An overload protection device for a joint of a humanoid robot arm

Abstract

The utility model relates to the technical field of joint overload protection device, especially, it relates to a kind of bionic humanoid robot arm joint anti-overload protection device, it is convenient to pop out connecting device by rebound device, connecting device is connected to the effect to joint by, electrically connected device is pushed by adjusting device, electrically connected device is connected to the effect by, indicating device is prompted to the effect of electrically connected;Including mounting device;Still including rebound device, connecting device, adjusting device, electrically connected device and indicating device, rebound device, connecting device, electrically connected device and indicating device are all installed on mounting device, adjusting device is installed on connecting device;Rebound device is convenient to pop out, connecting device is connected to the effect, adjusting device is pushed, electrically connected device is electrically connected, indicating device is prompted to the effect.

Description

Technical Field

[0001] This utility model relates to the technical field of joint overload protection devices, and in particular to an overload protection device for the joints of a bionic humanoid robot arm. Background Technology

[0002] Robot joints are composed of precision mechanisms such as servo motors and reducers. The precision reduction mechanism used in humanoid robots is mainly a harmonic reducer. The harmonic transmission of the harmonic reducer mainly uses the controllable elastic deformation of flexible elements to transmit motion and power. It is small in size and has high precision. However, since the harmonic reducer is a flexible element, the lifespan of the flexible wheel is limited, and it is not impact-resistant. Furthermore, the cost of the harmonic reducer is high, and its rigidity is relatively poor compared to metal parts. Research shows that by designing overload-resistant safety joints, the robot's survivability in complex environments such as falls can be significantly improved. Therefore, an overload protection device for the joints of a bionic humanoid robot arm has emerged.

[0003] For example, in a prior art represented by application number CN202323044721.6, the main structure includes a protective device housing. Inside the housing, a rotating shaft is rotatably mounted. An insulating sleeve is fixedly mounted on the surface of the rotating shaft. Several hollow rods are fixedly mounted on the surface of the insulating sleeve. Each hollow rod has a sliding groove inside. A motor drives a first pulley to rotate, which in turn drives a second pulley to rotate via a belt, thus rotating the rotating shaft. The rotating shaft, through the insulating sleeve, drives the hollow rods to rotate. A fixed contact block slides on the surface of a second contact ring. During rotation, inertia is generated, causing the sliding contact block to slide outwards within the groove, thus contacting the contact wheel with the first contact ring to form a closed circuit. When the rotating shaft jams and stops rotating, the inertia disappears, and a tension spring pulls the sliding contact block to retract, causing the contact wheel to separate from the first contact ring and breaking the circuit. At this time, the normally closed relay is de-energized and closes, and a buzzer sounds as a warning.

[0004] During use, it was found that existing joint overload protection devices are inconvenient for quick connection of joints, affecting subsequent use and operation. Therefore, there is an urgent need for a bionic humanoid robot arm joint overload protection device. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides a biomimetic humanoid robot arm joint overload protection device that uses a spring-back device to easily pop out the connecting device, the connecting device to connect the joint, an adjustment device to push the electrical connecting device to connect it, and an indicator device to indicate the electrical connection.

[0006] This utility model discloses an overload protection device for the joints of a bionic humanoid robot arm, comprising an installation device; it also includes a spring-loaded device, a connecting device, an adjusting device, an electrical connecting device, and an indicating device. The spring-loaded device, connecting device, electrical connecting device, and indicating device are all mounted on the installation device, and the adjusting device is mounted on the connecting device. The spring-loaded device facilitates the ejection of the connecting device, the connecting device connects the joints, the adjusting device pushes the electrical connecting device, the electrical connecting device provides electrical connection, and the indicating device provides a notification of the electrical connection.

[0007] Preferably, the mounting device includes a central plate, which is mounted at the robot joint and has an inner cavity; the central plate provides support.

[0008] Preferably, the rebound device includes a spring and a pop-out block, with the spring installed inside the central disc and the pop-out block installed on the side of the spring; the spring and the pop-out block work together to achieve the rebound effect.

[0009] Preferably, the connecting device includes an insertion shaft passing through a central disk, a mounting cover mounted on the insertion shaft, a mounting cover slidably mounted on the central disk, and a mounting cover installed at the robot joint connection; the insertion shaft and the mounting cover serve as a connection.

[0010] Preferably, the adjustment device includes a dual-axis cylinder, a first pusher block, and a second pusher block. The dual-axis cylinder is mounted on an insertion shaft and has two sets of output shafts. The first pusher block is mounted at the top of one set of output shafts, and the second pusher block is mounted at the bottom of the other set of output shafts. By starting the dual-axis cylinder, the two sets of output shafts of the dual-axis cylinder are extended, thereby moving the first pusher block and the second pusher block.

