A motion unit applied to a robot, a shoulder joint device and a mechanical arm

Abstract

The utility model provides a kind of motion unit applied to robot, shoulder joint device and mechanical arm, including first and second servo motors, and first and second supports, first and second servo motors are located first and second supports respectively;The first support includes first X face and first Y face, and the second support includes second Y face and second Z face, X face, Y face and Z face are perpendicular to each other;First X face can be connected with X shaft output mechanism, so that motion unit can rotate around X shaft;First servo motor and second servo motor are all Y axis arrangement, first servo motor is connected with second Y face by first linear reducer, so that second support is driven to rotate around Y axis;Second servo motor sets second right-angle steering reducer, and second servo motor provides the output rotating around Z axis by second right-angle steering reducer.The utility model can realize the mechanical arm of robot by the combination of servo motor and reducer with low cost and more flexible combination mode.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, and in particular to the motion unit, shoulder joint device and robotic arm of humanoid robots. Background Technology

[0002] Currently, humanoid robot arms are mainly composed of modular integrated units. Although they can perform various movement functions, their market price is relatively high. For the market demand from different companies wanting to develop various personalized robots, the cost is too high and the application flexibility is lacking. Utility Model Content

[0003] The purpose of this invention is to provide a robot motion unit, shoulder joint device, and robotic arm, which achieves modular integration through a combination of servo motors and reducers. This utilizes a mature and comprehensive family of servo motors to reduce costs and adapt to the needs of different robot designs. To this end, this invention adopts the following technical solution: A motion unit for a robot is characterized by comprising a first servo motor and a second servo motor, as well as a first support and a second support, wherein the first servo motor and the second servo motor are respectively located on the first support and the second support; the first support includes a first X-plane and a first Y-plane, and the second support includes a second Y-plane and a second Z-plane, wherein the X-plane, Y-plane and Z-plane are perpendicular to each other; wherein the first X-plane can be connected to an X-axis output mechanism, enabling the motion unit to rotate around the X-axis; both the first servo motor and the second servo motor are arranged along the Y-axis, and the first servo motor is connected to the second Y-plane through a first linear reducer, driving the second support to rotate around the Y-axis; the second servo motor is equipped with a second right-angle steering reducer, and the second servo motor provides an output for rotation around the Z-axis through the second right-angle steering reducer.

[0004] Based on the above technical solutions, this utility model may also adopt the following further technical solutions, which may be used in combination: Both the first and second supports are L-shaped supports, and the side parallel to the Y-axis is the longer side of the mutually perpendicular sides of the L-shape.

[0005] The Y-planes of the first and second supports are both located on the rear side of the motion unit, and the arrangement of the first and second servo motors and the connection position of the first X-plane and the X-axis output mechanism are coordinated to make the center of gravity of the motion unit located on the rear side of the center line of the X-axis.

[0006] The right-angle steering reducer includes a motor shaft connector, a bevel gear pair, a reduction assembly, and an output connection plate. The motor shaft connector is connected to the reduction assembly via the bevel gear pair, thereby causing the motor output to be turned at a right angle. The output connection plate is connected to the reduction assembly.

[0007] The right-angle steering reducer includes a reduction component housing and a motor connection housing. The reduction component is housed in the reduction component housing, and the motor connection housing houses the motor shaft connector and its bearing. The two bevel gears of the bevel gear pair are located outside the reduction component housing and the motor connection housing. A right-angle steering housing is provided between the reduction component housing and the motor connection housing. The two ends of the right-angle steering housing are detachably connected to the reduction component housing and the motor connection housing, respectively. The bevel gear pair is located in the right-angle steering housing. The reduction component housing is fixed on the second Z-plane.

[0008] This utility model also provides a shoulder joint for a humanoid robot, wherein the shoulder joint adopts the motion unit described above; the X-axis corresponds to the shoulder width direction of the robot, the Y-axis corresponds to the shoulder thickness direction of the robot, and the Z-axis corresponds to the arm length direction.

[0009] This utility model also provides a robotic arm for a humanoid robot, which adopts the following technical solution: The robotic arm of the humanoid robot includes the aforementioned shoulder joint, shoulder drive mechanism, and a plurality of arm motion units connected in sequence from the shoulder joint below. The plurality of arm motion units include a first arm motion unit and a second arm motion unit; the first arm motion unit includes a bracket, on which a servo motor and a linear reducer are mounted; the second arm motion unit includes a bracket, on which a servo motor and a right-angle steering reducer are mounted, the servo motor being arranged along the arm length direction.

