CN106313103A - Joint connection structure for humanoid robot - Google Patents
Joint connection structure for humanoid robot Download PDFInfo
- Publication number
- CN106313103A CN106313103A CN201610919342.2A CN201610919342A CN106313103A CN 106313103 A CN106313103 A CN 106313103A CN 201610919342 A CN201610919342 A CN 201610919342A CN 106313103 A CN106313103 A CN 106313103A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- humanoid robot
- linkage structure
- base plate
- robot joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Abstract
The invention discloses a joint connection structure for a humanoid robot and belongs to the technical field of robots. The structure comprises a steering engine, a steering wheel and a support; the steering wheel is connected with a steering engine spline output shaft by the aid of a key and rotates synchronously with the steering engine spline output shaft; the support comprises a bottom plate, wing plates and lug plates; the bottom plate is fixedly connected with the steering wheel; the two wing plates are symmetrically and fixedly connected to wide edges of the bottom plate in a diverged manner in directions opposite to the steering wheel; and ends, far away from the bottom plate, of the wing plates are fixedly connected with the lug plates. With the connection manner, defects of poor rigidity and easiness in abrasion with traditional connection manners are overcome, the force transmission stability of the steering engine is improved, the movement balance of the humanoid robot is improved, and the service life of the humanoid robot is prolonged.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of humanoid robot joint linkage structure.
Background technology
Society, along with mechanics with bionic develop rapidly, with these two closely-related intelligent machines of subject
People field also achieves a lot of breakthrough, and humanoid robot is an important branch of intelligent robot, humanoid robot
By the physiological structure of the mankind and movement mechanism are furtherd investigate so that the motion of humanoid robot is more and more true to nature and flows
Freely, in the motor process in each joint of humanoid robot, steering wheel is through the power part frequently as each joint motions of driving, but shows
Humanoid robot steering wheel output shaft commercially is directly connected to mostly with the method for attachment of other connectors, this connection side
There is poor rigidity and the shortcoming such as easy to wear in formula, has had a strong impact on the power output stability of steering wheel, thus have impact on humanoid robot
Robust motion and service life.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, good rigidly and nonabradable humanoid robot joint to connect
Structure.
For reaching this purpose, the present invention by the following technical solutions:
A kind of humanoid robot joint linkage structure, including:
Steering wheel；
Steering wheel, it is bonded with steering wheel splined output shaft, and with described steering wheel splined output shaft synchronous axial system；
Support, it includes base plate, wing plate and otic placode, and described base plate is fixing with described steering wheel to be connected, and two described wing plates are carried on the back
Be that divergent shape symmetry is fixedly connected on the broadside of described base plate to described steering wheel, described wing plate away from described base plate end with
Described otic placode is fixing to be connected.
As preferably, described steering wheel is provided with the first installing hole of circular array arrangement.
As preferably, described base plate is provided with the second installing hole of circular array arrangement.
As preferably, described steering wheel and described base plate are by through the of described first installing hole and described second installing hole
One screw is fixing to be connected.
As preferably, the number of described first screw is four, and the diagonal angle line of four described first screws is cross.
As preferably, described steering wheel and described steering wheel splined output shaft connect by the second screw is fixing.
As preferably, described base plate offers and dodges the first of described second screw and dodge hole.
As preferably, described otic placode is provided with the 3rd installing hole of circular array arrangement.
As preferably, described otic placode offers second and dodges hole.
As preferably, described steering wheel uses aluminium alloy to make.
Beneficial effects of the present invention:
Humanoid robot joint linkage structure provided by the present invention includes steering wheel, with steering wheel splined output shaft by being bonded
Connect and with the steering wheel of steering wheel splined output shaft synchronous axial system and support, this support includes base plate, wing plate and otic placode, this base plate and rudder
Dish is fixing to be connected, and two wing plate steering wheels dorsad are that divergent shape symmetry is fixedly connected on the broadside of base plate, and this wing plate is away from described
The end of base plate and described otic placode are fixing to be connected, use this joint connecting mechanism instead of in tradition humanoid robot steering wheel and
The connected mode that other connectors are joined directly together, overcomes poor rigidity and shortcoming easy to wear present in conventional coupling arrangement,
Improve the stability of steering wheel transmission power, improve robust motion and the service life of humanoid robot.
Accompanying drawing explanation
Fig. 1 is the explosive view of the humanoid robot joint linkage structure of the present invention；
Fig. 2 is the front view of the humanoid robot joint linkage structure of the present invention；
Fig. 3 is the side view of the humanoid robot joint linkage structure of the present invention.
In figure: 1, steering wheel；2, the spline on steering wheel splined output shaft；3, steering wheel splined output shaft；4, steering wheel；5, the first peace
Dress hole；6, support；601, base plate；602, the second installing hole；603, wing plate；604, otic placode；605, the 3rd installing hole；606, first
Dodge hole；607, second hole is dodged；7, the first screw；8, the second screw.
Detailed description of the invention
Further illustrate technical scheme below in conjunction with the accompanying drawings and by detailed description of the invention.