[0011] Preferably, the electrical connection device includes an electrical connection plate, an electrical connection block one, and an electrical connection block two. The electrical connection plate is installed inside the central plate, the electrical connection block one is installed at the top of the push block one, and the electrical connection block two is installed at the bottom of the push block two. The electrical connection plate, the electrical connection block one, and the electrical connection block two are in contact to facilitate the electrical connection between the central plate and the joints on both sides of the mounting cover.

[0012] Preferably, the indicating device includes a connection indicator light, which is installed on the top of the central disk; the connection indicator light facilitates the monitoring of whether the electrical connection disk, electrical connection block one, and electrical connection block two are electrically connected.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: the spring-back device makes it easy to pop out the connecting device, the connecting device connects the joint, the adjusting device pushes the electrical connecting device, the electrical connecting device connects the electrical components, and the indicating device provides a prompt for the electrical connection. Attached Figure Description

[0014] Figure 1 This is an isometric drawing of the structure of this utility model; Figure 2 This is an exploded view of the structure of this utility model; Figure 3 This is a structural cross-sectional view of the present invention; Figure 4 yes Figure 1 Enlarged isometric view of the connecting device, adjusting device, and other structures in this utility model; Figure 5 yes Figure 4 A partially enlarged schematic diagram of the connecting device and the adjusting device.

[0015] The attached diagram is labeled as follows: 01, mounting device; 11, center plate; 12, inner cavity; 02, springback device; 21, spring; 22, ejector block; 03, connecting device; 31, insertion shaft; 32, mounting cover; 04, adjusting device; 41, dual-shaft cylinder; 42, push block one; 43, push block two; 05, electrical connection device; 51, electrical connection plate; 52, electrical connection block one; 53, electrical connection block two; 06, indicating device; 61, connection indicator light. Detailed Implementation

[0016] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. This utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete.

[0017] Example 1 An overload protection device for the joints of a bionic humanoid robot arm includes a mounting device 01; characterized in that it further includes a spring-back device 02, a connecting device 03, an adjusting device 04, an electrical connecting device 05, and an indicating device 06, wherein the spring-back device 02, the connecting device 03, the electrical connecting device 05, and the indicating device 06 are all mounted on the mounting device 01, and the adjusting device 04 is mounted on the connecting device 03. The rebound device 02 facilitates ejection, the connecting device 03 serves as a connection, the adjusting device 04 pushes, the electrical connecting device 05 provides electrical connection, and the indicating device 06 serves as a prompt. The mounting device 01 includes a central disk 11, which is mounted on the robot joint and has an inner cavity 12. The rebound device 02 includes a spring 21 and a pop-out block 22. The spring 21 is installed inside the central disk 11, and the pop-out block 22 is installed on the side of the spring 21. The connecting device 03 includes an insertion shaft 31 passing through a central disk 11, a mounting cover 32 mounted on the insertion shaft 31, a mounting cover 32 slidably mounted on the central disk 11, and a mounting cover 32 mounted at the robot joint connection. The adjustment device 04 includes a dual-axis cylinder 41, a first push block 42, and a second push block 43. The dual-axis cylinder 41 is mounted on the insertion shaft 31. The dual-axis cylinder 41 is provided with two sets of output shafts. The first push block 42 is mounted on the top of one set of output shafts of the dual-axis cylinder 41, and the second push block 43 is mounted on the bottom of the other set of output shafts of the dual-axis cylinder 41. The electrical connection device 05 includes an electrical connection plate 51, an electrical connection block 1 52, and an electrical connection block 2 53. The electrical connection plate 51 is installed inside the central plate 11, the electrical connection block 1 52 is installed at the top of the push block 1 42, and the electrical connection block 2 53 is installed at the bottom of the push block 2 43. The spring-back device 02 facilitates ejection, the connecting device 03 serves as a connection, the adjusting device 04 provides pushing, and the electrical connecting device 05 provides electrical connection. When the arm joint is overloaded, the activation of the dual-axis cylinder 41 causes the two output shafts of the cylinder 41 to retract, moving the first push block 42 and the second push block 43. Simultaneously, this moves the first electrical connection block 52 and the second electrical connection block 53, disconnecting the electrical connection plate 51, the first electrical connection block 52, and the second electrical connection block 53. Then, the spring 21 and the ejector block 22 work together to eject the insertion shaft 31. Simultaneously, the mounting cover 32 slides directionally on the central plate 11, completing the arm joint overload protection. When an electrical connection is required, press the mounting cover 32, push the insertion shaft 31 into the center plate 11, and start the dual-axis cylinder 41 to extend the two sets of output shafts of the dual-axis cylinder 41, move the first push block 42 and the second push block 43, and at the same time move the first electrical connection block 52 and the second electrical connection block 53, so that the first electrical connection block 52 and the second electrical connection block 53 come into contact with the electrical connection plate 51, so that the electrical connection plate 51, the first electrical connection block 52 and the second electrical connection block 53 are electrically connected.

