Split type quick-mount humanoid robot

Abstract

The utility model relates to robot technical field, and technical content includes split type quick -mounting humanoid robot, split type quick -mounting humanoid robot includes fuselage, two upper arms, two small arms and two leg parts, two upper arms are arranged respectively at the upper side of the both sides of fuselage, two small arms are arranged respectively at the other end of two upper arms, two leg parts are arranged respectively at the lower end of the both sides of fuselage, two upper arms and fuselage between, two small arms and upper arm between, two leg parts and fuselage between all be equipped with connecting piece, two upper arms and two leg parts all are connected between connecting piece and fuselage, two small arms are connected between connecting piece and two upper arms, connecting piece includes support and mounting spare, in the utility model, the part that needs to rotate of humanoid robot is connected through connecting piece, and the setting of connecting piece is convenient for quick installation and disassembly, and in the rotation process, will not affect the electric energy supply of the limb part.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more particularly to humanoid robots. Background Technology

[0002] Robotics technology has developed rapidly, encompassing a wide range of areas from industrial automation to service robots, from humanoid robots to drones. Humanoid robots are an important branch of robotics technology, designed to mimic human appearance and behavior. These robots typically have human-like torsos, heads, arms, legs, and facial features, and are capable of performing a variety of complex tasks.

[0003] Product "modularization" is a product design concept based on modular design. Specifically, it refers to breaking down complex products into multiple simple components or modules, and designing these components or modules to be combined, assembled, and replaced, similar to building blocks. Modular products not only allow for easy replacement of functional components or modules at any time, but also facilitate the timely disassembly of damaged functional components or modules for maintenance, upkeep, or repair.

[0004] In the existing technology, humanoid robots have complex structures, and their transmission systems are usually fixed connections that are not easy to disassemble. There is a lack of modular and building block-style humanoid robot products.

[0005] For example, Chinese utility patent CN222005236U discloses a leg mechanism and a humanoid robot. Although the technical solution provided by this patent adopts a parallel setting of the hip joint output end and the knee joint output end, which allows the rotation speed of the hip joint output end to be superimposed on the knee joint output end when the humanoid robot walks, thereby achieving speed superposition and making the humanoid robot's motion performance better, the installation process is relatively cumbersome.

[0006] For example, Chinese utility model patent CN222712190U discloses a detachable joint structure for a humanoid robot. Although the technical solution provided by this patent facilitates the installation and disassembly of the main body through a fixing mechanism, a disassembly mechanism for disassembling the main body, a driving mechanism for driving the main body, and an auxiliary mechanism to assist the emergency mechanism in handling the emergency when the main body disengages, analysis of its technical content reveals that the joints of the humanoid robot provided by this technology are not convenient for disassembly and assembly.

[0007] In summary, existing technologies in this field do not provide modular humanoid robots that can be quickly assembled and disassembled, making it difficult to meet the needs of modularization and building block design for humanoid robots. Utility Model Content

[0008] The purpose of this invention is to overcome the shortcomings of existing technologies and propose a split-type quick-assembly humanoid robot. The robot uses connectors to connect the rotating parts of the humanoid robot. The connectors facilitate quick installation and disassembly, and the power supply to the limbs is not affected during rotation.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a split-type quick-assembly humanoid robot, comprising a body, two upper arms, two forearms, and two legs. The two upper arms are respectively located on the upper sides of the body, the two forearms are respectively located at the other ends of the two upper arms, and the two legs are respectively located on the lower sides of the body. Connectors are provided between the two upper arms and the body, between the two forearms and the upper arms, and between the two legs and the body. The two upper arms and the two legs are connected to the body through the connectors, and the two forearms are connected to the two upper arms through the connectors.

[0010] The connector includes a support and a mounting component. The mounting component is rotatably connected inside the support. The mounting component includes a base. A first groove is formed at the center of each of the two side walls of the base. A through hole is formed between the two first grooves. A mounting seat is fixedly connected inside the through hole. A mounting groove is formed inside the two mounting seats. A gear is rotatably connected at the center of the mounting groove. A rack is formed inside the mounting groove at both ends of the gear. One end of each rack passes through the mounting groove and extends to both sides of the mounting seat. The ends of the racks are fixedly connected to the N pole of a magnetic coupler and the rotating end of a conductive slip ring, respectively. A second groove is formed near the edge of each side wall of the mounting seat. A spring is fixedly connected inside each of the two second grooves. The other ends of the springs are fixedly connected to the ends of the N pole of the magnetic coupler and the rotating end of the conductive slip ring, respectively.

