A hip yaw limiting structure and robot

Abstract

This utility model relates to the field of robotics technology, providing a hip yaw limiting structure and a robot, including: a drive assembly and a frame with an open lower end; the frame is U-shaped, with a cavity formed inside the frame, and an annular groove provided at the top of the frame; the drive assembly includes a drive motor and a limiting unit, the output end of the drive motor is connected to the top of the frame, the limiting unit includes a limiting post and a stop, the stop is disposed in the annular groove, the limiting post is fixedly connected to the drive motor, and the lower end of the limiting post extends into the annular groove. This utility model achieves circumferential locking by embedding a square cross-section at the upper end into a square groove in a connecting plate, and the lower end extends downward into the annular groove. When the frame rotates to its limit yaw angle, the stop at the discontinuity of the annular groove abuts against the lower end, preventing the frame from overtravel and twisting, thus protecting the internal wiring harness and transmission components.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a hip yaw limiting structure and a robot. Background Technology

[0002] The yaw joint at the robot's hip is responsible for driving the lower limbs to rotate around the vertical axis, and is one of the core joints for the robot to perform actions such as turning, lateral swinging, and fall cushioning.

[0003] In existing technologies, most lightweight robots rely solely on software limits implemented by motor encoders, lacking redundant mechanical hard limit protection. Under extreme conditions such as robot falls or loss of control, joints are prone to overtravel and torsion, pulling on internal wiring harnesses and causing harness breakage or permanent deformation of the reducer. Utility Model Content

[0004] The purpose of this invention is to provide a hip yaw limiting structure and robot that can solve or at least alleviate one or more of the above-mentioned problems and other problems existing in the prior art.

[0005] To achieve the aforementioned objectives, the first aspect of this utility model provides a hip yaw limiting structure for use in a robot, comprising: a drive assembly and a frame with a lower opening; The frame is U-shaped, with a cavity formed on the inner side of the frame, and an annular groove provided on the top of the frame; The driving assembly includes a driving motor and a limiting unit. The output end of the driving motor is connected to the top of the frame. The limiting unit includes a limiting post and a stop. The stop is disposed in the annular groove. The limiting post is fixedly connected to the driving motor. The lower end of the limiting post extends into the annular groove.

[0006] In the hip yaw limiting structure described above, the drive assembly may optionally include a connecting plate, on which the drive motor is mounted, and the output end of the drive motor passes through the connecting plate and is connected to the top of the frame.

[0007] In the hip yaw limiting structure described above, optionally, the limiting post is fixedly connected to the connecting plate.

[0008] In the hip yaw limiting structure described above, optionally, the limiting post includes an upper end and a lower end connected sequentially from top to bottom, the upper end having a square cross-section and the lower end having a circular cross-section.

[0009] In the hip yaw limiting structure described above, the upper end and the lower end may optionally be integrally formed.

[0010] In the hip yaw limiting structure described above, optionally, arc-shaped grooves are provided on both sides of the stop block corresponding to the lower end.

[0011] In the hip yaw limiting structure described above, optionally, the frame includes a horizontal plate and a first vertical plate and a second vertical plate disposed at both ends of the horizontal plate.

[0012] In the hip yaw limiting structure described above, optionally, the inner sidewall of the first vertical plate is provided with a mounting groove, and the second vertical plate is provided with a mounting hole, wherein a bearing is provided in the mounting hole.

[0013] In the hip yaw limiting structure described above, optionally, a wire-binding screw is provided on the outer wall of the second vertical plate.

[0014] According to another aspect of the present invention, a robot is also provided, including a body and a hip yaw limiting structure as described in any of the preceding claims, the hip yaw limiting structure being mounted on the body.

