Humanoid robot joint overload protection mechanical clutch

Abstract

The utility model provides a kind of humanoid robot joint overload protection mechanical clutch, belong to robot technical field, including joint component, action drive assembly, clutch transmission assembly, automatic regulating assembly, overload locking assembly and safety buckle component, joint two parts are connected by main transmission cavity rotation with joint one part, main transmission cavity is equipped with driving disc, transmission disc is driven connection with joint two parts, the upper end of driving disc is equipped with the passive disc that is downward elastic, and the clutch column of same side is slidably inserted in driving sliding hole, can form the driving of driving disc to transmission disc clutch type, automatic regulating assembly can adjust the downward support elastic force that passive disc is subjected;After the appearance overload condition passive disc moves up, can make driving cone surface and the inner end of passive push column form sliding tangent cooperation, promote locking tooth to passive locking bevel gear clamping, and utilize the cooperation of driving bevel and passive bevel, limit side fixed plate to stop in the side of elastic sliding column, form the rapid safety locking after overload.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a mechanical clutch for overload protection of humanoid robot joints. Background Technology

[0002] Humanoid robots are complex systems in the field of robotics, designed to mimic human form and motor functions to adapt to diverse human living and working environments. Joints, as the core motion execution units of humanoid robots, are widely distributed in parts such as the shoulder, elbow, wrist, hip, and knee, directly determining the robot's mobility, positioning accuracy, and load-bearing capacity. These joints are typically driven by high-performance servo motors, which transmit torque through precision reducers, thereby enabling robotic arms or legs to perform various tasks such as grasping, carrying, and walking.

[0003] In practical applications, joints may face various unexpected overload conditions, including collisions with the external environment, overweight or sudden slippage of the grasped object, and internal interference caused by control abnormalities. These conditions can generate torque at the joint output end that far exceeds the design tolerance. If effective protection measures are not taken, it can easily cause serious failures such as servo motor stall and burnout, gear breakage, and reducer damage, leading to system downtime and high maintenance costs.

[0004] Currently, widely used overload protection methods mainly rely on electronic solutions. These methods indirectly estimate the output torque by detecting the value of the motor drive current. When the current value exceeds a set threshold, the control system cuts off the motor power supply or triggers mechanical braking to achieve the protection function. However, because these methods rely excessively on current sensors, control algorithms, and hardware circuits, a failure in any of these components can cause the protection function to fail. Furthermore, after electronic protection is triggered, the joint drive power is cut off, and the output end is in a free state. This can lead to the loss of torque support during grasping operations or high-altitude applications, potentially causing the grasped object to fall or the robot's limbs to drop, posing a secondary safety risk. Utility Model Content

[0005] The purpose of this invention is to provide a mechanical clutch for overload protection of humanoid robot joints. By engaging the clutch pin at the bottom of the driven plate, which is elastically oriented towards the transmission plate, with a spherical groove in the transmission plate, the clutch pin can instantly disengage from the spherical groove during overload. Furthermore, by utilizing an overload locking component and a safety latch component, the current position of the transmission plate can be safely locked. This not only provides overload protection but also protects the current action and eliminates secondary safety risks.

[0006] The purpose of this utility model is achieved through the following technical solution: a mechanical clutch for overload protection of a humanoid robot joint, comprising a joint component, a motion drive component, a clutch transmission component, an overload locking component, and a safety latch component. The joint component includes a main transmission cavity, the motion drive component includes a drive disc, the clutch transmission component includes a passive disc and a clutch spring adjustment seat, the overload locking component includes an active cone surface and a locking tooth, and the safety latch component includes an active inclined surface and a passive inclined surface. A transmission disc is screwed into the lower part of the main transmission cavity. Spherical grooves are evenly distributed in the center of the transmission disc's main body. A drive disc is automatically rotatable and located in the upper part of the main transmission cavity. Clutch pins are evenly fixed to the bottom of the driven disc, and these pins slide within the drive disc's main body. A vertically adjustable clutch spring adjustment seat is also provided in the upper part of the main transmission cavity. The driven disc springs downwards and connects to the clutch spring adjustment seat, and can rotate freely relative to it. The clutch pins on the same side face the spherical grooves. The driving cone surface is formed on the outer circumference of the driven disc. Driven locking pins are horizontally screwed into both ends of the main transmission cavity. The transmission disc is connected to the passive locking bevel gear. Both ends of the main transmission cavity are also elastically slidably connected to the active cone surface laterally. The inner end of the passive push column is tangentially slidably connected to the active cone surface. The outer end of the passive push column is fixedly connected to a side plate. The locking tooth is fixedly connected to the lower outer end of the side plate and can form a snap-fit ​​engagement with the passive locking bevel gear. The active inclined surface is opened at the top of the side plate. Both ends of the clutch spring force adjustment seat are slidably connected to the spring sliding column downwards. The passive inclined surface is opened at the bottom end of the spring sliding column and can form an elastic sliding engagement with the active inclined surface.

