CN112873265B - Humanoid robot and joint thereof - Google Patents
Humanoid robot and joint thereof Download PDFInfo
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- CN112873265B CN112873265B CN202110088716.1A CN202110088716A CN112873265B CN 112873265 B CN112873265 B CN 112873265B CN 202110088716 A CN202110088716 A CN 202110088716A CN 112873265 B CN112873265 B CN 112873265B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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Abstract
The invention provides a humanoid robot and a joint thereof, and belongs to the technical field of humanoid robots. The humanoid robot joint comprises a joint frame, a first driving module, a second driving module, a connecting rod transmission module, a synchronous belt transmission module and a cross-axle joint module, wherein the joint frame is of an integrated structure, the first driving module, the second driving module and the cross-axle joint module are sequentially fixed in the joint frame along the direction of an execution end, and the connecting rod transmission module and the synchronous belt transmission module are positioned on two sides of the joint frame. The invention has the advantages that the parallel structure enables the driving module to be far away from the execution end so as to reduce the rotational inertia, and meanwhile, different configuration schemes are adopted for different degrees of freedom according to the working requirements in the serial mechanism; the integral structure has the characteristics of high modularization and integration degree, high torque-weight ratio and high structural strength.
Description
Technical Field
The invention relates to the technical field of humanoid robots, in particular to a humanoid robot and a joint thereof.
Background
In order to save space and facilitate decoupling operation, rotating shafts of two degrees of freedom need to be intersected, and a serial or parallel mechanism is often used for realizing the function of the existing robot combined joint capable of realizing compound motions of pitching and yawing. In the series mechanism, each driving module controls the motion of one joint, the structure is relatively simple, different configuration schemes can be adopted for different joints in a targeted mode, however, because one driving module needs to be installed at the output end of the other driving module, the inertia moment of the structure is increased, and meanwhile, the arrangement of cables is difficult. The parallel mechanism generally uses the differential motion of two driving modules to realize pitching and yawing composite motion, the driving modules can be far away from the output end, the inertia moment of the structure and the arrangement difficulty of cables are reduced, but the connecting rod structure often adopted by the existing parallel structure often reduces the strength of the whole mechanism, the motion space is relatively small, singular points are more, or differential motion is realized through other structures, the structure is easy to be complex, and the assembly difficulty is high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a humanoid robot and a joint thereof, which have the advantages of high modularization degree, good structural strength and convenience in assembly and disassembly.
The present invention achieves the above-described object by the following technical means.
A humanoid robot joint comprises a joint frame, a first driving module, a second driving module, a connecting rod transmission module, a synchronous belt transmission module and a cross-axle joint module, wherein the first driving module, the second driving module and the cross-axle joint module are sequentially fixed in the joint frame along the direction of an execution end;
the first driving module comprises a first frameless motor and a first component type harmonic reducer, one end of a motor shaft of the first module is rotatably connected with the first module flexible wheel seat, and the tail end of the first module flexible wheel seat is fixedly connected with the first module output piece; a first module wave generator is fixedly connected to a first module motor shaft;
the second driving module comprises a second frameless motor and a second component type harmonic reducer, a motor shaft of the second module is fixedly connected with a shaft of the second module reducer in series, a second module wave generator is fixedly connected onto the shaft of the second module reducer and is arranged in a flexible wheel of the second module, the flexible wheel of the second module is fixedly connected with a flexible wheel seat of the second module, and the tail end of the flexible wheel seat of the second module is fixedly connected with an output piece of the second module;
the connecting rod transmission module comprises a first connecting rod and a second connecting rod, two ends of the first connecting rod are respectively connected with the joint bearings through joint bearing pins, and the second connecting rod is connected between the two joint bearings in the axial direction of a bearing rod of the joint bearing; the two first connecting rods are fixedly connected with the first module output piece and the connecting rod connecting piece respectively;
the synchronous belt transmission module comprises two synchronous belt wheels, a synchronous belt and a pre-tightening assembly, the synchronous belt wheels are transmitted through the synchronous belt, and the pre-tightening assembly is arranged at the position, close to the synchronous belt wheel of the second driving module; the two synchronous belt wheels are respectively connected with the second module output piece and the bevel gear shaft I;
the universal joint module consists of a universal joint component I, a universal joint component II and a universal joint component III, one end of the universal joint component III, which is close to the connecting rod transmission module, is fixed with the universal joint component II, and the bottom end of the universal joint component III is fixed with the universal joint component I; the cross shaft assembly II is fixedly connected with the connecting rod connecting piece, and the bevel gear shaft I is arranged inside the cross shaft assembly III through the bevel gear bearing I; a bevel gear shaft II is further mounted in the cross shaft assembly III through a bevel gear bearing II, a bevel gear I is mounted on the bevel gear shaft I, a bevel gear II is mounted on the bevel gear shaft II, and the bevel gear I is meshed with the bevel gear II; the outer side of the first cross shaft assembly is sleeved with a first supporting bearing, the outer side of the second bevel gear bearing is sleeved with a third supporting bearing, the first supporting bearing and the third supporting bearing are connected with a U-shaped frame, the U-shaped frame is fixedly connected with a U-shaped frame connecting cover, and the U-shaped frame connecting cover is connected with the second bevel gear shaft in a clamping mode.
