An endoskeleton structure and a robot using the same

Abstract

The application provides an endoskeleton structure and a robot using the same. The endoskeleton structure comprises an upper support, a support column, a waist support platform, a mounting base, a support plate, a first motor, an L-shaped support and an arm skeleton. The middle part of the upper support is connected to the waist support platform through the support column, the two sides of the waist support platform are rotatably connected to the support plate, and the bottom of the support plate is connected to the mounting base. The two ends of the upper support are in a cylindrical structure, and the first motor is arranged in the cylindrical structure. The output end of the first motor is connected to the arm skeleton through the L-shaped support. The arm skeleton comprises a shoulder joint assembly, an upper arm assembly, an elbow joint assembly and a lower arm assembly connected in sequence. The elbow joint assembly is provided with a gear assembly and a protective shell. The protective shell is provided with an opening. The side surface of the waist support platform is provided with a heat dissipation fin. The structure solves the problems of insufficient waist support strength and limited joint operation of the existing endoskeleton, improves the strength through the waist double support design, increases the movement flexibility through the optimization of the joint structure, and guarantees the long-term operation stability through the heat dissipation fin.

Description

Technical Field

[0001] This application relates to the field of biomimetic robots, and in particular to an endoskeleton structure and a robot using the structure. Background Technology

[0002] Mechanical exoskeletons are assistive devices designed based on biomimetic structures. Their technical components include multiple mechanical parts such as the back, hip joint, and thigh, which are connected by rotation to simulate human movement patterns.

[0003] Existing bionic robot endoskeletons, especially the lumbar support structure, are generally single-sided. On the one hand, single-sided support structures lack sufficient strength, making the robot prone to damage under excessive loads during operation. On the other hand, existing bionic robot endoskeleton structures may also have some unreasonable aspects, significantly restricting joint movement. Therefore, this invention proposes an endoskeleton structure and a robot using this structure to at least partially solve the problems that may exist in the prior art. Utility Model Content

[0004] In view of the aforementioned problems, this application is made to provide an endoskeleton structure and a robot using the structure that overcomes or at least partially solves the problems. It addresses the issues of insufficient lumbar support strength and limited joint movement in existing bionic robot endoskeletons. The endoskeleton structure consists of an upper body support module and an arm movement module. These modules work together to achieve flexible, human-like movement while ensuring structural strength and heat dissipation performance.

[0005] An endoskeleton structure, applied to a robot, the endoskeleton structure comprising:

[0006] The upper support frame is connected to the waist support platform via a support column in its middle section;

[0007] The waist support platform is rotatably connected to support plates on both sides, and the bottom of the support plates is connected to a mounting base.

[0008] The upper support has cylindrical structures at both ends; a first motor is installed inside the cylindrical structure;

[0009] The output end of the first motor is connected to the arm frame via an L-shaped support.

[0010] Optionally, the arm frame includes a shoulder joint assembly, an upper arm assembly, an elbow joint assembly, and a forearm assembly connected in sequence.

[0011] The shoulder joint assembly has a cylindrical shape and a second motor is fixed to it. The second motor is connected to the L-shaped support.

[0012] Optionally, the boom assembly includes an upper arm and a lower arm with a cylindrical shape;

[0013] The upper arm is connected to the shoulder joint assembly;

[0014] The upper support arm is equipped with a third motor that is connected to the upper end of the lower support arm;

[0015] The lower end of the lower support arm is connected to an elbow joint assembly.

[0016] Optionally, the elbow joint assembly includes a gear assembly;

[0017] The fourth motor inside the lower arm is connected to the upper end of the forearm assembly via the gear assembly.

[0018] Optionally, the elbow joint assembly further includes a cylindrical protective shell connected to the lower support arm;

[0019] The gear assembly includes a first bevel gear connected to the fourth motor, and a second bevel gear meshing with the first bevel gear;

[0020] A connecting shaft is provided on one side of the second bevel gear, and the connecting shaft is connected to the upper end of the forearm assembly;

[0021] The two ends of the second bevel gear are pivotally connected to the protective shell.