[0010] Based on the above technical solutions, this utility model may also adopt the following further technical solutions, which may be used in combination: The support of the first arm motion unit is L-shaped, with one side longer than the other along the arm length direction. One side of the L-shape is connected to the drive input mechanism, and the other side is equipped with the drive output mechanism.

[0011] The shoulder drive mechanism is mounted on the robot's skeleton and connected to the X-side of the first support of the shoulder joint.

[0012] The multiple arm motion units include two first arm motion units and two second arm motion units; the connection sequence is second arm motion unit, first arm motion unit, second arm motion unit, first arm motion unit. The first second arm motion unit is connected to the output component of the right-angle steering reducer of the second servo motor of the shoulder joint, and the output component of the linear reducer of the last arm motion unit is connected to the robot arm.

[0013] The output connection plate of the reducer has a hole in the center, and the bracket has a corresponding insertion protrusion. The hole and the insertion protrusion cooperate to enhance the connection stability.

[0014] The shoulder drive mechanism includes a servo motor and a linear reducer. The servo motor is connected to the X-plane of the first support of the shoulder joint through the linear reducer.

[0015] By adopting the technical solution of this utility model, this utility model can realize the robotic arm of a robot in a low-cost and more flexible way by combining a servo motor and a reducer. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an embodiment of the present invention viewed from one angle.

[0017] Figure 2 A schematic diagram showing an embodiment of the present invention viewed from another angle.

[0018] Figure 3 An exploded view of the structure of an embodiment of this utility model.

[0019] Figure 4 This is a cross-sectional view of the right-angle steering reducer used in this utility model. Detailed Implementation

[0020] Referring to the accompanying drawings, the motion unit for a robot provided by this utility model includes a first servo motor 1 and a second servo motor 2, as well as a first support 10 and a second support 20. The first servo motor 1 and the second servo motor 2 are respectively located on the first support 10 and the second support 20. The first support 10 includes a first X-plane 11 and a first Y-plane 12, and the second support 20 includes a second Y-plane 21 and a second Z-plane 22. The X, Y, and Z planes are perpendicular to each other. This perpendicularity includes a configuration that is not absolutely perpendicular but close to perpendicular due to various factors such as manufacturing quality errors. The first X plane 11 can be connected to the X-axis output mechanism (in this embodiment, the shoulder drive mechanism described below) to enable the motion unit to rotate around the X-axis. The first servo motor 1 and the second servo motor 2 are both arranged along the Y-axis, with their output shafts in the Y direction. The first servo motor 1 is connected to the second Y plane 21 through a first linear reducer. The first linear reducer receives and outputs Y-axis rotation drive, causing the second support 20 to be driven to rotate around the Y-axis. The second servo motor 2 is equipped with a second right-angle steering reducer 200, which provides an output for rotation around the Z-axis.

[0021] Both the first support 10 and the second support 20 are L-shaped supports. The first X-face 11 and the first Y-face 12 form two mutually perpendicular sides of the L-shape of the first support 10, and the second Y-face 21 and the second Z-face 22 form two mutually perpendicular sides of the L-shape of the second support 20. Furthermore, the first X-face 11 and the second Z-face 22 are the longer sides of the mutually perpendicular sides of the L-shape.

[0022] Using the L-shaped bracket combination, the Y-planes 12 and 21 of the first bracket 10 and the second bracket 20 are both located on the rear side of the motion unit, while the connection position of the first X-plane 11 and the X-axis output mechanism is biased towards the front side of the motion unit. The first servo motor 1 and the second servo motor 2 are both biased towards the rear side by means of the Y-axis arrangement, which can make the center of gravity of the motion unit located behind the center line of the X-axis, thus having a counterweight effect. When the robotic arm moves, it can reduce the load on the shoulder drive motor (servo motor 901 below), while having high space utilization and a harmonious and beautiful appearance.

[0023] The right-angle steering reducer 200 includes a motor shaft connector 31, a bevel gear pair 32, a reduction assembly 33, and an output connection plate 34. The motor shaft connector 31 is connected to the reduction assembly 33 via the bevel gear pair 32, thereby causing the motor output to be rotated at a right angle. The output connection plate 34 is connected to the reduction assembly 33. The reduction assembly 33 can be a cycloidal pinwheel, a planetary reducer, or other reducers; in this embodiment, a reduction structure with a cycloidal pinwheel is used.