The pre-tightening assembly comprises an omega-shaped pre-tightening seat, a gap is formed between the pre-tightening seat and the synchronous pulley, slotted holes are formed in two ends of the pre-tightening seat, a pre-tightening pressure head is arranged in each slotted hole, a pressure head bearing is installed at one end, close to the synchronous pulley, of the pre-tightening pressure head, and a compression screw is arranged at the other end of each pressure head bearing; and the pre-tightening seat is also provided with a set screw capable of fastening the pre-tightening pressure head.
And a first module encoder is installed on the first driving module, and a second module encoder is installed on the second driving module.
A first module motor rotor is fixedly connected to a first module motor shaft, an air gap is formed between the first module motor rotor and a first module motor stator, the first module motor stator is connected with a first module motor shell, and the first module motor shell is fixedly connected to a joint frame.
The first module wave generator is installed inside the first module flexible gear, the first module flexible gear is meshed with an external first module steel gear, the first module steel gear is fixedly connected with one side of a first module speed reducer shell, the other side of the first module speed reducer shell is rotatably connected with a first module flexible gear seat, and the first module flexible gear seat is fixedly connected with the first module flexible gear.
And a second module motor rotor is fixedly connected to a shaft of the second module motor, an air gap is formed between the second module motor rotor and the second module motor stator, the second module motor stator is connected with a second module motor shell, and the second module motor shell is fixedly connected to the joint frame.
The second module wave generator is arranged inside the second module flexible gear, the second module flexible gear is meshed with an external second module steel gear, the second module steel gear is connected with one side of a second module speed reducer shell, the other side of the second module speed reducer shell is rotatably connected with a second module flexible gear seat, and the second module flexible gear seat is fixedly connected with the second module flexible gear.
The humanoid robot joint further comprises a driver arranged on the joint frame, and the driver controls the rotation of the motor; the driver is mounted on the joint frame by a driver mount.
A humanoid robot comprises the humanoid robot joint.
The invention has the beneficial effects that:
(1) the humanoid robot joint comprises a joint frame, a first driving module, a second driving module, a connecting rod transmission module, a synchronous belt transmission module and a cross axle joint module; along the direction of the execution end, a first driving module, a second driving module and a cross shaft joint module are sequentially fixed in the joint frame, and a connecting rod transmission module and a synchronous belt transmission module are positioned on two sides of the joint frame. The driving module is arranged in the joint frame overhead cavity, the structural space is fully utilized, the joint integration degree is improved, and meanwhile, the main mass of the joint is far away from the execution end, so that the inertia of the joint movement is reduced.
(2) The joint frame is used as a main body frame of the humanoid robot joint, adopts an integrated structure, is easy to ensure the structural precision, improves the structural strength and reduces the weight of the joint.
(3) The two drivers respectively control the motors in the two driving modules to rotate, the distance between the drivers and the motors is short, the structure is compact, and the lengths of cables of the drivers, the motors and the encoders are reduced.