[0011] With the above technical solution, during installation, pressing the two extension rods pushes the two springs and two racks inward. The two racks move into the mounting groove along with the gears. Then, the two extension rods are placed between the first bracket and the second bracket, and the mounting component is pressed into the support component, so that the two extension rods enter the two fifth grooves. The tension of the two springs pushes the N poles of the two magnetic couplers and the rotating ends of the conductive slip rings to both sides, and the two extension rods enter the two fourth grooves to complete the installation. Thus, the two upper arms and two legs are mounted on the machine body, and the two forearms are mounted on the other end of the two upper arms, which facilitates the installation.

[0012] Furthermore, the N pole of the magnetic coupler and the other end of the rotating end of the conductive slip ring are both fixedly connected to an extension rod. Two ball retainers are provided on the outer walls of the two extension rods. Multiple balls are provided between two adjacent ball retainers. Multiple limiting screws are provided on the outer walls of the four ball retainers. The multiple limiting screws pass through the outer walls of the four balls and extend to the inner side of the four balls, and their ends are threaded to the outer walls of the two extension rods.

[0013] Through the above technical solution, during the rotation process, multiple spheres support the N pole of the magnetic coupler and the rotating end of the conductive slip ring, reducing the friction between the spheres and the N pole of the magnetic coupler, the S pole of the magnetic coupler, and the fixed end of the conductive slip ring, thereby improving the service life of the equipment.

[0014] Furthermore, the support includes a first bracket and a second bracket, which are arranged laterally. A fifth groove is provided at the center of the adjacent end faces of the first bracket and the second bracket. A third groove is provided on the inner side wall of the fifth groove on the first bracket. A micro servo motor is fixedly connected inside the third groove. A micro reducer is fixedly connected to the output end of the micro servo motor. A rotating sleeve is provided inside both the output end of the micro reducer and the third groove on the end face of the second bracket. A magnetic coupler S pole is fixedly connected inside the rotating sleeve on the end face of the first bracket. A conductive slip ring fixing end is fixedly connected inside the rotating sleeve on the end face of the second bracket.

[0015] Through the above technical solution, by controlling the start of the micro servo motor, the micro servo motor drives the start of the micro reducer, the micro reducer drives the rotating sleeve on one side to rotate, the rotating sleeve drives the S pole of the internal magnetic coupler to rotate, thereby driving the N pole of the magnetic coupler to rotate, the N pole of the magnetic coupler then drives the rack to rotate, thereby driving the mounting base and the base to rotate, thus realizing the rotation of the joint.

[0016] Furthermore, a pressing hole is provided on the inner side wall of the fifth groove inside the second bracket, and a threaded cap is threadedly connected inside the pressing hole;

[0017] With the above technical solution, the threaded cap can be removed from inside the pressing hole during disassembly.

[0018] Furthermore, a miniature electromagnetic self-locking structure is fitted onto the output end of the miniature reducer;

[0019] The above technical solution locks the rotating end of the micro reducer by a micro electromagnetic self-locking structure when the machine stops, ensuring that the joint will not deflect after rotation.

[0020] Furthermore, a fourth groove is provided on the inner sidewall of each of the two fifth grooves;

[0021] The above technical solution facilitates the placement of two extension rods.

[0022] Furthermore, the split-type quick-assembly humanoid robot includes multiple upper arms, multiple forearms, and multiple legs, with the upper arms and legs respectively located at different positions on the body.

[0023] This utility model has the following beneficial effects:

[0024] 1. In this utility model, the split quick-assembly humanoid robot connects the rotating parts of the humanoid robot to the connecting parts through connectors. The connectors facilitate quick installation and disassembly, and the power supply to the limbs will not be affected during the rotation process.

[0025] 2. In this utility model, during the rotation process, multiple spheres support the N pole of the magnetic coupler and the rotating end of the conductive slip ring, reducing the friction between the spheres and the N pole of the magnetic coupler, the S pole of the magnetic coupler, and the fixed end of the conductive slip ring, thereby improving the service life of the equipment.

[0026] 3. In this utility model, when the ball is worn after the mounting parts are removed and disassembled, it is easy to replace the ball by removing the limiting screw. Attached Figure Description

[0027] Figure 1 This is a perspective view of the split-type quick-assembly humanoid robot proposed in this utility model;

[0028] Figure 2 This is a three-dimensional sectional view of the split-type quick-assembly humanoid robot connector proposed in this utility model.