[0022] Optionally, the forearm assembly includes a forearm support and a wrist joint assembly for connecting the hand bones;

[0023] The forearm support is connected at its upper end to the connecting shaft and at its lower end to the wrist joint assembly.

[0024] Optionally, the protective shell is also provided with an opening that matches the forearm support.

[0025] Optionally, the side of the waist support platform is also provided with heat dissipation fins.

[0026] A robot comprising an endoskeletal structure.

[0027] This application has the following advantages:

[0028] In the embodiments of this application, an upper support is constructed, with its central portion connected to a waist support platform via support columns. Support plates are rotatably connected to both sides of the waist support platform, and mounting bases are connected to the bottom of the support plates. The upper support has cylindrical structures at both ends, each housing a first motor. The output end of the first motor is connected to the arm skeleton via an L-shaped support member. By constructing a basic load-bearing framework for the endoskeleton structure, the upper support is connected to the waist support platform via support columns, forming a stable upper body support structure. Compared to existing single-sided waist supports, the dual-support structure significantly improves the load-bearing strength of the waist, preventing damage when the robot is overloaded. The cylindrical structures at both ends of the upper support house the first motor, which is connected to the arm skeleton via L-shaped support members, achieving stable transmission between the arm skeleton and the upper support. This provides power support for the basic movements of the arm (such as lifting and swinging), while the cylindrical structures also protect the first motor, reducing interference from the external environment. Attached Figure Description

[0029] To more clearly illustrate the technical solution of this application, the drawings used in the description of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a first-view schematic diagram of an endoskeletal structure provided in an embodiment of this application;

[0031] Figure 2 This is a second-view schematic diagram of an endoskeletal structure provided in an embodiment of this application;

[0032] Figure 3 This is a third-view schematic diagram of an endoskeletal structure provided in an embodiment of this application;

[0033] Figure 4 yes Figure 3 Enlarged view of section A in the middle.

[0034] In the attached diagram, 101 is the upper bracket; 102 is the support column; 103 is the waist support platform; 104 is the mounting base; 105 is the support plate; 106 is the heat dissipation fin; 201 is the first motor; 202 is the L-shaped support; 203 is the shoulder joint assembly; 204 is the upper support arm; 205 is the lower support arm; 206 is the forearm support; 207 is the opening; 208 is the wrist joint assembly; 301 is the first bevel gear; 302 is the second bevel gear; and 303 is the connecting shaft. Detailed Implementation

[0035] To make the objectives, features, and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0036] Reference Figures 1 to 4 This illustration shows an endoskeleton structure provided in an embodiment of this application, which is applied to a robot. The endoskeleton structure includes: an upper support 101, the middle of which is connected to a waist support platform 103 via a support column 102; support plates 105 are rotatably connected to both sides of the waist support platform 103, and a mounting base 104 is connected to the bottom of the support plates 105; the two ends of the upper support 101 are cylindrical structures; a first motor 201 is sleeved inside the cylindrical structure; the output end of the first motor 201 is connected to the arm skeleton via an L-shaped support member 202.

[0037] The aforementioned basic support frame for constructing the endoskeleton structure has an upper support 101 connected to a waist support platform 103 via a support column 102, forming a stable upper body support structure. Compared to the existing single-sided waist support, the double support plate 105 structure can significantly improve the waist load-bearing strength and prevent damage when the robot is overloaded. The cylindrical structures at both ends of the upper support 101 house the first motor 201, which is connected to the arm skeleton via an L-shaped support 202, achieving stable transmission between the arm skeleton and the upper support 101. This provides power support for the basic movements of the arm (such as lifting and swinging), while the cylindrical structure also protects the first motor and reduces interference from the external environment.