[0015] Compared with existing technologies, the advantages of this utility model are as follows: the upper square section is embedded in the square groove of the connecting plate to achieve circumferential locking, and the lower end extends downward into the annular groove. When the frame rotates to the limit swing angle, the stop block at the discontinuity of the annular groove abuts against the lower end, absorbing the impact energy through elastic deformation, achieving buffering and limiting, reducing impact noise, eliminating hard contact wear, preventing overtravel torsion of the frame, and protecting the internal wiring harness and transmission components. The zero position is achieved when the zero-position slot and the matching slot in the zero-point positioning unit are aligned. The operator can directly observe the alignment status from the outside. After the equipment is powered off and restarted, it can quickly return to zero by relying on the mechanical structure without repeated electrical calibration. The wire-binding screws on the outer wall of the second vertical plate fix the joint wiring in the non-rotation interference area of ​​the frame. The wiring harness moves synchronously with the frame, avoiding pulling and scratching of the wiring harness with the surrounding structure during large swings, thus preventing damage to the wiring harness. During maintenance, the limit post and the stop block can be replaced independently, and the entire connecting plate will not need to be replaced due to accidental damage to the limit post, effectively reducing maintenance costs. Attached Figure Description

[0016] Figure 1 This is a perspective view of the hip yaw limiting structure of this utility model. Figure 2 This is an exploded view of the hip yaw limiting structure of this utility model; Figure 3 This is a perspective view of the limiting column in the hip yaw limiting structure of this utility model.

[0017] In the diagram: 1. Drive motor; 2. Connecting plate; 3. Frame; 4. Horizontal plate; 5. First vertical plate; 6. Second vertical plate; 7. Limiting post; 8. Upper end; 9. Lower end; 10. Zero position groove; 11. Matching groove; 12. Stop block; 13. Wire tying screw; 14. Bearing; 15. Bearing cover; 16. Annular groove. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] It should be noted that in the description of this utility model, the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., 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. The terms "first," "second," and similar words used in the description of this utility model do not indicate any order, quantity, or importance, but are only used to distinguish different components, and therefore should not be construed as limiting this utility model.

[0020] Furthermore, it should be understood that, for ease of description, the dimensions of the various components shown in the accompanying drawings are not drawn to actual scale; for example, the thickness or width of some layers may be exaggerated relative to other layers.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined or described in one figure, it will not need to be discussed or described in detail in the description of the subsequent figures.

[0022] See Figures 1 to 3 According to one aspect of the present invention, a hip yaw limiting structure is provided for use in a robot, including a drive assembly and a frame 3 with a lower opening.

[0023] The frame 3 is U-shaped and includes a horizontal plate 4 and a first vertical plate 5 and a second vertical plate 6 set at both ends of the horizontal plate 4. A cavity is formed inside the frame 3. The frame 3 is integrally formed from 7075 aluminum alloy with a differentiated wall thickness design, thickening the stress area and thinning the cavity area, so as to achieve lightweight while ensuring structural strength.

[0024] An annular groove 16 is provided on the upper end face of the horizontal plate 4, and the annular groove 16 has an intermittent part.

[0025] The drive assembly includes a drive motor 1, a connecting plate 2, and a limiting unit. The drive motor 1 is mounted above the connecting plate 2. The output end of the drive motor 1 passes downward through the connecting plate 2 and is connected to the upper end face of the cross plate 4 of the frame 3. The drive motor 1 drives the frame 3 to rotate, providing power for hip rotation and yaw.

[0026] In this embodiment, the connecting plate 2 is provided with a first cylindrical stop, which is fixedly connected to the drive motor 1 by screws. A countersunk hole is provided on the connecting plate 2 at the corresponding screw location. The horizontal plate 4 is provided with a second cylindrical stop, which is fixedly connected to the output end of the drive motor 1 by screws. A countersunk hole is provided on the horizontal plate 4 at the corresponding screw location. The first and second cylindrical stops are coaxially arranged.

[0027] The limiting unit includes a limiting post 7 and a stop block 12. The limiting post 7 is fixedly connected to the connecting plate 2. The limiting post 7 includes an upper end 8 and a lower end 9 connected sequentially from top to bottom. The upper end 8 and the lower end 9 are integrally formed and made of 304 stainless steel. The material of the limiting post 7 can also be replaced with 40Cr hardened steel, titanium alloy, or high-strength hard aluminum alloy to adapt to different load conditions and lightweight requirements. The upper end 8 has a square cross-section. The lower surface of the connecting plate 2 is provided with a square groove that matches the cross-section of the upper end 8. The upper end 8 is embedded in the square groove. The upper end 8 uses the square cross-section contour to achieve circumferential limiting of the limiting post 7 itself, preventing the limiting post 7 from rotating during use. In addition, the upper end 8 is fixed to the connecting plate 2 by bolts. The lower end 9 has a circular cross-section and extends downward into the annular groove 16. When the frame 3 rotates to the limit swing angle, the discontinuous part in the annular groove 16 contacts the lower end 9 to achieve limiting and prevent further rotation.