[0007] The usage process of the technical solution of this utility model is as follows: The fixed end of the joint is fixedly connected to one end of the main transmission cavity, and the driven end is laterally screwed to the other end of the main transmission cavity, and the driven end is connected to the transmission disc for transmission. In normal load operation, the driven end can rotate relative to the driving end. The automatically rotating drive disc can drive the rotation of the clutch column and the driven disc. Since the clutch columns on the same side are inserted into the ball grooves with downward springing at this time, under the action of the set downward springing force of the driven disc relative to the clutch spring force adjustment seat, a certain torque drive value can be formed. The effective transmission connection between the transmission disc and each set of clutch columns is achieved, so that the driven end in the joint can rotate relative to the fixed end. Once the joint rotation is overloaded, the overload force will cause the clutch column to disengage from the spherical groove. At this time, the driven plate moves away from the transmission plate, and the clutch column will not disengage from the drive plate. The active cone surface changes from sliding tangentially between the small cone end and the inner end of the passive push column to sliding tangentially between the large cone end and the inner end of the passive push column, pushing the passive push column to move laterally away from the active cone surface. This causes the clutch column to lose effective transmission connection with the transmission plate at the moment it disengages from the spherical groove. Simultaneously, the passive push column moves laterally away from the active cone surface, causing the locking teeth to engage with the passive locking bevel gear. As the side plate moves the locking teeth to engage with the passive locking bevel gear, the active inclined surface and the passive inclined surface form an elastic sliding tangential engagement. After the locking teeth and the passive locking bevel gear are engaged, the active inclined surface completes the elastic sliding tangential engagement with the passive inclined surface. At this time, the elastic downward extension of the spring slide column can limit the top of the side plate. Without moving the spring slide column, the side plate cannot return to its original position freely, thus allowing the locking teeth to safely remain in the position engaged with the passive locking bevel gear. After the overload is released, the clutch spring force adjustment seat, which can move automatically vertically, can move the spring slide upward, so that the spring slide moves to the position where it is disengaged from the top of the side plate. At this time, the supporting spring force on the driven plate relative to the clutch spring force adjustment seat will be reduced, which will not affect the subsequent reset action. Under the combined action of the downward supporting force of the driven disc relative to the clutch spring adjustment seat and the supporting force of the driven push pin towards the driving cone surface, the driven disc will move closer to the drive disc. Simultaneously, the locking teeth will move away from the driven locking bevel gear, causing the clutch pin to re-insert downward into the spherical groove. The locking teeth will release the locking state of the driven locking bevel gear. At this time, an effective transmission connection will be re-established between the clutch pin and the transmission disc, moving the clutch spring adjustment seat downward to the set position and completing the reset after overload.

[0008] By adopting the above technical solution, the present invention can achieve the following beneficial effects: (1) Under normal load, the clutch column is stably inserted into the spherical groove of the transmission plate under the action of elastic force, forming a reliable transmission. Once the torque exceeds the preset value, the overload force will instantly overcome the elastic force, forcing the clutch column to disengage from the spherical groove, so that the power transmission path between the driven plate and the transmission plate is immediately cut off. This mechanical response mechanism is fast and reliable, and can effectively protect the drive components. (2) This utility model can synchronously trigger rigid locking after overload. The disengagement movement of the clutch column is converted into the lateral movement of the side plate through the cooperation of the active cone surface and the passive push column, thereby driving the locking teeth and the passive locking bevel gear to form a locking engagement. Since the passive locking bevel gear is connected to the transmission disk, when it is locked, the transmission disk and the driven end of the joint will be completely fixed, effectively avoiding loss of control caused by power interruption, and the safety is extremely high; (3) When the locking is triggered, the active inclined plane and the passive inclined plane work together to push the top of the side plate of the spring slide to form a mechanical limit, ensuring that the locking state is stably maintained. When resetting, the clutch spring force adjustment seat only needs to be moved up to drive the spring slide to move up to release the limit. The device will automatically return to the initial transmission state under the action of double spring force. The process is simple and fast, and can provide a stable locking state maintenance and convenient reset mechanism. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram showing the positional structure of joint part one and joint part two of this utility model; Figure 3 This is a schematic diagram of the transmission part of the joint in this utility model; Figure 4 This is a schematic diagram of the transmission disc part of this utility model; Figure 5 This is a schematic diagram of the structure of the motion drive component of this utility model; Figure 6 This is a schematic diagram of the drive disk portion of this utility model; Figure 7 This is a schematic diagram of the installation structure of the clutch transmission assembly of this utility model; Figure 8 This is an exploded structural diagram of the clutch transmission assembly of this utility model; Figure 9 This is a schematic diagram of the structure of the automatic adjustment component of this utility model; Figure 10 This is a schematic diagram of the sliding seat part of this utility model; Figure 11 This is a schematic diagram of the overload locking assembly of this utility model; Figure 12 This is a front view of the transmission part of the overload locking assembly of this utility model; Figure 13 This is a front view of the transmission cooperation between the safety buckle component and the overload locking assembly of this utility model; Figure 14 This is a schematic diagram of the main cross-sectional structure of the safety buckle component of this utility model.