[0029] Figure 3 This is a top sectional view of the split-type quick-assembly humanoid robot connector proposed in this utility model;

[0030] Figure 4 for Figure 2 Enlarged diagram of point A in the middle.

[0031] Legend:

[0032] 1. Body; 2. Connector; 201. Support component; 2011. First bracket; 2012. Second bracket; 2013. Third groove; 2014. Threaded cap; 2015. Rotating sleeve; 2016. Pressing hole; 2017. Miniature servo motor; 2018. Miniature reducer; 2019. Miniature electromagnetic self-locking structure; 20110. S pole of magnetic coupler; 20111. Fourth groove; 20112. Conductive slip ring fixing end; 20113. Fifth groove; 202. Mounting components; 2021, base; 2022, first groove; 2023, through hole; 2024, mounting seat; 2025, mounting slot; 2026, gear; 2027, rack; 2028, magnetic coupler N pole; 2029, second groove; 20210, spring; 20211, rotating end of conductive slip ring; 20212, extension rod; 20213, ball retainer; 20214, ball; 20215, limit screw; 3, upper arm; 4, forearm; 5, leg. Detailed Implementation

[0033] 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.

[0034] Reference Figure 1-4 An embodiment of this utility model provides a split-type quick-assembly humanoid robot, including a body 1, two upper arms 3, two forearms 4, and two legs 5. The two upper arms 3 are respectively located on the upper sides of the body 1, the two forearms 4 are respectively located at the other ends of the two upper arms 3, and the two legs 5 are respectively located on the lower sides of the body 1. Connectors 2 are provided between the two upper arms 3 and the body 1, between the two forearms 4 and the upper arms 3, and between the two legs 5 and the body 1. The two upper arms 3 and the two legs 5 are connected to the body 1 through the connectors 2, and the two forearms 4 are connected to the two upper arms 3 through the connectors 2.

[0035] Connector 2 includes a support 201 and a mounting 202. The mounting 202 is rotatably connected inside the support 201. The mounting 202 includes a base 2021. A first groove 2022 is formed at the center of each of the two side walls of the base 2021. A through hole 2023 is formed between the two first grooves 2022. A mounting seat 2024 is fixedly connected inside the through hole 2023. A mounting groove 2025 is formed inside the two mounting seats 2024. A gear 2 is rotatably connected at the center of the mounting groove 2025. 026, gear 2026 has racks 2027 inside the mounting slots 2025 at both ends. One end of each rack 2027 passes through the mounting slot 2025 and extends to both sides of the mounting base 2024. The ends are respectively fixedly connected to the N pole 2028 of a magnetic coupler and the rotating end 20211 of a conductive slip ring. A second groove 2029 is formed near the edge of the side wall of the mounting base 2024. A spring 20210 is fixedly connected inside each of the two second grooves 2029. Two springs 2021... The other end is fixedly connected to the ends of the magnetic coupler N pole 2028 and the conductive slip ring rotating end 20211, respectively. During installation, by pressing the two extension rods 20212, the two extension rods 20212 push the two springs 20210 and the two racks 2027 to move inward. The two racks 2027 move into the mounting groove 2025 along with the gear 2026. Then, the two extension rods 20212 are placed between the first bracket 2011 and the second bracket 2012, and the mounting part 202 is then... Pressing the support 201 inside causes the two extension rods 20212 to enter the two fifth grooves 20113. The tension of the two springs 20210 pushes the N poles 2028 of the two magnetic couplers and the rotating end 20211 of the conductive slip ring to both sides. The two extension rods 20212 enter the two fourth grooves 20111 to complete the installation, thereby installing the two upper arms 3 and the two legs 5 on the body 1, and installing the two forearms 4 on the other end of the two upper arms 3, which facilitates the installation.

[0036] like Figure 2 , 3As shown in Figure 4, both the N pole 2028 of the magnetic coupler and the other end of the rotating end 20211 of the conductive slip ring are fixedly connected to an extension rod 20212. Two ball retainers 20213 are provided on the outer walls of both extension rods 20212. Multiple balls 20214 are provided between adjacent ball retainers 20213. Multiple limiting screws 20215 are provided on the outer walls of all four ball retainers 20213, and each limiting screw 20215 passes through one of the four balls 20214. The outer wall of 14 extends to the inner side of four spheres 20214, and the ends are threaded to the outer walls of two extension rods 20212 respectively. During the rotation, the multiple spheres 20214 support the N pole 2028 of the magnetic coupler and the rotating end 20211 of the conductive slip ring, reducing the friction between the spheres 20214 and the N pole 2028 of the magnetic coupler, the S pole 20110 of the magnetic coupler, and the fixed end 20112 of the conductive slip ring, thereby improving the service life of the equipment.