Humanoid robot joint linkage structure as shown in Figure 1 to Figure 3 includes steering wheel 1, steering wheel 4 and support 6, on steering wheel 1
Having steering wheel splined output shaft 3, steering wheel splined output shaft 3 is provided with spline 2, spline 2 is external splines, and steering wheel 4 center is arranged
Have with spline 2 with the use of internal spline, steering wheel 4 and steering wheel splined output shaft 3 realizes bonded by spline 2, and second
Both is fixed connection, so that steering wheel 4 is with steering wheel splined output shaft through steering wheel 4 and steering wheel splined output shaft 3 by screw 8
3 synchronous axial system.Steering wheel 4 uses aluminium alloy to make, aluminum alloy materials have density little, lightweight and be prone to processing advantage, rudder
Being provided with the first installing hole 5 of circular array arrangement on dish 4, the first installing hole 5 number is preferably the multiple of four, such as 8
Or 12, can remain merely with the installing hole of a portion when utilizing the first installing hole 5 to be connected with other connectors
Installing hole then can play the effect of loss of weight.Support 6 includes base plate 601, wing plate 603 and otic placode 604, and base plate 601 is arranged
Have the second installing hole 602 that circular array is arranged, the second installing hole 602 number to be preferably again the multiple of four, such as 8 or
Person 12, steering wheel 4 and base plate 601 connect by fixing through the first screw 7 of the first installing hole 5 and the second installing hole 602, the
The number of one screw 7 can be four, and the diagonal angle line of four the first screws 7 is cross, uses this connected mode, not only
Good fixing effect, additionally it is possible to play the mesh saving the first screw 7 with the weight alleviating whole humanoid robot joint linkage structure
, serve certain effect to saving power source.Owing to the nut of the second screw 8 is a bulge-structure, therefore, when steering wheel 4
When connecting by said structure is fixing with base plate 601, this base plate 601 offers and dodges the first of the second screw 8 and dodge hole
606。
Steering wheel 4 and base plate 601 are in addition to using the first fixing connection of screw 7, it is also possible to use the mode of welding, two wings
Plate 603 is fixedly connected on the broadside of base plate 601 in divergent shape symmetry, and the bearing of trend of wing plate 603 deviates from base plate 601, wing plate
603 are connected away from end and the otic placode 604 of base plate 601 is fixing, and otic placode 604 is provided with the 3rd installation that circular array is arranged
Hole 605, the 3rd installing hole 605, in addition to the effect playing connection, plays the effect of loss of weight equally.In order to dodge other spiral shell
Nail, then offers second and dodges hole 607 on otic placode 604.
On otic placode 604, the structure of installing hole is identical with the structure of installing hole on base plate 601, serves support 6 and is simultaneously connected with
The effect of different steering wheels so that the joint linkage structure of application present embodiment has good scalability, make should simultaneously
More freedom is had with the humanoid robot of this structure.
Use steering wheel 4 and support 6 transition when steering wheel 1 and other connectors connect, overcome in conventional coupling arrangement and deposit
Poor rigidity and shortcoming easy to wear, improve the stability of steering wheel transmission power, and then improve the motion of humanoid robot
Stationarity and service life.
Obviously, the above embodiment of the present invention is only used to understand explanation example of the present invention, and is not right
The restriction of embodiments of the present invention.For those of ordinary skill in the field, the most also may be used
To make other changes in different forms.Here without also cannot all of embodiment be given exhaustive.All at this
Any amendment, equivalent and the improvement etc. made within the spirit of invention and principle, should be included in the claims in the present invention
Protection domain within.
Claims (10)
1. a humanoid robot joint linkage structure, including steering wheel, it is characterised in that also include:
Steering wheel, it is bonded with steering wheel splined output shaft, and with this steering wheel splined output shaft synchronous axial system；
Support, it includes base plate, wing plate and otic placode, and described base plate is fixing with described steering wheel to be connected, two described wing plate institutes dorsad
Stating steering wheel is that divergent shape symmetry is fixedly connected on the broadside of described base plate, described wing plate away from the end of described base plate with described
Otic placode is fixing to be connected.
Humanoid robot joint linkage structure the most according to claim 1, it is characterised in that be provided with on described steering wheel in
First installing hole of annular array.
Humanoid robot joint linkage structure the most according to claim 2, it is characterised in that be provided with on described base plate in
Second installing hole of annular array.
Humanoid robot joint linkage structure the most according to claim 3, it is characterised in that described steering wheel and described base plate
By connecting through the first screw of described first installing hole and described second installing hole is fixing.
Humanoid robot joint linkage structure the most according to claim 4, it is characterised in that the number of described first screw
Being four, the diagonal angle line of four described first screws is cross.
Humanoid robot joint linkage structure the most according to claim 1, it is characterised in that described steering wheel and described steering wheel
Splined output shaft connects by the second screw is fixing.
Humanoid robot joint linkage structure the most according to claim 6, it is characterised in that offer on described base plate and keep away
The first of described second screw is allowed to dodge hole.
Humanoid robot joint linkage structure the most according to claim 1, it is characterised in that be provided with on described otic placode in
3rd installing hole of annular array.