[0038] Furthermore, the arm skeleton includes a shoulder joint assembly 203, an upper arm assembly, an elbow joint assembly, and a forearm assembly connected in sequence. The shoulder joint assembly 203 has a cylindrical structure and is equipped with a second motor, which is connected to the L-shaped support 202. The segmented structure of the arm skeleton (shoulder joint assembly, upper arm assembly, elbow joint assembly, and forearm assembly) allows for independent swinging of the arm skeleton around the shoulder joint via the second motor within the shoulder joint assembly connected to the L-shaped support. This simulates the movement pattern of the human shoulder joint, breaking through the limitation of the single direction of movement in existing endoscopy arms and increasing the flexibility and diversity of arm movements. For example, in the field of robotics, when a robot needs to place a water cup on a table in front of it, the second motor in the shoulder joint assembly drives the arm skeleton to swing forward 30°, accurately placing the cup in the target position. If it needs to place an item on a storage shelf behind it, the second motor drives the arm skeleton to swing backward 45°, completing the operation without adjusting the overall position of the robot, thus improving work efficiency.

[0039] In some embodiments of this application, the boom assembly includes an upper support arm 204 and a lower support arm 205, both with a cylindrical shape. The upper support arm 204 is connected to the shoulder joint assembly 203. A third motor, connected to the upper end of the lower support arm 205, is housed within the upper support arm 204. An elbow joint assembly is connected to the lower end of the lower support arm 205. This boom assembly, with its upper support arm 204 and lower support arm 205, and the third motor connected to the lower support arm 205 within the upper support arm 204, allows for adjustable boom length. The boom size can be flexibly changed according to operational needs (such as grasping distant objects or reducing space occupation during storage), solving the problem of limited applicability of existing fixed-length booms. Furthermore, the segmented boom structure facilitates component repair and replacement, reducing maintenance costs.

[0040] Furthermore, a gear assembly is provided within the elbow joint assembly; the fourth motor within the lower support arm 205 is connected to the upper end of the forearm assembly via the gear assembly. The gear assembly within the elbow joint assembly drives the forearm assembly through the cooperation of the fourth motor and the gear assembly. Gear transmission features high transmission efficiency (up to 95% or more) and a stable transmission ratio, ensuring precise and rapid movement of the forearm assembly. Compared to direct motor drive, the gear assembly can change the direction of power transmission, providing space for a more rational layout of the forearm assembly and avoiding the risk of damage caused by directly exposed motors. For example, when the robot arm grasps an object and needs to bend its forearm to bring the object to its chest, the fourth motor drives the forearm assembly to rotate 90° via the gear assembly. The entire action response time is only 0.5 seconds, and even when grasping a 5kg object, the gear transmission exhibits no slippage, with the motion accuracy error controlled within ±1mm.

[0041] Furthermore, the elbow joint assembly also includes a cylindrical protective shell connected to the lower support arm 205; the gear assembly includes a first bevel gear 301 connected to the fourth motor, and a second bevel gear 302 meshing with the first bevel gear 301; a connecting shaft 303 is provided on one side of the second bevel gear 302, and the connecting shaft 303 is connected to the upper end of the forearm assembly; the two ends of the second bevel gear 302 are pivotally connected to the protective shell. The aforementioned protective shell can effectively protect the gear assembly from external impurities such as dust and oil, extend the service life of the gear assembly, and avoid safety hazards to operators when the gear rotates; the meshing structure of the first bevel gear 301 and the second bevel gear 302 achieves a 90° turn in the power transmission direction, converting the lateral power of the fourth motor into the longitudinal rotational power of the forearm assembly, optimizing the structural layout at the elbow joint, and reducing the overall volume of the elbow joint; the two ends of the second bevel gear 302 are pivotally connected to the protective shell, improving the stability of the gear assembly during rotation, reducing vibration and noise, and ensuring smooth operation of the forearm assembly.

