder and the cylinder head plate of the wrist joint pneumatic motor (1), an O-ring dynamic sealing ring (17) is provided between the single cylinder shaft (191) and the cylinder head plate, and a strip dynamic sealing element (16) is provided on the contact surface between the cylinder and the single cylinder shaft (191).

3. The humanoid robot wrist structure according to claim 1, characterized in that, The constraint wire frame B(193) is a rectangular frame made of cylinders, and a cylinder is wrapped around the cylinders around the rectangular frame. The cylinder can roll on the cylinder.

4. The humanoid robot wrist structure according to claim 1, characterized in that, A rolling bearing (131) is fixedly installed at the center of the cylinder head plate A (13), and the rolling bearing (131) is mounted on the shaft of the single cylinder shaft (191).

5. The humanoid robot wrist structure according to claim 1, characterized in that, The pivot fixing plate (22) of the palm connector (2) is fixed on the pivot. The constraint pull wire frame A (23) is fixedly installed in the middle position of the palm connector (2). The constraint pull wire frame A (23) is a rectangular frame made of cylinders. The frame is provided with holes separated by cylinders, not less than the number of pull wires of each joint of the hand. A cylinder is fitted on the cylinder around the holes. The cylinder can roll on the cylinder.

6. The humanoid robot wrist structure according to claim 1, characterized in that, The forearm connector (3) consists of a connecting plate (31) and a forearm fixing ring (32). One end of the connecting plate (31) is fixed to the cylinder head plate (B14), and the other end is fixed to the forearm fixing ring (32). The forearm fixing ring (32) is fitted onto the forearm bone (4).

7. The humanoid robot wrist structure according to claim 1, characterized in that, The forearm bone (4) is a cylindrical forearm skeleton. A constraint wire frame C (41) is set at the cylindrical opening of the end near the wrist joint pneumatic motor (1). The constraint wire frame C (41) is set with holes that are divided by cylinders, not less than the number of wires for each joint of the hand. A cylinder is fitted on the cylinder around the holes, and the cylinder can roll on the cylinder.

Images