(4) According to the invention, the first driving module and the second driving module are in modular design by adopting the assembly type frameless motor and the harmonic reducer, so that the high integration of the driving modules is realized, and the weight of the modules is reduced.
(5) The pitch direction with larger output torque adopts the connecting rod transmission which can bear larger torque, and adopts a shorter transmission chain to improve the stability of transmission; the roll direction with smaller output torque adopts synchronous belt transmission, and the rotating range of the driving module is more than 360 degrees; the pair of bevel gears are used in the cross-axle joint module to convert the parallel output motion of the two driving modules into orthogonal motion, so that the cross-axle joint module is easy to assemble and disassemble.
(6) In order to ensure the structural design of a joint frame and a U-shaped frame and the assembly performance, the cross shaft assembly is designed in a split mode and comprises a first cross shaft assembly, a second cross shaft assembly and a third cross shaft assembly, one end, close to a connecting rod transmission module, of the third cross shaft assembly is fixed with the second cross shaft assembly, the bottom end of the third cross shaft assembly is fixed with the first cross shaft assembly, and all the assemblies are positioned and assembled through circumferential rabbets, so that the influence on the strength of the structure is small, and the assembly is easy.
Drawings
FIG. 1 is an isometric view of the overall structure of a joint of a humanoid robot of the present invention;
FIG. 2 is an exploded view of a joint of the humanoid robot of the present invention;
FIG. 3(a) is a cross-sectional view of a first drive module according to the present invention;
FIG. 3(b) is an external view of the first driving module according to the present invention;
FIG. 4(a) is a cross-sectional view of a second drive module according to the present invention;
FIG. 4(b) is an external view of a second driving module according to the present invention;
FIG. 5 is an isometric view of a link drive module according to the present invention;
FIG. 6 is an isometric view of a synchronous belt drive module of the present invention;
FIG. 7 is an exploded view of the output spider module;
in the figure, 1, a joint frame; 2. a driver module; 3. a first driving module; 4. a second driving module; 5. a connecting rod transmission module; 6. a synchronous belt transmission module; 7. a cross-axle joint module; 21. a driver support; 22. a driver; 31. a first modular encoder; 32. a first modular motor rotor; 33. a first modular motor stator; 34. a first module motor shaft; 35. a first modular motor end cap; 36. a first modular motor housing; 37. a first module wave generator; 38. a first modular steel wheel; 39. A first modular flexspline; 310. a first modular retarder housing; 311. a first module flexible wheel seat; 312. a first module output; 41. a second modular motor rotor; 42. a second modular motor stator; 43. a second module motor shaft; 44. a second modular motor housing; 45. a second module wave generator; 46. a second module steel wheel, 47, a second module flexible wheel; 48. a second modular retarder housing; 49. a second module flexible wheel seat; 410. a second module output; 411. a second modular reducer shaft; 412. a second modular encoder; 413. a second module motor end cap; 414. a second module reducer end cover; 51. a first connecting rod; 52. a knuckle bearing pin; 53. a knuckle bearing; 54. a second connecting rod; 61. a synchronous pulley; 62. a synchronous belt; 63. a pre-tightening assembly; 631. a ram bearing pin; 632. a ram bearing; 633. pre-tightening a pressure head; 634. pre-tightening the base; 635. tightening the screw; 636. a compression screw; 71. a first support bearing; 72. a cross-axle assembly; 721. a first cross shaft assembly; 722. a cross shaft assembly II; 723. a cross shaft assembly III; 73. a first bevel gear; 74. a second support bearing; 75. a bevel gear bearing I; 76. a bevel gear shaft I; 77. a second bevel gear; 78. a bevel gear shaft II; 79. a bevel gear bearing II; 710. a third support bearing; 711. a U-shaped frame connecting cover; 712. A U-shaped frame; 713. a connecting rod connecting piece; 714. and supporting a bearing IV.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
Example 1
As shown in fig. 1 and 2, the humanoid robot joint of the invention is composed of a joint frame 1, a driver module 2, a first driving module 3, a second driving module 4, a connecting rod transmission module 5, a synchronous belt transmission module 6 and a cross-axis joint module 7.