[0011] Figure label: 1. Joint component; 2. Motion drive assembly; 3. Clutch transmission assembly; 4. Automatic adjustment assembly; 5. Overload locking assembly; 6. Safety latch component; 101. Joint part 1; 102. Main transmission chamber; 103. Secondary transmission chamber; 104. Motion rotating seat; 105. Joint part 2; 106. Motion rotating shaft; 107. Angle sensor; 108. Motion rotating large bevel gear; 109. Transmission rotating seat; 110. Transmission rotating shaft; 111. Transmission small bevel gear; 112. Transmission disc; 113. Spherical groove; 201. Main spindle rotating seat; 202. Main spindle; 203. Drive disc; 204. Drive sliding hole; 205. Guide post; 206. Internal mounting bracket; 207. Drive motor; 208. Hollow fixed shaft; 209. Torque sensor; 301. Passive disc; 302. Clutch column; 303. Clutch 304. Elastic adjustment seat; 305. Top spring; 306. Threaded seat; 307. Adjusting bolt; 308. Hexagonal column; 309. Top spring retaining groove; 401. Thrust bearing; 402. Rotating gear; 403. Middle gear; 404. Side limiting seat; 405. Adjusting drive motor; 406. Adjusting drive gear; 501. Balance limiting seat; 502. Driving cone surface; 503. Sliding seat; 504. Bottom rotating seat. 504. Center bevel gear; 505. Side shaft; 506. Side drive bevel gear; 507. Passive locking bevel gear; 508. Compression spring retaining post; 509. Passive push post; 510. Side fixing plate; 511. Compression spring; 512. Locking tooth; 601. Active inclined surface; 602. Spring sliding cavity; 603. Spring sliding post; 604. Passive inclined surface; 605. Displacement hole; 606. M-shaped spring plate. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0013] In the description of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0014] Example 1: Examples of overload protection in this utility model Figures 1-14 As shown, the joint component 1 is the base of the installation. The transmission disk 112 is screwed into the lower part of the main transmission cavity 102. The transmission disk 112 has spherical grooves 113 evenly opened in the middle of the main body. The drive disk 203 is automatically rotatably located in the upper part of the main transmission cavity 102, and the transmission disk 112 is located directly below the drive disk 203. The bottom end of the passive disk 301 is evenly fixed with clutch pins 302, and the clutch pins 302 are slidably inserted into the body of the drive disk 203. The middle part of the passive disk 301 is sleeved in the rotating shaft of the drive disk 203. The upper part of the main transmission cavity 102 is also provided with a vertically adjustable clutch spring force adjustment seat 303. The passive disk 301 bounces downward and connects with the clutch spring force adjustment seat 303, and can rotate freely relative to the clutch spring force adjustment seat 303. The clutch pins 302 on the same side are directly opposite the spherical groove 113, and under the action of the downward spring force of the passive disk 301 itself, the clutch pins 302 on the same side can be inserted into the spherical groove 113. The active cone surface 501 is formed on the outer circular surface of the passive disk 301. The two ends of the main transmission cavity 102 are laterally screwed with passive locking bevel gears 507, and the transmission disk 112 is connected to the passive locking bevel gears 507. The two ends of the main transmission cavity 102 are also laterally elastically slidably connected with passive push pins 509 in the direction of the active cone surface 501. The inner end of the passive push pin 509 is slidably tangent to the active cone surface 501. The outer end of the passive push pin 509 is fixedly connected with a side plate 510. The locking tooth 512 is fixedly connected to the lower outer end of the side plate 510 and can form a snap-fit ​​engagement with the passive locking bevel gear 507. The active ramp 601 is located at the top of the side plate 510. Both ends of the clutch spring force adjusting seat 303 are slidably connected to the spring slide column 603, which bounces downward. The passive ramp 604 is located at the bottom of the spring slide column 603. The passive ramp 604 can form an elastic sliding engagement with the active ramp 601. After the locking tooth 512 moves to the position that locks the passive locking bevel gear 507, the spring slide column 603 can limit the return stroke of the side plate 510. The working principle of the overload protection of this utility model is as follows: The main transmission cavity 102 is located at the joint of the humanoid robot; The fixed end of the joint is fixedly connected to one end of the main transmission cavity 102, and the driven end is laterally screwed to the other end of the main transmission cavity 102, and the driven end is connected to the transmission disk 112 for transmission. In normal load operation, the driven end can rotate relative to the driving end. The automatically rotating drive disc 203 can drive the clutch column 302 and the driven disc 301 to rotate. Since the clutch columns 302 on the same side are inserted into the ball groove 113 with downward springing, under the action of the set downward springing force of the driven disc 301 relative to the clutch spring force adjustment seat 303, a certain torque drive value can be formed. The transmission disc 112 and each set of clutch columns 302 are effectively connected, so that the driven end in the joint can rotate relative to the fixed end. Once the joint rotation is overloaded, the overload force will cause the clutch pin 302 to disengage from the spherical groove 113. At this time, the driven disc 301 moves away from the transmission disc 112, and the clutch pin 302 will not disengage from the drive disc 203. The active cone surface 501 changes from sliding tangentially engaging the small cone end with the inner end of the passive push pin 509 to sliding tangentially engaging the large cone end with the inner end of the passive push pin 509, pushing the passive push pin 509 to move laterally away from the active cone surface 501. At the instant the clutch pin 302 disengages from the spherical groove 113, the clutch pin 302 loses its effective transmission connection with the transmission disc 112. Simultaneously, the passive push pin 509 moves laterally away from the active cone surface 501, causing the locking tooth 512 to engage with the passive locking bevel gear 507. As the side retaining plate 510 moves the locking tooth 512 to engage with the passive locking bevel gear 507, the active inclined surface 601 and the passive inclined surface 604 form an elastic sliding tangent. The locking teeth 512 and the passive locking bevel gear 507 are engaged in a locking engagement, and the active inclined surface 601 is just engaged in an elastic sliding tangential engagement with the passive inclined surface 604. At this time, the elastic downward extension of the spring slide 603 can just limit the top of the side plate 510, so that the side plate 510 cannot return to its original position without moving the spring slide 603. This allows the locking teeth 512 to stay safely in the position engaged with the passive locking bevel gear 507. Since the symmetrically distributed passive locking bevel gears 507 are all connected to the transmission disk 112, the transmission disk 112 cannot rotate after the passive locking bevel gears 507 are locked. This means that even if the clutch column 302 loses its driving torque on the transmission disk 112, the driven end in the joint will still remain in its current position relative to the fixed end, and will not cause damage to the humanoid robot and the items it carries due to sudden overload.