[0042] The aforementioned protective shell can prevent dust from entering the gear assembly. After continuous operation, disassembly of the gear assembly revealed no obvious dust accumulation inside. The bevel gear transmission keeps the diameter at the elbow joint within 60mm. Compared with the traditional spur gear transmission structure, the volume is reduced by 20%, which is more in line with the slender shape of the human arm.

[0043] The forearm assembly includes a forearm support 206 and a wrist joint assembly 208 for connecting the hand bones. The upper end of the forearm support 206 is connected to the connecting shaft 303, and the lower end is connected to the wrist joint assembly 208. The connection between the forearm support 206, the connecting shaft 303, and the wrist joint assembly 208 enables stable transmission between the forearm assembly and the elbow joint assembly, as well as flexible docking between the forearm assembly and the hand bone structure. The wrist joint assembly provides multi-angle movement capabilities to the hand bone structure, allowing the robot hand to perform fine movements such as grasping, rotating, and flipping, thus expanding the robot's operational range.

[0044] The protective shell is also provided with an opening 207 that matches the forearm support 206. This prevents the protective shell from obstructing the swing of the forearm support. When the forearm support 206 swings under the drive of the bevel gear, it allows for a larger relative bending angle between the forearm and upper arm, further making the arm structure as similar as possible to the bending motion of a human arm. The opening 207 on the protective shell matches the forearm support 206, preventing mechanical interference from the protective shell when the forearm support 206 swings, maximizing the swing angle of the forearm support, and thus increasing the relative bending angle between the forearm and upper arm, approaching the natural bending degree of a human arm. This solves the problem of insufficient bending angle (usually less than 90°) in existing endoscopy forearms, which restricts movement and improves the biomimetic effect and operational flexibility of the robotic arm.

[0045] Furthermore, the side of the waist support platform 103 is also provided with heat dissipation fins 106; the heat dissipation fins 106 on the side of the waist support platform 103 can increase the heat dissipation area, accelerate the dissipation of heat generated by the waist support platform and surrounding components (such as motors and circuit modules), and prevent the components from performance degradation or damage due to long-term high-temperature operation. It is especially suitable for scenarios where robots work continuously for a long time, and improves the operational stability and service life of the endoskeleton structure.

[0046] As an example, the endoskeleton structure of this application is mainly applied in the field of bionic robots, aiming to solve problems such as insufficient lumbar support strength and limited joint movement in existing bionic robot endoskeletons. The endoskeleton structure is composed of an upper body support module and an arm movement module. The modules work together to achieve flexible movements similar to humans, while ensuring structural strength and heat dissipation performance.

[0047] The upper body support module is the load-bearing foundation of the entire endoskeleton structure, including an upper bracket 101, support columns 102, a lumbar support platform 103, a mounting base 104, a support plate 105, and heat dissipation fins 106. The upper bracket 101 is made of high-strength, lightweight alloy material. Its middle section is rigidly connected to the lumbar support platform 103 via the support columns 102. The connection between the support columns 102 and the upper bracket 101 and lumbar support platform 103 is welded and reinforced with bolts to ensure no relative displacement during load-bearing. The lumbar support platform 103 is a metal platform with a cylindrical lower end. Its two sides are rotatably connected to the support plate 105 via pivots, with a rotation angle range of 0-90° to accommodate small twisting movements of the robot's waist. The bottom of the support plate 105 is fixed to the mounting base 104 with bolts. The mounting base 104 is used to connect to the robot's torso shell or other functional modules to achieve overall fixation of the endoskeleton structure. The side of the waist support platform 103 is integrally formed with heat dissipation fins 106. The heat dissipation fins 106 are integrally set with the side of the cylindrical waist support platform 103, and can be made of aluminum alloy, distributed in strips with a spacing of 5mm. When the robot is running, the heat generated by the waist support platform 103 and surrounding components can be quickly conducted to the air through the heat dissipation fins 106, avoiding component aging or performance degradation due to high temperature. This is especially suitable for scenarios with long-term continuous operation, such as industrial handling robots and rehabilitation assistive robots.