As shown in fig. 1 and fig. 2, the joint frame 1 is used as a main body frame of a humanoid robot joint, adopts an integrated structure, and is similar to a shape like a Chinese character '', the joint frame 1 far away from an execution end is in a hollow cylindrical shape, the joint frame 1 near the execution end is in two opposite sheet structures, and a pair of through holes are arranged on the sheet structures; along the direction of an execution end, a first driving module 3, a second driving module 4 and a cross shaft joint module 7 are sequentially fixed in the joint frame 1, a driver module 2 is fixed on the hollow cylindrical joint frame 1, and a connecting rod transmission module 5 and a synchronous belt transmission module 6 are located on two sides of the joint frame 1. The driver module 2 comprises a driver bracket 21 and drivers 22, wherein the driver bracket 21 is installed on the joint frame 1 through screws, and the two drivers 22 are installed on the driver bracket 21 through screws; the driver support 21 is made of an aluminum alloy material, so that a good heat dissipation effect can be provided for the driver 22, the joint frame 1 can be supported, and the structural strength of the joint is improved. The first driving module 3 is fixed in a first cavity of the joint frame 1 through a screw, and the first driving module 3 is also connected with a cross shaft joint module 7 through a connecting rod transmission module 5; the second driving module 4 is fixed in a second cavity of the joint frame 1 through a screw, and the second driving module 4 is also connected with a cross shaft joint module 7 through a synchronous belt transmission module 6; the universal joint module 7 is installed at the tail end of the joint frame 1 through a bearing, and a U-shaped 712 frame of the universal joint module 7 can be connected with an actuating end mechanism.
As shown in fig. 1, 3(a) and 3(b), the first driving module 3 is fixedly mounted inside the first cavity of the joint frame 1 through a first module reducer housing 36. The frameless motor of the first driving module 3 consists of a first module motor rotor 32 and a first module motor stator 33, the first module motor rotor 32 is fixedly connected with a first module motor shaft 34 in an adhering mode, and an air gap is formed between the first module motor rotor 32 and the first module motor stator 33 on the outer side; the first module motor stator 33 is clamped with the first module motor shell 36, one side of the first module motor stator is tightly pressed through the first module motor end cover 35, and the first module motor end cover 35 is fixedly connected with the first module motor shell 36 through a screw; first module motor shaft 34 both ends pass through the bearing with first module motor end cover 35, first module gentle wheel seat 311 respectively and are connected the location, and first module motor shaft 34 is close to the one end of first module motor end cover 35 still passes through the bearing with first module motor housing 36 and is connected the location, but first module motor shaft 34 and first module motor end cover 35, first module gentle wheel seat 311 relative rotation. The first module encoder 31 is mounted on the first module motor end cover 35 through an adapter, and measures and feeds back the rotation speed of the motor. The assembly type harmonic reducer of the first driving module 3 consists of a first module wave generator 37, a first module steel wheel 38 and a first module flexible wheel 39, wherein the first module wave generator 37 is fixedly connected to a first module motor shaft 34, the first module wave generator 37 is installed inside the first module flexible wheel 39, the first module flexible wheel 39 is installed inside the first module steel wheel 38, and the first module flexible wheel 39 is meshed with the first module steel wheel 38; a connecting flange on the outer edge of the first module steel wheel 38 is fixedly connected with one side of a first module speed reducer shell 310, the joint of the first module speed reducer shell 310 and the first module steel wheel 38 is also fixedly connected with a first module motor shell 36, a connecting flange on the end surface of a first module flexible wheel 39 is fixedly connected with a first module flexible wheel seat 311, and the first module flexible wheel seat 311 is installed and positioned in the other side of the first module speed reducer shell 310 through a bearing and can rotate relative to the first module speed reducer shell 310; the end of the first module flexible wheel seat 311 is fixedly connected with the first module output member 312.