[0028] The hip yaw limiting structure also includes a zero-point positioning unit, which includes a zero-point groove 10 disposed on the horizontal plate 4 and a matching groove 11 disposed on the side wall of the upper end 8. When the frame 3 rotates to the zero-point position, the zero-point groove 10 and the matching groove 11 are perfectly aligned. In another optional embodiment, the zero-point positioning unit includes a zero-point protrusion disposed on the horizontal plate 4 and a matching protrusion disposed on the side wall of the upper end 8. When the frame 3 rotates to the zero-point position, the zero-point protrusion and the matching protrusion are perfectly aligned.

[0029] Furthermore, a stop block 12 is provided at the discontinuity of the annular groove 16. The stop block 12 is embedded in the annular groove 16 and is fixedly connected to the horizontal plate 4 by bolts. In this embodiment, the stop block 12 is made of an elastic material such as polyurethane, and each side of the stop block 12 is provided with an arc-shaped groove that matches the lower end 9 of the limiting post 7. In other optional embodiments, the stop block 12 can also be made of nitrile rubber, glass fiber elastic composite material, or POM wear-resistant buffer material. Nitrile rubber has good oil resistance and elasticity, and is suitable for working conditions with lubricating media; glass fiber elastic composite material combines elastic buffering with high structural strength, and is suitable for high-frequency collision scenarios; POM wear-resistant buffer material has excellent wear resistance and dimensional stability, and is suitable for scenarios with high precision requirements, so as to meet the needs of different loads and operating environments.

[0030] In this embodiment, the inner wall of the first vertical plate 5 is provided with a mounting groove for mounting a roll motor. The second vertical plate 6 is provided with a mounting hole, in which a bearing 14 is installed. The bearing 14 can be a crossed roller bearing to improve the anti-overturning capacity of the hip joint under heavy load conditions. A bearing cap 15 is provided on the outer side of the bearing 14 to axially lock and limit the bearing 14. The external lower limb connecting rod is connected to the output end of the roll motor through the bearing 14. A wire tying screw 13 is provided on the outer wall of the second vertical plate 6. The wire tying screw 13 is located in the non-rotation interference area of ​​the frame 3 and is used to bundle and fix the joint wiring, so that the wiring harness moves synchronously with the frame 3, avoiding relative pulling and scraping between the wiring harness and the surrounding structure during large swings, and preventing wear of the wiring harness sheath and breakage of the wire core. In some alternative embodiments, the wire tying screw 13 used to bundle and fix the joint wiring can be replaced with an integrated wire tying post or a detachable buckle cable tie seat to adapt to different wiring harness specifications and assembly process requirements.

[0031] When the hip yaw limiting structure is working, the drive motor 1 drives the frame 3 to rotate, and the stop block 12 fixed in the annular groove 16 rotates synchronously with the frame 3. When the frame 3 rotates to the preset limit swing angle, the arc-shaped groove end face on the corresponding side of the stop block 12 abuts against the lower end 9 to achieve buffering and limiting, prevent the frame 3 from overtravel torsion, and protect the internal wiring harness and transmission components. The polyurethane material stop block 12 absorbs impact energy through elastic deformation during collision, reduces impact noise, eliminates hard contact wear, and will not loosen or move after long-term use.

[0032] When performing zero-point calibration, the operator can directly observe the alignment status of the zero-position groove 10 on the horizontal plate 4 and the matching groove 11 on the side wall of the upper end 8 from the outside. The zero-position position is when the zero-position groove 10 and the matching groove 11 are aligned. After the equipment is powered off and restarted, it can quickly return to zero by relying on the above mechanical structure without repeated electrical calibration.