[0024] The right-angle steering reducer 200 may further include a reduction component housing 36 and a motor connection housing 35. A reduction component 33 is housed in the reduction component housing 36, and the motor connection housing 35 houses the motor shaft connector 31 and its bearing 311. The two bevel gears of the bevel gear pair 32 are located outside the reduction component housing 36 and the motor connection housing 35. A right-angle steering housing 37 is provided between the reduction component housing 36 and the motor connection housing 35, with both ends of the right-angle steering housing 37 detachably connected to the reduction component housing 36 and the motor connection housing 37, respectively. The bevel gear pair 32 is located within the right-angle steering housing 37. The reduction component housing 36 is fixed to the second Z-plane 22. This design not only facilitates assembly and maintenance but also results in an aesthetically pleasing appearance.

[0025] like Figure 1 As shown, the motion unit of this invention can serve as the shoulder joint of a humanoid robot. The X-axis corresponds to the shoulder width direction of the robot, the Y-axis corresponds to the shoulder thickness direction of the robot, and the Z-axis corresponds to the arm length direction.

[0026] The robotic arm of the humanoid robot provided by this utility model includes the aforementioned shoulder joint, shoulder drive mechanism, and a plurality of arm motion units connected in sequence from the shoulder joint.

[0027] The plurality of arm motion units includes a first arm motion unit and a second arm motion unit; in this embodiment, two first arm motion units 500 and 700 and two second arm motion units 400 and 600 are provided. The connection sequence is second arm motion unit 400, first arm motion unit 500, second arm motion unit 600, and first arm motion unit 700. The second arm motion units use right-angle steering reducers while the first arm motion units use linear reducers, and the arrangement of each power source is reasonable. Specifically: The second arm motion unit 400 includes a bracket 401, on which a servo motor 402 and a right-angle steering reducer 403 are mounted; the servo motor 402 is arranged along the arm length direction. The structure of the right-angle steering reducer 403 is the same as that of the right-angle steering reducer 200. The bracket 401 is L-shaped, with one side longer than the other along the arm length direction. The shorter side of the L-shape is connected to the drive input mechanism (connected to the output connection plate 34 on the right-angle steering reducer of the second servo motor), and the longer side is equipped with the drive output mechanism (i.e., the right-angle steering reducer 403).

[0028] The first arm motion unit 500 includes a bracket 501, on which a servo motor 502 and a linear reducer are mounted; the servo motor 502 is arranged along the arm length direction. The bracket 501 is L-shaped, with one side longer than the other along the arm length direction. The longer side of the L-shape is connected to the drive input mechanism (connected to the output connection plate on the right-angle steering reducer of the second arm motion unit 400), and the shorter side is equipped with the drive output mechanism (the linear reducer of the first arm motion unit 500).

[0029] The second arm motion unit 600 includes a bracket 601, on which a servo motor 602 and a right-angle steering reducer 603 are mounted; the servo motor 602 is arranged along the arm length direction. The structure of the right-angle steering reducer 603 is the same as that of the right-angle steering reducer 200. The bracket 601 is L-shaped, with one side longer than the other along the arm length direction. The shorter side of the L-shape is connected to the drive input mechanism (connected to the output connection plate on the linear reducer of the first arm motion unit 500), and the longer side is equipped with the drive output mechanism (i.e., the right-angle steering reducer).

[0030] The first arm motion unit 700 includes a bracket 701, on which a servo motor 702 and a linear reducer are mounted; the servo motor 702 is arranged along the arm length direction. The bracket 701 is L-shaped, with one side longer than the other along the arm length direction. The longer side of the L-shape is connected to the drive input mechanism (connected to the output connection plate on the right-angle steering reducer of the second arm motion unit 600), and the shorter side is equipped with the drive output mechanism (the linear reducer gearbox of the first arm motion unit 700, to which the robot arm can be connected).

[0031] Different numbers of first and second arm motion units can be set as needed. Each arm motion unit is small in size, flexible in movement and can move in all directions, and is low in cost, based on the setting of servo motors.

[0032] In this invention, each linear reducer can adopt the same structure, and it can be a conventional servo drive motor reducer. Each right-angle steering reducer can adopt the same structure.

[0033] The shoulder drive mechanism is mounted on the robot's skeleton 900 and connected to the X-side 11 of the first support 10 of the shoulder joint. The shoulder drive mechanism includes a servo motor 901 and a linear reducer. The servo motor 901 is connected to the X-side 11 of the first support of the shoulder joint through an output connection plate 902 on the linear reducer.

[0034] Motion limiting structures can be set between adjacent units to limit the maximum rotation angle of the support. The attached figure shows a motion limiting structure, denoted as 801.

[0035] The output connection plate of the reducer has a hole 802 in the center, and the bracket has a corresponding insertion protrusion 803. The hole 802 and the insertion protrusion 803 cooperate to enhance the connection stability.