As shown in fig. 1, 4(a) and 4(b), the second driving module 4 is fixedly mounted inside the second cavity of the joint frame 1 through the second module motor housing 44 and the second module reducer housing 48. The frameless motor used by the second driving module 4 is composed of a second module motor rotor 41 and a second module motor stator 42, the second module motor rotor 41 is fixedly connected with a second module motor shaft 43 in an adhering mode, and an air gap is formed between the second module motor rotor 41 and the second module motor stator 42 on the outer side; the second module motor stator 42 is clamped with the second module motor shell 44, one side of the second module motor stator is tightly pressed through the second module motor end cover 413, and the second module motor end cover 413 is fixedly connected with the second module motor shell 44 through a screw; two ends of the second module motor shaft 43 are respectively connected and positioned with the second module motor end cover 413 and the second module motor shell 44 through bearings, and the second module motor shaft 43, the second module motor end cover 413 and the second module motor shell 44 can rotate relatively; the second module encoder 412 is mounted on the second module motor end cap 413 through an adapter, and measures and feeds back the rotational speed of the motor. The component type harmonic reducer used by the second driving module 4 consists of a second module wave generator 45, a second module steel wheel 46 and a second module flexible wheel 47, wherein the second module wave generator 45 is fixedly connected on a second module reducer shaft 411, and the second module reducer shaft 411 is fixedly connected with a second module motor shaft 43 in series; the second module wave generator 45 is arranged inside a second module flexible gear 47, the second module flexible gear 47 is arranged inside a second module steel gear 46, and the second module flexible gear 47 is meshed with the second module steel gear 46; a connecting flange on the outer edge of the second module steel wheel 46 is fixedly pressed on one side of the second module speed reducer shell 48 through a second module speed reducer end cover 414, and a second module flexible wheel seat 49 is installed and positioned inside the other side of the second module speed reducer shell 48 through a bearing and can rotate relative to the second module speed reducer shell 48; the connecting flange of the end face of the second module flexible gear 47 is fixedly connected with a second module flexible gear seat 49, and the second module flexible gear seat 49 is close to the tail end of a second module speed reducer shaft 411 and is fixedly connected with a second module output member 410.
As shown in fig. 5, the link transmission module 5 is composed of two first links 51, four knuckle bearing pins 52, four knuckle bearings 53 and two second links 54, and the link transmission module 5 is a parallelogram as a whole; two ends of the first connecting rod 51 are respectively connected with a joint bearing 53 through a joint bearing pin 52, and a second connecting rod 54 is connected between the two joint bearings 53 in the axial direction of the bearing rod of the joint bearing 53. The two first connecting rods 51 are fixedly connected with the first module output member 312 and the connecting rod connecting member 713 of the universal joint pin module 7 respectively.
As shown in fig. 6, the synchronous belt transmission module 6 is composed of two synchronous belt wheels 61, a synchronous belt 62 and a pre-tightening assembly 63, the synchronous belt wheels 61 transmit through the synchronous belt 62, and the pre-tightening assembly 63 is arranged at the position, close to the synchronous belt wheel 61 of the second driving module 4; the two timing pulleys 61 are connected to the second module output member 410 and the first bevel gear shaft 76 of the universal joint module 7, respectively. The pre-tightening assembly 63 consists of a pressure head bearing pin 631, a pressure head bearing 632, a pre-tightening pressure head 633, a pre-tightening seat 634, a tightening screw 635 and a compression screw 636, a gap is formed between the omega-shaped pre-tightening seat 635 and the synchronous pulley 61, slotted holes are formed in two ends of the pre-tightening seat 634, the number and the positions of the pre-tightening pressure heads 633 are installed according to pre-tightening requirements, and the compression heads 633 can slide in the slotted holes; one end of the pre-tightening pressure head 633 close to the synchronous belt 62 is provided with a pressure head bearing 632 through a pressure head bearing pin 631, after the pre-tightening pressure head 633 passes through the slotted hole of the pre-tightening seat 634, the other end of the pre-tightening pressure head causes the pressure head bearing 632 to abut against the synchronous belt 62 through a compression screw 636, so that the belt pre-tightening is realized. After the belt is pre-tightened, the set screw 635 disposed on the pre-tightening seat 634 can fasten the pressing head 633 on the pre-tightening seat 634, so as to prevent the pressing head 633 from loosening during operation.