[0037] The support member 201 includes a first bracket 2011 and a second bracket 2012, which are arranged laterally. A fifth groove 20113 is formed at the center of the adjacent end faces of the first bracket 2011 and the second bracket 2012. A third groove 2013 is formed on the inner wall of the fifth groove 20113 on the first bracket 2011. A micro servo motor 2017 is fixedly connected inside the third groove 2013. A micro reducer 2018 is fixedly connected to the output end of the micro servo motor 2017. A rotating sleeve 2015 is provided inside both the output end of the micro reducer 2018 and the third groove 2013 on the end face of the second bracket 2012. The first bracket 2011 end... A magnetic coupler S pole 20110 is fixedly connected inside the rotating sleeve 2015 on the surface. A conductive slip ring fixing end 20112 is fixedly connected inside the rotating sleeve 2015 on the end face of the second bracket 2012. By controlling the micro servo motor 2017 to start, the micro servo motor 2017 drives the micro reducer 2018 to start. The micro reducer 2018 drives the rotating sleeve 2015 on one side to rotate. The rotating sleeve 2015 drives the magnetic coupler S pole 20110 inside to rotate, thereby driving the magnetic coupler N pole 2028 to rotate. The magnetic coupler N pole 2028 then drives the rack 2027 to rotate, thereby driving the mounting base 2024 and the base 2021 to rotate, realizing the rotation of the joint.

[0038] A pressing hole 2016 is provided on the inner wall of the fifth groove 20113 inside the second bracket 2012. A threaded cover 2014 is threadedly connected inside the pressing hole 2016. When disassembling, the threaded cover 2014 is removed from inside the pressing hole 2016.

[0039] A miniature electromagnetic self-locking structure 2019 is fitted onto the output end of the miniature reducer 2018. When stopped, the miniature electromagnetic self-locking structure 2019 locks the rotating end of the miniature reducer 2018 to ensure that the joint will not deflect after rotation.

[0040] The inner walls of the two fifth grooves 20113 are each provided with a fourth groove 20111 to facilitate the placement of the two extension rods 20212.

[0041] Working principle: During installation, by pressing the two extension rods 20212, the two extension rods 20212 push the two springs 20210 and the two racks 2027 to move inward. The two racks 2027 move into the mounting groove 2025 along with the gear 2026. Then, the two extension rods 20212 are placed between the first bracket 2011 and the second bracket 2012. The mounting part 202 is pressed into the support part 201, so that the two extension rods 20212 enter the two fifth grooves 20113. The tension of the two springs 20210 pushes the two magnetic coupler N poles 2028 and the rotating end of the conductive slip ring 20211 to both sides. The two extension rods 20212 enter the two fourth grooves 20111 to complete the installation. Thus, the two upper arms 3 and the two legs 5 are installed on the body 1, and the two forearms 4 are installed on the other end of the two upper arms 3, which facilitates the installation.

[0042] During operation, the micro servo motor 2017 is started, which in turn drives the micro reducer 2018. The micro reducer 2018 then drives the rotating sleeve 2015 on one side to rotate. The rotating sleeve 2015 drives the S pole 20110 of the internal magnetic coupler to rotate, which in turn drives the N pole 2028 of the magnetic coupler to rotate. The N pole 2028 of the magnetic coupler then drives the rack 2027 to rotate, which in turn drives the mounting base 2024 and the base 2021 to rotate, thus realizing the rotation of the joint. During the rotation of the conductive slip ring fixed end 20112 and the conductive slip ring rotating end 20211 at the other end, the power supply is not affected. The connecting piece 2 between the upper arm 3 and the forearm 4 is driven by the power supplied by the conductive slip ring fixed end 20112 and the conductive slip ring rotating end 20211 between the upper arm 3 and the body 1, ensuring the overall driveability.

[0043] During the rotation process, multiple spheres 20214 support the N pole 2028 of the magnetic coupler and the rotating end 20211 of the conductive slip ring, reducing the friction between the spheres 20214 and the N pole 2028 of the magnetic coupler, the S pole 20110 of the magnetic coupler, and the fixed end 20112 of the conductive slip ring, thereby improving the service life of the equipment. When stopped, the rotating end of the micro reducer 2018 is locked by the micro electromagnetic self-locking structure 2019 to ensure that the joint will not deflect after rotation.