[0033] The internal wiring of frame 3 is secured by cable ties 13 on the outer wall of the second vertical plate 6. The wiring harness moves synchronously with frame 3, and the bending amplitude of the wiring harness is controllable during large swings, preventing scuffing or pulling and breakage with surrounding fixed structures, thus extending the service life of the entire wiring harness. During maintenance, the limit post 7 and the stop block 12 can be replaced independently, avoiding the need to replace the entire connecting plate 2 due to accidental damage to the limit post 7, effectively reducing maintenance costs.

[0034] According to another aspect of the present invention, a robot is also provided, including a body and a hip yaw limiting structure as described above, the hip yaw limiting structure being mounted on the body.

[0035] In conjunction with the above embodiments of this utility model, the upper end 8, with its square cross-section, is embedded in the square groove of the connecting plate 2 to achieve circumferential locking. The lower end 9 extends downward into the annular groove 16. When the frame 3 rotates to its limit swing angle, the stop block 12 at the discontinuity of the annular groove 16 abuts against the lower end 9, absorbing impact energy through elastic deformation, achieving buffering and limiting, reducing impact noise, eliminating hard contact wear, preventing overtravel torsion of the frame 3, and protecting the internal wiring harness and transmission components. The zero-point positioning unit's zero-point slot 10 and matching slot 11 are aligned to form the zero-point position. The operator can directly observe the alignment status from the outside. After the equipment is powered off and restarted, it can quickly return to zero using the mechanical structure without repeated electrical calibration. The wire-binding screws 13 on the outer wall of the second vertical plate 6 fix the joint wiring to the non-rotational interference area of ​​the frame 3. The wiring harness moves synchronously with the frame 3, avoiding pulling and scraping between the wiring harness and the surrounding structure during large swings, thus preventing damage to the wiring harness. During maintenance, the limit post 7 and the stop block 12 can be replaced independently, and the entire connecting plate 2 will not need to be replaced due to accidental damage to the limit post 7, effectively reducing maintenance costs.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A hip yaw limiter structure applied to a robot, characterized by, include: The frame with the drive component and the lower opening (3); The frame (3) is U-shaped, and a cavity is formed on the inner side of the frame (3). An annular groove (16) is provided on the top of the frame (3). The drive assembly includes a drive motor (1) and a limiting unit. The output end of the drive motor (1) is connected to the top of the frame (3). The limiting unit includes a limiting post (7) and a stop (12). The stop (12) is disposed in the annular groove (16). The limiting post (7) is fixedly connected to the drive motor (1). The lower end (9) of the limiting post (7) extends into the annular groove (16).

2. The hip yaw limiting structure of claim 1, wherein The drive assembly also includes a connecting plate (2), on which the drive motor (1) is mounted, and the output end of the drive motor (1) passes through the connecting plate (2) and is connected to the top of the frame (3).

3. The hip yaw limiting structure of claim 2, wherein The limiting post (7) is fixedly connected to the connecting plate (2).

4. The hip yaw limiting structure as described in claim 3, characterized in that, The limiting post (7) includes an upper end (8) and a lower end (9) connected sequentially from top to bottom. The upper end (8) has a square cross-section, and the lower end (9) has a circular cross-section.

5. The hip yaw limiting structure as described in claim 4, characterized in that, The upper end (8) and the lower end (9) are integrally formed.

6. The hip yaw limiting structure as described in claim 4, characterized in that, Both sides of the stop block (12) are provided with arc-shaped grooves corresponding to the lower end (9).

7. The hip yaw limiting structure as described in claim 1, characterized in that, The frame (3) includes a horizontal plate (4) and a first vertical plate (5) and a second vertical plate (6) disposed at both ends of the horizontal plate (4).

8. The hip yaw limiting structure as described in claim 7, characterized in that, The inner wall of the first vertical plate (5) is provided with an installation groove, and the second vertical plate (6) is provided with an installation hole, and a bearing (14) is provided in the installation hole.

9. The hip yaw limiting structure as described in claim 8, characterized in that, The second vertical plate (6) has a wire-binding screw (13) on its outer wall.

10. A robot, characterized in that, The invention includes a fuselage and a hip yaw limiting structure as described in any one of claims 1-9, wherein the hip yaw limiting structure is mounted on the fuselage.

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