As shown in fig. 7, the spider joint module 7 is composed of a first support bearing 71, a spider assembly 72, a first bevel gear 73, a second support bearing 74, a first bevel gear bearing 75, a first bevel gear shaft 76, a second bevel gear 77, a second bevel gear shaft 78, a second bevel gear bearing 79, a third support bearing 710, a U-shaped frame connecting cover 711, a U-shaped frame 712, a link connecting member 713, and a fourth support bearing 714. The cross shaft assembly 72 consists of a first cross shaft assembly 721, a second cross shaft assembly 722 and a third cross shaft assembly 723 which are fixedly connected through screws, the third cross shaft assembly 723 is similar to an inverted T shape, one end, close to the connecting rod transmission module 5, of the third cross shaft assembly 723 is fixed with the second cross shaft assembly 722, a support bearing fourth 714 is sleeved outside the second cross shaft assembly 722, and a connecting rod connecting piece 713 is fixedly connected with the end face of the second cross shaft assembly 722; the bottom end of the first cross shaft component 723 is fixed with the first cross shaft component 721, and the first support bearing 71 is sleeved outside the first cross shaft component 721 and is positioned through a bearing retainer ring. The universal joint module 7 is positioned and installed on the joint frame 1 through a second support bearing 74 and a fourth support bearing 714 and can rotate relatively along the axis of the bearing, and the second support bearing 74 is sleeved on the outer side of one end of the third universal joint 723. The cross shaft assembly 72 is connected with the U-shaped frame 712 through a first support bearing 71 and a third support bearing 710 in a positioning manner and can rotate relatively along the bearing axis; and the third support bearing 710 is sleeved outside the third cross shaft assembly 723 and is positioned by a bearing retainer ring. The first bevel gear 73 and the second bevel gear 77 are fixedly arranged on a first bevel gear shaft 76 and a second bevel gear shaft 78 respectively through keys and pressing sheets, and the first bevel gear shaft 76 and the second bevel gear shaft 78 are fixedly arranged inside a cross shaft assembly third 723 through a first bevel gear bearing 75 and a second bevel gear bearing 79 respectively and can rotate relatively along the axis of the bearing. The square key end of the bevel gear shaft I76 is fixedly connected with the key groove of the synchronous pulley 61 without the pre-tightening component 63, the square key end of the bevel gear shaft II 78 is butted with the key groove of the U-shaped frame connecting cover 711, the U-shaped frame connecting cover 711 is fixedly connected with the U-shaped frame 712 through a screw, and the square key of the connecting rod connecting piece 713 is connected with the key groove on the connecting rod I51.
After the frameless motor is electrified by the driver 22, the motor rotor is controlled to rotate, the encoder collects the rotating speed of the motor rotor and feeds the rotating speed back to the driver 22, and the driver 22 controls and adjusts the rotating speed of the motor rotor by controlling the current of the motor.
When the first module motor rotor 32 rotates, the first module motor shaft 34 and the first module wave generator 37 are driven to rotate, and then the first module flexible wheel seat 311 and the first module speed reducer housing 310 are driven to rotate relatively, and finally the first module flexible wheel seat 311 drives the first module output member 312 to rotate because the first module speed reducer housing 310 is fixedly connected with the joint frame 1. When the first module output member 312 rotates, the motion is transmitted to the link connector 713 through the link transmission module 5, and finally the universal joint module 7 rotates around the axis of the link connector 713, so that the rotation in the joint pitch direction is realized.
When the first module motor rotates and the second module motor does not rotate, the spider assembly 72 of the spider joint module 7 rotates, and because the bevel gear shaft one 76 does not rotate, the rotation of the spider assembly 72 drives the bevel gear shaft two 78 and the bevel gear two 77 to move about the axis of the bevel gear shaft one 76. The first bevel gear 73 is meshed with the second bevel gear 77, the second bevel gear 77 drives the second bevel gear shaft 78 to rotate around the axis of the second bevel gear shaft 77 while moving around the axis of the first bevel gear shaft 76, and then the U-shaped frame 712 is driven to rotate around the axis of the U-shaped frame connecting cover 711, so that composite movement in a pitch direction and a roll direction can be realized, and the rotation angle ratio of the two directions is determined by the reduction ratio of the bevel gear set.