[0015] The specific structure of joint component 1 is as follows: Figure 2 , Figure 3 and Figure 4 As shown, joint part 101 is the fixed end of the joint, and joint part 105 is the driven end of the joint. One end of joint part 101 is fixedly connected to the upper end of the outer wall of the main transmission cavity 102. The lower end of the outer wall of the main transmission cavity 102 is fixedly connected to the auxiliary transmission cavity 103, and the interior of the auxiliary transmission cavity 103 is connected to the interior cavity of the main transmission cavity 102. Both ends of the side wall of the auxiliary transmission cavity 103 are fixedly installed with actuating rotary seats 104. One end of the joint part 105 is laterally fixed with an action shaft 106, which is screwed to the action seat 104, and the auxiliary transmission cavity 103 is located in the gap at one end of the joint part 105. An angle sensor 107 is installed in the actuation shaft 106. It can not only measure the rotation angle of the joint 105 relative to the actuation seat 104 under normal load, but also, when an overload occurs, the drive mechanism fixed to the fixed end may still rotate at the moment the clutch column 302 disengages from the ball groove 113. However, the driven end will stop instantly due to the locking tooth 512 and the passive locking bevel gear 507 locking. It is necessary to record the action at this time to ensure that the measurement data generated by the angle sensor 107 can also record the overload event. The rotating bevel gear 108 is inserted into the rotating shaft 106, and both the rotating bevel gear 108 and the angle sensor 107 are located in the inner cavity of the main transmission cavity 102. A transmission seat 109 is fixedly installed at the bottom of the main transmission cavity 102. A transmission shaft 110 is vertically screwed into the transmission seat 109. A small transmission bevel gear 111 is inserted into the bottom end of the transmission shaft 110, and a transmission disc 112 is inserted into the top end of the transmission shaft 110. The small transmission bevel gear 111 meshes with the rotating large bevel gear 108. The angle sensor 107 will not interfere with the meshing of the rotating large bevel gear 108 and the small transmission bevel gear 111.