[0048] The arm motion module is the core of the robot arm's flexible movements, including a first motor 201, an L-shaped support 202, a shoulder joint assembly 203, an upper arm assembly (upper arm 204, lower arm 205), an elbow joint assembly (protective shell, gear assembly, fourth motor), and a forearm assembly (forearm support 206, wrist joint assembly 208). The upper support 101 has cylindrical structures with an inner diameter of 50mm at both ends. The first motor 201 is housed inside the cylindrical structure via bearings. The first motor 201 can preferably be a servo motor with a rated torque of 10N. The output end of the first motor 201 is fixed to the L-shaped support 202 via a key connection, and the other end of the L-shaped support 202 is welded to the shoulder joint assembly 203. When the first motor 201 is started, it can drive the L-shaped support 202 to rotate around the axis of the cylindrical structure, realizing the overall lifting or swinging of the robot arm. The rotation angle range is 0-180°, meeting the basic movement requirements such as lifting and lowering the arm. The shoulder joint assembly 203 is a cylindrical structure with an inner diameter of 40mm, and a second motor (servo motor, rated torque 8N) is fixed inside it. The output shaft of the second motor is rigidly connected to the L-shaped support 202. By rotating the second motor in both directions, the shoulder joint assembly 203 can be driven to rotate around an axis perpendicular to the L-shaped support 202, with a rotation angle range of -90° to 90°, simulating the forward and backward swinging motion of the human shoulder joint. For example, actions such as the robot arm grasping objects forward and placing objects backward are all achieved through this assembly.

[0049] The boom assembly consists of an upper support arm 204 and a lower support arm 205, both of which are cylindrical structures. The upper support arm 204 has an inner diameter of 35mm, and the lower support arm 205 has an outer diameter of 34.5mm. The upper end of the lower support arm 205 is slidably fitted inside the upper support arm 204. A third motor (servo motor, rated torque 12N) is fixed inside the upper support arm 204. The output of the third motor is connected to the upper end of the lower support arm 205 via a ball screw. When the third motor starts, the ball screw drives the lower support arm 205 to extend and retract along the axis of the upper support arm 204. The extension stroke is 0-300mm, and the length of the arm can be adjusted according to operational needs, such as extending when grabbing objects at a distance and shortening when retracting. The lower end of the lower support arm 205 is fixedly connected to the protective shell of the elbow joint assembly via a flange.

[0050] The core of the elbow joint assembly is a gear transmission structure. The protective shell is a cylindrical metal shell, bolted to the lower end of the lower support arm 205, serving to protect the internal gear assembly. A fourth motor (servo motor, rated torque 6N) is fixed inside the lower support arm 205. The output shaft of the fourth motor is keyed to the first bevel gear 301, which meshes with the second bevel gear 302 (transmission ratio 1:1). Both sides of the second bevel gear 302 are pivotally connected to the protective housing via bearings, ensuring stable rotation without shaking. A connecting shaft 303 is integrally formed on one side of the second bevel gear 302, and is keyed to the upper end of the forearm support 206. When the fourth motor starts, power is transmitted sequentially through the first bevel gear 301 and the second bevel gear 302 to the connecting shaft 303, causing the forearm support 206 to rotate around the axis of the connecting shaft 303, achieving relative bending of the forearm and upper arm. In addition, the protective shell has an opening 207 that matches the forearm support 206. For example, the arc of the opening 207 is 120°, which can prevent the protective shell from hindering the swing of the forearm support 206, so that the relative bending angle between the forearm and the upper arm can reach 0-120°, which is close to the bending degree of the human arm (the natural bending angle of the human arm is about 135°), meeting the needs of fine movements such as grasping and holding. The forearm support 206 is a rectangular metal support, and its lower end is rotatably connected to the wrist joint assembly 208 through a pivot. The wrist joint assembly 208 contains a micro motor (rated torque 3N). The wrist joint assembly 208 can be driven to rotate (0-360°) and swing up and down (-45° to 45°) around the axis of the forearm support 206. The end of the wrist joint assembly 208 is provided with an interface for attaching hand bone structures (such as mechanical claws, bionic hands, etc.) to realize operations such as grasping and releasing objects.