When the second module motor rotor 4 rotates, it drives the second module motor shaft 43, the second module reducer shaft 411 and the second module wave generator 45 to rotate, and further drives the second module flexible gear 47 and the second module steel gear 46 to rotate relatively, because the second module reducer housing 48 is fixedly connected with the second module steel gear 46, it drives the second module flexible gear seat 49 and the second module reducer housing 48 to rotate relatively, and the second module flexible gear seat 49 drives the second module output element 410 to rotate as a motion output end. When the second module output member 410 rotates, the synchronous pulley 61 is driven to rotate, the first bevel gear shaft 76 is driven to rotate through the synchronous belt transmission module 6, the rotation is changed and transmitted through the first bevel gear 73 and the second bevel gear 77, the second bevel gear shaft 78 is driven to rotate, and finally the U-shaped frame 712 rotates around the axis of the U-shaped frame connecting cover 711 to realize the rotation of the joint in the roll direction.
When the second module motor rotor 4 rotates, only the U-shaped frame 712 is driven to rotate around the axis of the U-shaped frame connection cover 711 to realize the rotation in the joint roll direction, and the motion in the pitch direction is not affected. The motion state of joint pitch direction is controlled in the rotation of accessible adjustment first module motor, through the differential motion that the rotation adjustment second module motor of cooperation and first module motor realized the motion state of steerable joint roll direction.
Example 2
A humanoid robot, including the humanoid robot joint in embodiment 1, the structural features of which have been described in detail in embodiment 1 and are not described herein again.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. A humanoid robot joint is characterized by comprising a joint frame (1), a first driving module (3), a second driving module (4), a connecting rod transmission module (5), a synchronous belt transmission module (6) and a cross-axle joint module (7), wherein the first driving module (3), the second driving module (4) and the cross-axle joint module (7) are sequentially fixed in the joint frame (1) of an integrated structure along the direction of an execution end;
the first driving module (3) comprises a first frameless motor and a first component type harmonic reducer, one end of a first module motor shaft (34) is rotatably connected with a first module flexible wheel seat (311), and the tail end of the first module flexible wheel seat (311) is fixedly connected with a first module output piece (312); a first module wave generator (37) is fixedly connected to a first module motor shaft (34);
the second driving module (4) comprises a second frameless motor and a second component type harmonic reducer, a second module motor shaft (43) is fixedly connected with a second module reducer shaft (411) in series, the second module reducer shaft (411) is fixedly connected with a second module wave generator (45), the second module wave generator (45) is installed inside a second module flexible wheel (47), the second module flexible wheel (47) is fixedly connected with a second module flexible wheel seat (49), and the tail end of the second module flexible wheel seat (49) is fixedly connected with a second module output part (410);
the connecting rod transmission module (5) comprises a first connecting rod (51) and a second connecting rod (54), two ends of the first connecting rod (51) are respectively connected with the knuckle bearings (53) through knuckle bearing pins (52), and the second connecting rod (54) is connected between the knuckle bearings (53) in the axial direction of the bearing rods of the knuckle bearings (53); the two first connecting rods (51) are fixedly connected with the first module output piece (312) and the connecting rod connecting piece (713) respectively;
the synchronous belt transmission module (6) comprises two synchronous belt wheels (61), a synchronous belt (62) and a pre-tightening assembly (63), the synchronous belt wheels (61) are transmitted through the synchronous belt (62), and the pre-tightening assembly (63) is arranged at the position, close to the synchronous belt wheels (61) of the second driving module (4); the two synchronous pulleys (61) are respectively connected with the second module output piece (410) and the bevel gear shaft I (76);
the universal joint module (7) consists of a first universal joint component (721), a second universal joint component (722) and a third universal joint component (723), one end, close to the connecting rod transmission module (5), of the third universal joint component (723) is fixed with the second universal joint component (722), and the bottom end of the third universal joint component (723) is fixed with the first universal joint component (721); the cross shaft assembly II (722) is fixedly connected with the connecting rod connecting piece (713), and the bevel gear shaft I (76) is installed inside the cross shaft assembly III (723) through the bevel gear bearing I (75); a bevel gear shaft II (78) is further mounted in the cross shaft assembly III (723) through a bevel gear bearing II (79), a bevel gear I (73) is mounted on the bevel gear shaft I (76), a bevel gear II (77) is mounted on the bevel gear shaft II (78), and the bevel gear I (73) is meshed with the bevel gear II (77); the supporting bearing I (71) is sleeved on the outer side of the cross shaft assembly I (721), the supporting bearing II (79) is sleeved on the outer side of the bevel gear bearing I (710), the supporting bearing I (71) and the supporting bearing II (710) are connected with the U-shaped frame (712), the U-shaped frame (712) is fixedly connected with the U-shaped frame connecting cover (711), and the U-shaped frame connecting cover (711) is clamped with the bevel gear shaft II (78).