[0016] The specific structures of the motion drive assembly 2 and the clutch transmission assembly 3 are as follows: Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, a spindle seat 201 is fixedly installed on the top inner part of the main transmission cavity 102, a spindle 202 is fixedly installed on the top center of the drive disk 203, an inner mounting bracket 206 is fixedly connected between the gaps of the joint part 101, the main body of the drive motor 207 is fixedly connected to the inner mounting bracket 206, a hollow fixed shaft 208 is fixedly connected to the middle inner side of one end of the joint part 101, a torque sensor 209 is fixedly installed in the hollow fixed shaft 208, the shaft of the drive motor 207 is connected to the input end of the torque sensor 209, and the top end of the spindle 202 passes through the top wall of the main transmission cavity 102 and is connected to the output end of the torque sensor 209. The main body of the passive disk 301 is sleeved with the main shaft 202. The main body of the drive disk 203 has drive sliding holes 204 evenly opened around the main shaft 202. The guide post 205 is evenly fixed at the bottom of the drive disk 203 around the main shaft 202. The clutch post 302 on the same side is slidably inserted into the drive sliding hole 204. The guide post 205 and the drive sliding hole 204 are staggered in sequence. The setting of the guide post 205 can increase the sliding stability of the clutch post 302. This allows the drive motor 207 to drive the rotation of the spindle 202 and the drive disk 203 via the torque sensor 209. Since the clutch column 302 is always slidably inserted in the drive sliding hole 204 regardless of whether it is under normal load or overload, after the drive disk 203 rotates, it can drive the array of clutch columns 302 to rotate around the spindle 202. Torque sensor 209 can actively measure the torque output by drive motor 207 in real time to ensure that the joints of the humanoid robot are used within a reasonable range. The passive disc 301 has a top spring retaining groove 308 at the top of its main body. Threaded seats 305 are symmetrically fixed in the main body of one end of the joint part 101. Each set of threaded seats 305 is threaded with an adjusting bolt 306. A hexagonal column 307 is fixed to the outer end of the adjusting bolt 306. The inner end of the adjusting bolt 306 is screwed into the main body of the clutch spring force adjusting seat 303 and will not detach from the clutch spring force adjusting seat 303. The clutch spring force adjustment seat 303 has a through hole in the middle of its main body to eliminate interference with the spindle seat 201 and the spindle 202. The inner bottom end of the top spring locking groove 308 and the middle of the bottom end of the clutch spring force adjustment seat 303 are both equipped with thrust bearings 309. The two ends of the top spring 304 are respectively locked in different thrust bearings 309, and neither the top spring 304 nor the thrust bearings 309 will interfere with the rotation of the spindle 202. This allows the driven disc 301 to move to a certain extent along the direction of the main shaft 202 under the elastic support of the top spring 304, driven by the rotation of the drive disc 203, and to rotate synchronously with the main shaft 202 and the drive disc 203, thus forming overload clutch protection.