[0036] Unless otherwise specified, in this utility model, terms such as "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "axial" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe orientation or positional relationships in this utility model are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood in conjunction with the accompanying drawings and according to the specific circumstances.

[0037] Unless otherwise expressly specified and limited, the terms "set," "clamped," and "connected" in this utility model should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] The above description is only a specific embodiment of the present utility model, but the structural features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the protection scope of the present utility model.

Claims

1. A motion unit for use in robots, characterized in that, The system includes a first servo motor and a second servo motor, as well as a first bracket and a second bracket, which are respectively located on the first bracket and the second bracket. The first bracket includes a first X-plane and a first Y-plane, and the second bracket includes a second Y-plane and a second Z-plane. The X-plane, Y-plane, and Z-plane are perpendicular to each other. The first X-plane can be connected to an X-axis output mechanism, enabling the motion unit to rotate around the X-axis. Both the first servo motor and the second servo motor are arranged along the Y-axis. The first servo motor is connected to the second Y-plane through a first linear reducer, driving the second bracket to rotate around the Y-axis. The second servo motor is equipped with a second right-angle steering reducer, which provides an output for rotation around the Z-axis.

2. The motion unit for a robot as described in claim 1, characterized in that, Both the first and second supports are L-shaped supports, and the side parallel to the Y-axis is the longer side of the mutually perpendicular sides of the L-shape.

3. The motion unit for a robot as described in claim 1, characterized in that, The Y-planes of the first and second supports are both located on the rear side of the motion unit, and the arrangement of the first and second servo motors and the connection position of the first X-plane and the X-axis output mechanism are coordinated to make the center of gravity of the motion unit located on the rear side of the center line of the X-axis.

4. The motion unit for a robot as described in claim 1, characterized in that, The right-angle steering reducer includes a motor shaft connector, a bevel gear pair, a reduction assembly, and an output connection plate. The motor shaft connector is connected to the reduction assembly via the bevel gear pair, thereby causing the motor output to be turned at a right angle. The output connection plate is connected to the reduction assembly.

5. A motion unit for a robot as described in claim 4, characterized in that, The right-angle steering reducer includes a reduction component housing and a motor connection housing. The reduction component is housed in the reduction component housing, and the motor connection housing houses the motor shaft connector and its bearing. The two bevel gears of the bevel gear pair are located outside the reduction component housing and the motor connection housing. A right-angle steering housing is provided between the reduction component housing and the motor connection housing. The two ends of the right-angle steering housing are detachably connected to the reduction component housing and the motor connection housing, respectively. The bevel gear pair is located in the right-angle steering housing. The reduction component housing is fixed on the second Z-plane.

6. A shoulder joint device for a humanoid robot, characterized in that... The shoulder joint employs the motion unit described in claim 1, 2, 3, 4, or 5; the X-axis corresponds to the shoulder width direction of the robot, the Y-axis corresponds to the shoulder thickness direction of the robot, and the Z-axis corresponds to the arm length direction.

7. A robotic arm for a humanoid robot, characterized in that, It includes the shoulder joint and shoulder drive mechanism as described in claim 6, and a plurality of arm motion units connected in sequence from the shoulder joint; The plurality of arm motion units include a first arm motion unit and a second arm motion unit; the first arm motion unit includes a bracket, on which a servo motor and a linear reducer are mounted; the second arm motion unit includes a bracket, on which a servo motor and a right-angle steering reducer are mounted, the servo motor being arranged along the arm length direction.

8. The robotic arm of a humanoid robot as described in claim 7, characterized in that, The support of the first arm motion unit is L-shaped, with one side longer than the other along the arm length direction. One side of the L-shape is connected to the drive input mechanism, and the other side is equipped with the drive output mechanism.

9. The robotic arm of a humanoid robot as described in claim 7, characterized in that, The shoulder drive mechanism is mounted on the robot's skeleton and connected to the X-side of the first support of the shoulder joint. The multiple arm motion units include two first arm motion units and two second arm motion units; the connection sequence is second arm motion unit, first arm motion unit, second arm motion unit, first arm motion unit, the first second arm motion unit is connected to the output component of the right angle steering reducer of the second servo motor of the shoulder joint, and the output component of the linear reducer of the last arm motion unit is connected to the robot arm. The output connection plate of the reducer has a hole in the center, and the bracket has a corresponding insertion protrusion. The hole and the insertion protrusion cooperate to enhance the connection stability.

10. The robotic arm of a humanoid robot as described in claim 9, characterized in that, The shoulder drive mechanism includes a servo motor and a linear reducer. The servo motor is connected to the X-side of the first support of the shoulder joint through the linear reducer.

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