[0051] Based on the same concept, some embodiments of this application also disclose a robot, which includes the aforementioned endoskeleton structure. This endoskeleton structure, when applied to a robot, enables the robot to possess high-strength lumbar support, flexible arm movement, and stable heat dissipation performance, overcoming many shortcomings of existing bionic robot endoskeletons, improving the robot's overall operational performance and applicable scenarios. Furthermore, the modular design of the endoskeleton structure facilitates the robot's assembly, maintenance, and upgrades.

[0052] A robot utilizing the aforementioned endoskeleton structure uses the endoskeleton as its core framework, encased in a lightweight protective shell. Internally, it integrates a control system, power module, and sensor modules (such as force sensors and position sensors). The control system receives sensor signals and drives various motors to work in tandem, enabling the robot to perform a series of movements, including waist twisting, arm raising and lowering, swinging, extending and retracting, bending, and hand grasping. This robot can be widely used in industrial production (such as parts handling and assembly), medical rehabilitation (such as assisting patients with limb movement), and service industries (such as home cleaning and item delivery).

[0053] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0054] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0055] The above provides a detailed description of an endoskeleton structure and a robot using the structure provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An endoskeleton structure, said endoskeleton structure being used in a robot, characterized in that, The endoskeleton structure includes: The upper support frame is connected to the waist support platform via a support column in its middle section; The waist support platform is rotatably connected to support plates on both sides, and the bottom of the support plates is connected to a mounting base. The upper support has cylindrical structures at both ends; a first motor is installed inside the cylindrical structure; The output end of the first motor is connected to the arm frame via an L-shaped support.

2. The endoskeleton structure according to claim 1, characterized in that, The arm frame includes a shoulder joint assembly, an upper arm assembly, an elbow joint assembly, and a forearm assembly connected in sequence. The shoulder joint assembly has a cylindrical shape and a second motor is fixed to it. The second motor is connected to the L-shaped support.

3. The endoskeleton structure according to claim 2, characterized in that, The boom assembly includes an upper support arm and a lower support arm, both of which are cylindrical in shape. The upper arm is connected to the shoulder joint assembly; The upper support arm is equipped with a third motor that is connected to the upper end of the lower support arm; The lower end of the lower support arm is connected to an elbow joint assembly.

4. The endoskeletal structure according to claim 3, characterized in that, The elbow joint assembly includes a gear assembly. The fourth motor inside the lower arm is connected to the upper end of the forearm assembly via the gear assembly.

5. The endoskeleton structure according to claim 4, characterized in that, The elbow joint assembly also includes a cylindrical protective shell connected to the lower support arm; The gear assembly includes a first bevel gear connected to the fourth motor, and a second bevel gear meshing with the first bevel gear; A connecting shaft is provided on one side of the second bevel gear, and the connecting shaft is connected to the upper end of the forearm assembly; The two ends of the second bevel gear are pivotally connected to the protective shell.

6. The endoskeletal structure according to claim 5, characterized in that, The forearm assembly includes a forearm support and a wrist joint assembly for connecting the hand bones. The forearm support is connected at its upper end to the connecting shaft and at its lower end to the wrist joint assembly.

7. The endoskeletal structure according to claim 6, characterized in that, The protective shell is also provided with an opening that matches the forearm support.

8. The endoskeleton structure according to claim 1, characterized in that, The side of the waist support platform is also equipped with heat dissipation fins.

9. A robot, characterized in that, The robot includes an endoskeletal structure as described in any one of claims 1 to 8.

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