[0017] The specific structures of the overload locking assembly 5 and the safety latch assembly 6 are as follows: Figure 10 , Figure 11 , Figure 12 , Figure 13 and Figure 14 As shown, the sliding seats 502 are symmetrically fixedly installed inside the main transmission cavity 102. A bottom rotating seat 503 is fixedly installed at the bottom center of each set of sliding seats 502. The passive push column 509 on the same side is slidably connected to the sliding seat 502. The number of passive push columns 509 on each side is determined according to the ability to achieve a stable sliding tangential fit between the active cone surface 501 and the passive push column 509. A central bevel gear 504 is fixed at the bottom of the outer circular surface of the transmission disc 112. The side shaft 505 is screwed into the bottom rotating seat 503. The side transmission bevel gear 506 and the passive locking bevel gear 507 are both inserted into the outer end of the side shaft 505, and the central bevel gear 504 meshes with the side transmission bevel gear 506. The purpose of setting the locking tooth 512 and the passive locking bevel gear 507 as a locking mechanism is that the wear that may occur during the locking process will not affect the transmission between the side drive bevel gear 506 and the center bevel gear 504. Both ends of the main drive cavity 102 are fixed with spring clips 508. On the same side, a spring clip 508 and a side plate 510 are connected with a spring clip 511. One end of the spring clip 511 is fixed to the side plate 510 and the other end is fixed to the spring clip 508. This can provide support elastic force for the sliding of the component composed of the side plate 510 and the passive push column 509 toward the active cone surface 501. This allows the inner end of the passive push column 509 to form a sliding tangential fit with the active cone surface 501 within the stroke range of the active cone surface 501 as it moves with the passive disk 301. The spring slide cavity 602 is symmetrically fixed at both ends of the clutch spring force adjustment seat 303. The main body of the spring slide column 603 is a T-shaped structure. The spring slide column 603 on the same side is slidably connected in the spring slide cavity 602 and will not detach from the spring slide cavity 602. An M-shaped elastic piece 606 is provided between the top of the elastic sliding column 603 and the inner top of the elastic sliding cavity 602. One side of the M-shaped elastic piece 606 is fixed to the top of the elastic sliding column 603, and the other side is fixed to the inner top of the elastic sliding cavity 602, which can form a downward supporting elastic force on the elastic sliding column 603. This allows the elastic sliding column 603 to satisfy both the sliding tangential cooperation between the passive inclined surface 604 and the active inclined surface 601, and the limiting requirement for the top of the side fixing plate 510 after free ejection. Both ends of the top wall of the main transmission cavity 102 are provided with clearance holes 605 that are larger than the contour of the spring slide cavity 602, which can provide space for the spring slide cavity 602. The purpose is to meet the vertical adjustment of the clutch spring force adjustment seat 303 and the elastic movement stroke of the spring slide column 603 within the integrated space.

[0018] Example 2: Based on Embodiment 1, an example of the overload protection reset of this utility model is shown below. Figure 1 , Figure 9 , Figure 11 , Figure 12 , Figure 13 and Figure 14 As shown, an automatic adjustment component 4 is also installed in the gap at one end of the joint part 101 to realize automatic control of the movement of the clutch spring adjustment seat 303. A rotary gear 401 is slidably inserted in each group of hexagonal columns 307, and a middle gear 402 is screwed into the outer circular surface of the hollow fixed shaft 208 and meshes with the rotary gears 401 on both sides. Both sides of the middle gear 402 are fixed with side limit seats 403. The two sides of the rotating gear 401 are engaged and slid between the side limit seats 403. The main body of the adjusting drive motor 404 is fixedly connected to the inner mounting bracket 206. The adjusting drive gear 405 is inserted into the rotating shaft of the adjusting drive motor 404 and meshes with the middle gear 402. This allows the adjustment drive motor 404 to drive the adjustment drive gear 405 to rotate and form a transmission with the middle gear 402. The middle gear 402 forms a transmission with the rotating gears 401 on both sides, which can drive the hexagonal columns 307 on both sides to rotate, so that the adjustment bolt 306 and the threaded seat 305 form an automatic threaded engagement, which drives the clutch spring force adjustment seat 303 to form an automatic movement. The threaded engagement between the adjusting bolt 306 and the threaded seat 305 will cause the hexagonal column 307 to move vertically. The snap-fit ​​sliding engagement between the side limit seat 403 and the rotating gear 401 will ensure that the rotating gear 401 is always in a position coplanarly engaged with the middle gear 402 and will not move vertically with the hexagonal column 307. Furthermore, both sides of the joint 101 are fixed with a pair of balance seats 406 in the gap at one end. The two sides of the rotating gear 401 are engaged and slid between the balance seats 406, which can prevent the rotating gear 401 from twisting or tilting when rotating. After the overload is released, the clutch spring force adjustment seat 303 is moved by adjusting the drive motor 404, which causes the spring slide 603 to move upward, so that the spring slide 603 moves to a position where it is disengaged from the top of the side plate 510. At this time, the supporting spring force of the passive plate 301 relative to the clutch spring force adjustment seat 303 will be reduced, which will not affect the subsequent reset action. Under the combined action of the downward supporting force of the passive disc 301 relative to the clutch spring force adjusting seat 303 and the supporting force of the passive push column 509 towards the active cone surface 501, the passive disc 301 will move closer to the drive disc 203. Simultaneously, the locking tooth 512 will move away from the passive locking bevel gear 507, causing the clutch column 302 to re-insert downward into the spherical groove 113. The locking tooth 512 will release the locking state of the passive locking bevel gear 507. At this time, an effective transmission connection will be re-established between the clutch column 302 and the transmission disc 112, moving the clutch spring force adjusting seat 303 downward to the set position, so that the supporting spring force of the passive disc 301 relative to the clutch spring force adjusting seat 303 will return to the set value, completing the reset after overload.