[0044] During disassembly, remove the threaded cap 2014 from the inside of the pressing hole 2016, then press the extension rod 20212 on one side of the pressing hole 2016. Push the extension rod 20212 inward. When the extension rod 20212 pushes one of the racks 2027 inward, it drives the gear 2026 to rotate, thereby driving the rack 2027 on the other side to move into the mounting groove 2025. This causes both extension rods 20212 to move synchronously towards the center position. Then pull out the mounting part 202 to facilitate removal and disassembly. When the ball 20214 wears out after long-term use, it can be replaced by removing the limit screw 20215.

[0045] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A split-type quick-assembly humanoid robot, comprising a body (1), two upper arms (3), two forearms (4), and two legs (5), wherein the two upper arms (3) are respectively disposed on the upper sides of the body (1), the two forearms (4) are respectively disposed at the other ends of the two upper arms (3), and the two legs (5) are respectively disposed on the lower sides of the body (1), characterized in that: Connectors (2) are provided between the two upper arms (3) and the fuselage (1), between the two forearms (4) and the upper arms (3), and between the two legs (5) and the fuselage (1). The two upper arms (3) and the two legs (5) are connected to the fuselage (1) through connectors (2), and the two forearms (4) are connected to the two upper arms (3) through connectors (2). The connector (2) includes a support (201) and a mounting (202). The mounting (202) is rotatably connected inside the support (201). The mounting (202) includes a base (2021). A first groove (2022) is provided at the center of each of the two side walls of the base (2021). A through hole (2023) is provided between the two first grooves (2022). A mounting seat (2024) is fixedly connected inside the through hole (2023). A mounting groove (2025) is provided inside the two mounting seats (2024). A gear (2026) is rotatably connected at the center of the mounting groove (2025). The gear (2026) is in front of... The rear two mounting slots (2025) are equipped with racks (2027) inside. One end of each rack (2027) passes through the mounting slot (2025) and leads to both sides of the mounting base (2024). The ends of each rack are fixedly connected to the N pole (2028) of the magnetic coupler and the rotating end (20211) of the conductive slip ring. The side wall of the mounting base (2024) is provided with a second groove (2029) near the edge. The two second grooves (2029) are fixedly connected to springs (20210). The other ends of the two springs (20210) are fixedly connected to the ends of the N pole (2028) of the magnetic coupler and the rotating end (20211) of the conductive slip ring.

2. The split-type quick-assembly humanoid robot according to claim 1, characterized in that: The magnetic coupler N pole (2028) and the other end of the conductive slip ring rotating end (20211) are both fixedly connected to an extension rod (20212). Two ball retainers (20213) are provided on the outer walls of the two extension rods (20212). Multiple balls (20214) are provided between two adjacent ball retainers (20213). Multiple limiting screws (20215) are provided on the outer walls of the four ball retainers (20213). The multiple limiting screws (20215) pass through the outer walls of the four balls (20214) and extend to the inner side of the four balls (20214), and their ends are threaded to the outer walls of the two extension rods (20212).

3. The split-type quick-assembly humanoid robot according to claim 1, characterized in that: The support member (201) includes a first bracket (2011) and a second bracket (2012), which are arranged laterally. A fifth groove (20113) is provided at the center of the adjacent end face of the first bracket (2011) and the second bracket (2012). A third groove (2013) is provided on the inner wall of the fifth groove (20113) on the first bracket (2011). A micro servo motor (2017) is fixedly connected inside the third groove (2013). The micro servo motor (2017) is fixedly connected to a micro reducer (2018) at its output end. The output end of the micro reducer (2018) and the third groove (2013) on the end face of the second bracket (2012) are both provided with rotating sleeves (2015). The rotating sleeve (2015) on the end face of the first bracket (2011) is fixedly connected to a magnetic coupler S pole (20110). The rotating sleeve (2015) on the end face of the second bracket (2012) is fixedly connected to a conductive slip ring fixing end (20112).

4. The split-type quick-assembly humanoid robot according to claim 3, characterized in that: A pressing hole (2016) is provided on the inner side wall of the fifth groove (20113) inside the second bracket (2012), and a threaded cap (2014) is threadedly connected inside the pressing hole (2016).

5. The split-type quick-assembly humanoid robot according to claim 3, characterized in that: The micro reducer (2018) is fitted with a micro electromagnetic self-locking structure (2019) at its output end.

6. The split-type quick-assembly humanoid robot according to claim 3, characterized in that: A fourth groove (20111) is provided on the inner wall of each of the two fifth grooves (20113).

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