Humanoid robot joint linkage structure the most according to claim 8, it is characterised in that offer on described otic placode
Two dodge hole.
Humanoid robot joint linkage structure the most according to claim 1, it is characterised in that described steering wheel uses aluminum to close
Gold is made.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610919342.2A CN106313103A (en) | 2016-10-21 | 2016-10-21 | Joint connection structure for humanoid robot |
| PCT/CN2017/095446 WO2018072526A1 (en) | 2016-10-21 | 2017-08-01 | Joint connection structure for humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610919342.2A CN106313103A (en) | 2016-10-21 | 2016-10-21 | Joint connection structure for humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106313103A true CN106313103A (en) | 2017-01-11 |
Family
ID=57818130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610919342.2A Pending CN106313103A (en) | 2016-10-21 | 2016-10-21 | Joint connection structure for humanoid robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106313103A (en) |
| WO (1) | WO2018072526A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072526A1 (en) * | 2016-10-21 | 2018-04-26 | 上海未来伙伴机器人有限公司 | Joint connection structure for humanoid robot |
| CN110587656A (en) * | 2018-06-12 | 2019-12-20 | 发那科株式会社 | Robot arm with multiple connection interfaces |
| CN111844122A (en) * | 2019-04-30 | 2020-10-30 | 长春工业大学 | Snake-shaped robot snake body joint with three-way steering engine orthogonal connection structure |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114474013A (en) * | 2021-12-16 | 2022-05-13 | 深圳鹏行智能研究有限公司 | Robot head structure |
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| JP2009050971A (en) * | 2007-08-28 | 2009-03-12 | Honda Motor Co Ltd | Joint structure for industrial robot |
| CN201789372U (en) * | 2010-04-16 | 2011-04-06 | 南车戚墅堰机车车辆工艺研究所有限公司 | Parallel shaft gear speed reducer integrated with motor |
| CN102180206A (en) * | 2011-04-24 | 2011-09-14 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
| CN202225936U (en) * | 2011-08-18 | 2012-05-23 | 天津理工大学 | Reconfiguration module of reconfigurable modular robot |
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| CN206105891U (en) * | 2016-10-21 | 2017-04-19 | 上海未来伙伴机器人有限公司 | Humanoid robot joint connection structure |
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| DE78113T1 (en) * | 1981-10-26 | 1983-09-15 | United Kingdom Atomic Energy Authority, London | MANIPULATOR. |
| CN205466301U (en) * | 2016-02-04 | 2016-08-17 | 深圳市维兴顺科技有限公司 | Robot joint linkage unit with steering wheel line protection device |
| CN205521476U (en) * | 2016-02-04 | 2016-08-31 | 深圳市维兴顺科技有限公司 | Robot joint linkage unit |
| CN106313103A (en) * | 2016-10-21 | 2017-01-11 | 上海未来伙伴机器人有限公司 | Joint connection structure for humanoid robot |
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2016
- 2016-10-21 CN CN201610919342.2A patent/CN106313103A/en active Pending
-
2017
- 2017-08-01 WO PCT/CN2017/095446 patent/WO2018072526A1/en active Application Filing
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009050971A (en) * | 2007-08-28 | 2009-03-12 | Honda Motor Co Ltd | Joint structure for industrial robot |
| CN201789372U (en) * | 2010-04-16 | 2011-04-06 | 南车戚墅堰机车车辆工艺研究所有限公司 | Parallel shaft gear speed reducer integrated with motor |
| CN102180206A (en) * | 2011-04-24 | 2011-09-14 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
| CN202225936U (en) * | 2011-08-18 | 2012-05-23 | 天津理工大学 | Reconfiguration module of reconfigurable modular robot |
| CN103252093A (en) * | 2012-06-21 | 2013-08-21 | 上海未来伙伴机器人有限公司 | Steering engine component |
| CN203804994U (en) * | 2014-04-14 | 2014-09-03 | 格物斯坦（上海）机器人有限公司 | Quick assembly and disassembly type steering engine connecting structure |
| CN104691644A (en) * | 2015-03-04 | 2015-06-10 | 南京理工大学 | Omni-directional mobile wheel module |
| CN205588327U (en) * | 2016-03-14 | 2016-09-21 | 西北工业大学 | Rotary joint of robot optimizes structure |
| CN205586572U (en) * | 2016-04-22 | 2016-09-21 | 泽达（北京）科技有限公司 | Steering wheel structure and steering wheel connecting piece |
| CN206105891U (en) * | 2016-10-21 | 2017-04-19 | 上海未来伙伴机器人有限公司 | Humanoid robot joint connection structure |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018072526A1 (en) * | 2016-10-21 | 2018-04-26 | 上海未来伙伴机器人有限公司 | Joint connection structure for humanoid robot |
| CN110587656A (en) * | 2018-06-12 | 2019-12-20 | 发那科株式会社 | Robot arm with multiple connection interfaces |
| CN111844122A (en) * | 2019-04-30 | 2020-10-30 | 长春工业大学 | Snake-shaped robot snake body joint with three-way steering engine orthogonal connection structure |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018072526A1 (en) | 2018-04-26 |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170111 |