[0019] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A mechanical clutch for overload protection of a humanoid robot joint, comprising a joint component (1), characterized in that: It also includes a motion drive assembly (2), a clutch transmission assembly (3), an overload locking assembly (5), and a safety latch assembly (6); The joint component (1) includes a main transmission cavity (102), and the motion drive component (2) includes a drive disk (203). A transmission disk (112) is screwed into the lower part of the main transmission cavity (102). A spherical groove (113) is evenly opened in the middle of the main body of the transmission disk (112). The drive disk (203) is rotatably disposed inside the main transmission cavity (102). The clutch transmission assembly (3) includes a driven disc (301) and a clutch spring force adjustment seat (303). The bottom end of the driven disc (301) is uniformly fixed with a clutch column (302), and the clutch column (302) is slidably inserted into the body of the drive disc (203). The upper part of the main transmission cavity (102) is also provided with an adjustable clutch spring force adjustment seat (303). The driven disc (301) bounces downward and connects with the clutch spring force adjustment seat (303), and can rotate freely relative to the clutch spring force adjustment seat (303). The clutch column (302) on the same side is directly opposite the spherical groove (113). The overload locking assembly (5) cooperates with the safety buckle assembly (6) and locks the rotation of the transmission disc (112) at the moment the clutch column (302) disengages from the spherical groove (113).

2. The mechanical clutch for overload protection of a humanoid robot joint according to claim 1, characterized in that: The overload locking assembly (5) includes an active cone surface (501) and a locking tooth (512). The safety buckle assembly (6) includes an active inclined surface (601) and a passive inclined surface (604). The active cone surface (501) is opened on the outer circular surface of the passive disk (301). The two ends of the main transmission cavity (102) are screwed with passive locking bevel gears (507), and the transmission disk (112) is connected to the passive locking bevel gears (507) in a transmission connection. The two ends of the main transmission cavity (102) are elastically slidably connected with passive push pins (509) in the direction of the active cone surface (501), and the passive push pins (509) are... The inner end is tangentially slidably connected to the active cone surface (501). The outer end of the passive push column (509) is fixedly connected to the side plate (510). The locking tooth (512) is fixedly connected to the lower outer end of the side plate (510) and can form a snap-fit ​​with the passive locking bevel gear (507). The active inclined surface (601) is opened at the top of the side plate (510). Both ends of the clutch spring force adjustment seat (303) are slidably connected to the spring slide column (603) that bounces downward. The passive inclined surface (604) is opened at the bottom end of the spring slide column (603) and can form an elastic sliding fit with the active inclined surface (601).

3. The mechanical clutch for overload protection of a humanoid robot joint according to claim 2, characterized in that: The joint component (1) also includes a joint part (101) and a joint part (105). One end of the joint part (101) is fixedly connected to the upper end of the outer wall of the main transmission cavity (102). The lower end of the outer wall of the main transmission cavity (102) is fixedly connected to the auxiliary transmission cavity (103). Both ends of the side wall of the auxiliary transmission cavity (103) are fixedly installed with actuation seats (104). One end of the joint part (105) is horizontally fixedly connected to an actuation shaft (106), and the actuation shaft (106) is spun to the actuation seat (104).

4. A mechanical clutch for overload protection of a humanoid robot joint according to claim 1, 2, or 3, characterized in that: The joint component (1) also includes a large bevel gear (108) for movement and a small bevel gear (111) for transmission. An angle sensor (107) is installed in the movement shaft (106). The large bevel gear (108) for movement is inserted into the movement shaft (106). A transmission seat (109) is fixedly installed at the bottom of the main transmission cavity (102). A transmission shaft (110) is screwed into the transmission seat (109). The small bevel gear (111) for transmission is inserted into the bottom end of the transmission shaft (110). The transmission disc (112) is inserted into the top end of the transmission shaft (110). The small bevel gear (111) for transmission meshes with the large bevel gear (108) for movement.