[0018] Example 2 like Figures 1 to 5 As shown, based on Embodiment 1, an indicator device 06 is also included; The indicator device 06 includes a connection indicator light 61, which is mounted on the top of the central disk 11; Indicator 06 serves as a prompt; During the electrical connection process, the connection indicator light 61 can be used to monitor the electrical connection. When the connection indicator light 61 is lit, the dual-shaft cylinder 41 is stopped, and the electrical connection is completed.

[0019] This utility model discloses a biomimetic humanoid robot arm joint overload protection device. During operation, when the arm joint is overloaded, the activation of the dual-axis cylinder 41 causes the two output shafts of the cylinder 41 to retract, moving the first push block 42 and the second push block 43. Simultaneously, this moves the first electrical connection block 52 and the second electrical connection block 53, disconnecting the electrical connection plate 51, the first electrical connection block 52, and the second electrical connection block 53. Then, the spring 21 and the ejector block 22 work together to eject the insertion shaft 31, while the mounting cover 32 slides directionally on the central plate 11, completing the arm joint overload protection. When electrical connection is required, press... With the lower cover 32 installed, the insertion shaft 31 is pushed into the interior of the central disk 11. By starting the dual-axis cylinder 41, the two sets of output shafts of the dual-axis cylinder 41 are extended, moving the first push block 42 and the second push block 43. At the same time, the first electrical connection block 52 and the second electrical connection block 53 are moved, so that the first electrical connection block 52 and the second electrical connection block 53 come into contact with the electrical connection disk 51, and the electrical connection disk 51, the first electrical connection block 52 and the second electrical connection block 53 are electrically connected. During the connection process, the electrical connection can be easily monitored by the connection indicator light 61. When the connection indicator light 61 lights up, the dual-axis cylinder 41 is stopped, and the electrical connection is completed.

[0020] The dual-shaft cylinder 41, electrical connection plate 51, electrical connection block one 52, and electrical connection block two 53 of this utility model are commercially available. Technical personnel in this industry only need to install and operate them according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0021] The main function achieved by this utility model is to enable rapid electrical connection and installation.

[0022] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An overload protection device for the joints of a biomimetic humanoid robot arm, comprising an installation device (01); characterized in that, It also includes a spring-loaded device (02), a connecting device (03), an adjusting device (04), an electrical connecting device (05), and an indicating device (06). The spring-loaded device (02), the connecting device (03), the electrical connecting device (05), and the indicating device (06) are all mounted on the mounting device (01), and the adjusting device (04) is mounted on the connecting device (03). The rebound device (02) facilitates ejection, the connecting device (03) serves as a connection, the adjusting device (04) pushes, the electrical connecting device (05) provides electrical connection, and the indicating device (06) serves as a prompt.

2. The bionic humanoid robot arm joint overload protection device as described in claim 1, characterized in that, The mounting device (01) includes a central disk (11), which is mounted on the robot joint and has an inner cavity (12).

3. The bionic humanoid robot arm joint overload protection device as described in claim 2, characterized in that, The rebound device (02) includes a spring (21) and a pop-out block (22). The spring (21) is installed inside the central disk (11), and the pop-out block (22) is installed on the side of the spring (21).

4. The overload protection device for the joints of a bionic humanoid robot arm as described in claim 2, characterized in that, The connecting device (03) includes an insertion shaft (31) passing through a central disk (11), a mounting cover (32) mounted on the insertion shaft (31), a mounting cover (32) slidably mounted on the central disk (11), and a mounting cover (32) mounted at the robot joint connection.

5. The overload protection device for the joints of a bionic humanoid robot arm as described in claim 4, characterized in that, The adjustment device (04) includes a dual-axis cylinder (41), a push block one (42) and a push block two (43). The dual-axis cylinder (41) is mounted on the insertion shaft (31). The dual-axis cylinder (41) is provided with two sets of output shafts. The push block one (42) is mounted on the top of one set of output shafts of the dual-axis cylinder (41), and the push block two (43) is mounted on the bottom of the other set of output shafts of the dual-axis cylinder (41).

6. The overload protection device for the joints of a bionic humanoid robot arm as described in claim 5, characterized in that, The electrical connection device (05) includes an electrical connection plate (51), an electrical connection block one (52) and an electrical connection block two (53). The electrical connection plate (51) is installed inside the central plate (11), the electrical connection block one (52) is installed at the top of the push block one (42), and the electrical connection block two (53) is installed at the bottom of the push block two (43).

7. The overload protection device for the joints of a bionic humanoid robot arm as described in claim 2, characterized in that, The indicator device (06) includes a connection indicator light (61), which is mounted on the top of the central disk (11).

Images