2. The humanoid robot joint of claim 1, wherein the pre-tightening assembly (63) comprises an omega-shaped pre-tightening seat (634), a gap is formed between the pre-tightening seat (634) and the synchronous pulley (61), slotted holes are formed in two ends of the pre-tightening seat (634), a pre-tightening pressure head (633) is arranged in each slotted hole, a pressure head bearing (632) is installed at one end, close to the synchronous pulley (62), of the pre-tightening pressure head (633), and a compression screw (636) is arranged at the other end of each pressure head bearing (632); the pre-tightening seat (634) is also provided with a set screw (635) which can fasten the pre-tightening pressure head (633).
3. A humanoid robot joint as claimed in claim 1, characterized by further comprising a drive (22) mounted on the joint frame (1), said drive (22) controlling the rotation of the motor.
4. A humanoid robot joint as claimed in claim 3, characterized in that the drive (22) is mounted on the joint frame (1) by means of a drive mount (21).
5. A humanoid robot joint as claimed in claim 1, characterized in that a first module encoder (31) is mounted on the first drive module (3), and a second module encoder (412) is mounted on the second drive module (4).
6. The humanoid robot joint of claim 1, characterized in that a first module motor rotor (32) is fixedly connected to the first module motor shaft (34), an air gap is provided between the first module motor rotor (32) and the first module motor stator (33), the first module motor stator (33) is connected to a first module motor housing (36), and the first module motor housing (36) is fixedly connected to the joint frame (1).
7. The humanoid robot joint of claim 1, wherein the first module wave generator (37) is mounted inside a first module flexible wheel (39), the first module flexible wheel (39) is engaged with an external first module steel wheel (38), the first module steel wheel (38) is fixedly connected with one side of a first module reducer housing (310), the other side of the first module reducer housing (310) is rotatably connected with a first module flexible wheel seat (311), and the first module flexible wheel seat (311) is fixedly connected with the first module flexible wheel (39).
8. The humanoid robot joint of claim 1, characterized in that a second module motor rotor (41) is fixedly connected to the second module motor shaft (43), an air gap is formed between the second module motor rotor (41) and the second module motor stator (42), the second module motor stator (42) is connected to a second module motor housing (44), and the second module motor housing (44) is fixedly connected to the inside of the joint frame (1).
9. The humanoid robot joint of claim 1, characterized in that, the second module wave generator (45) is installed inside a second module flexible wheel (47), the second module flexible wheel (47) is engaged with an external second module steel wheel (46), the second module steel wheel (46) is connected with one side of a second module reducer housing (48), the other side of the second module reducer housing (48) is rotatably connected with a second module flexible wheel seat (49), the second module flexible wheel seat (49) is fixedly connected with the second module flexible wheel (47), and the second module reducer housing (48) is fixedly connected inside the joint frame (1).
10. A humanoid robot comprising a humanoid robot joint according to any one of claims 1-9.
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| CN202110088716.1A CN112873265B (en) | 2021-01-22 | 2021-01-22 | Humanoid robot and joint thereof |
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| CN202110088716.1A CN112873265B (en) | 2021-01-22 | 2021-01-22 | Humanoid robot and joint thereof |
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| CN112873265B true CN112873265B (en) | 2022-04-08 |
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| CN113459154B (en) * | 2021-07-06 | 2022-06-17 | 杭州国辰机器人科技有限公司 | Humanoid mechanical arm based on differential mechanism |
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