5. A mechanical clutch for overload protection of a humanoid robot joint according to claim 3, characterized in that: The motion drive assembly (2) also includes a guide post (205), a drive motor (207), and a torque sensor (209). A spindle seat (201) is fixedly installed on the top of the main transmission cavity (102). A spindle (202) is fixedly installed at the top center of the drive disc (203). An inner mounting bracket (206) is fixedly connected between the gaps of the joint part (101). The main body of the drive motor (207) is fixedly connected to the inner mounting bracket (206). A hollow fixed shaft (208) is fixedly connected to the middle of the inner side of one end of the joint part (101). The torque sensor (209) is fixedly installed. The drive motor (207) shaft is connected to the input end of the torque sensor (209) inside the hollow fixed shaft (208). The top end of the main shaft (202) passes through the top wall of the main transmission cavity (102) and is connected to the output end of the torque sensor (209). The middle part of the passive disk (301) is sleeved with the main shaft (202). The drive disk (203) has drive sliding holes (204) evenly opened in its body. The guide post (205) is evenly fixed at the bottom end of the drive disk (203). The clutch post (302) on the same side slides into the drive sliding hole (204).

6. The mechanical clutch for overload protection of a humanoid robot joint according to claim 5, characterized in that: The clutch transmission assembly (3) also includes a hexagonal column (307), a top spring retaining groove (308) is provided at the top of the main body of the driven disc (301), and threaded seats (305) are symmetrically fixed in the main body of one end of the joint (101). Each set of threaded seats (305) is threaded with an adjusting bolt (306). The hexagonal column (307) is fixed to the outer end of the adjusting bolt (306), and the inner end of the adjusting bolt (306) is screwed to the main body of the clutch spring force adjusting seat (303). The inner bottom end of the top spring retaining groove (308) and the middle of the bottom end of the clutch spring force adjusting seat (303) are both equipped with thrust bearings (309). The two ends of the top spring (304) are respectively secured to different thrust bearings (309).

7. The mechanical clutch for overload protection of a humanoid robot joint according to claim 6, characterized in that: An automatic adjustment component (4) is installed in the gap at one end of the joint (101). The automatic adjustment component (4) includes an adjustment drive motor (404) and an adjustment drive gear (405). A rotary gear (401) is slidably inserted in each set of hexagonal columns (307). A middle gear (402) is screwed into the outer circle of the hollow fixed shaft (208) and meshes with the rotary gears (401) on both sides. Side limit seats (403) are fixed on both sides of the middle gear (402). The two sides of the rotary gear (401) are engaged and slid between the side limit seats (403). The main body of the adjustment drive motor (404) is fixed to the inner mounting frame (206). The adjustment drive gear (405) is inserted into the rotating shaft of the adjustment drive motor (404) and meshes with the middle gear (402).

8. A mechanical clutch for overload protection of a humanoid robot joint according to claim 2, 3, 5, 6 or 7, characterized in that: The overload locking assembly (5) also includes a sliding seat (502), a side shaft (505), and a side drive bevel gear (506). The sliding seats (502) are symmetrically fixedly installed inside the main drive cavity (102). A bottom rotating seat (503) is fixedly installed at the middle of the bottom end of each set of sliding seats (502). The passive push column (509) on the same side is slidably connected to the sliding seat (502). A central bevel gear (504) is fixed at the bottom end of the outer circle of the drive disc (112). The side shaft (505) is screwed onto the bottom rotating seat (506). In 03), the side drive bevel gear (506) and the passive locking bevel gear (507) are both inserted into the outer end of the side shaft (505), and the center bevel gear (504) meshes with the side drive bevel gear (506). The two ends of the main drive cavity (102) are fixed with spring clips (508). A spring (511) is connected between the spring clip (508) on the same side and the side fixing plate (510). One end of the spring (511) is fixed to the side fixing plate (510), and the other end is fixed to the spring clip (508).

9. A mechanical clutch for overload protection of a humanoid robot joint according to claim 2, 3, 5, 6 or 7, characterized in that: The safety buckle component (6) also includes a spring slide cavity (602). The spring slide cavity (602) is symmetrically fixed at both ends of the clutch spring force adjustment seat (303). The spring slide column (603) on the same side is slidably connected in the spring slide cavity (602). An M-shaped spring piece (606) is provided between the top of the spring slide column (603) and the inner top of the spring slide cavity (602). One side of the M-shaped spring piece (606) is locked with the top of the spring slide column (603), and the other side is locked with the inner top of the spring slide cavity (602).

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