CN210452726U - Humanoid robot shank structure and humanoid robot comprising same - Google Patents

Abstract

The utility model provides a humanoid robot shank structure and humanoid robot that contains this structure, this shank structure includes: the left side and the right side of the shank outer side plate are fixedly arranged at a preset distance, and the upper end and the lower end of the shank outer side plate and the lower end of the shank inner side plate are respectively provided with an upper end annular part and a lower end annular part; the upper plug is positioned below the upper end annular part and clamped between the lower leg outer side plate and the lower leg inner side plate; the lower plug is positioned above the lower end annular part and clamped between the lower leg outer side plate and the lower leg inner side plate; the inner cavity structure body is fixedly clamped between the upper plug and the lower plug and between the lower leg outer side plate and the lower leg inner side plate, and an accommodating cavity is formed in the inner cavity structure body; and the outer shell is wrapped on the peripheries of the shank outer side plate, the shank inner side plate, the upper plug, the lower plug and the inner cavity structure body. The shank structure of the humanoid robot has good strength and rigidity in all directions, and the internal space of the shank is fully utilized.

Description

Humanoid robot shank structure and humanoid robot comprising same

Technical Field

The utility model relates to a humanoid robot field especially relates to a humanoid robot shank structure and contain the humanoid robot of this structure.

Background

The humanoid robot is a high-level development stage of advanced robot technology, comprehensively embodies the research and development levels of the aspects of mechanics, motion, dynamics and the like of the high-level robot, and is a very complex comprehensive system. The leg body structure of the humanoid robot is an important link in the design of the humanoid robot. The leg connecting structure of the existing humanoid robot is designed to be as compact as possible under the condition of meeting the requirements of movement and operation so as to meet the requirements of reducing the control complexity and improving the control precision. The leg of the humanoid robot has to realize flexible rotation function, have certain strength in motion collision and have light weight.

Generally speaking, the leg mechanism is related to the drive motor output torque, and the greater the weight of the leg attachment structure, the greater the motor output torque required to achieve the same speed. At present, in order to reduce the weight of a body mechanism of a humanoid robot, when the body mechanism of the humanoid robot is processed, a framework part or all of the body mechanism is made of aluminum alloy. The aluminum alloy material belongs to a traditional material, and although the aluminum alloy is lighter than common metal in weight, the aluminum alloy material has no weight advantage.

The leg connection structure of the humanoid robot in the prior art is generally a semi-closed connection structure. For example, the lower leg joint part adopts an integral U-shaped bracket or an aluminum alloy push plate to clamp the motor, and the lower leg body part generally only plays a supporting role. If the inner space of the trunk part of the lower leg is of a cavity structure, the support strength of the front and rear sides is easy to be insufficient; if all be close-grained aluminum alloy filled structure in the inner space of shank trunk portion, lead to the whole weight greatly increased of shank structure again easily, required motor output increases, increases the design degree of difficulty and cost. In addition, the driving motor, the motor driver and various lines at the joint part cannot be reasonably distributed, and the internal space is not effectively utilized. If the lines are arranged on the outer side of the body of the robot, the appearance is affected, and the lines are easily damaged. In summary, the leg structure of the humanoid robot has many shortcomings, and needs to be improved to meet the requirements of design and application.

SUMMERY OF THE UTILITY MODEL

In order to solve or alleviate the problem that the front and back side support intensity of prior art's humanoid robot shank connection structure is not enough, shank portion inner space does not have effectual utilization, the utility model provides a humanoid robot shank structure and contain the humanoid robot of this structure.

The technical scheme of the utility model as follows:

according to an aspect of the invention, in some embodiments, the shank structure comprises:

the left side and the right side of the shank outer side plate are fixedly installed at a preset distance, and the upper end and the lower end of the shank outer side plate and the lower end of the shank inner side plate are respectively provided with an upper end annular part and a lower end annular part; the upper plug is positioned below the upper end annular part and clamped between the lower leg outer side plate and the lower leg inner side plate; the lower plug is positioned above the lower end annular part and clamped between the lower leg outer side plate and the lower leg inner side plate; the inner cavity structure body is fixedly clamped between the upper plug and the lower plug and between the lower leg outer side plate and the lower leg inner side plate, and an accommodating cavity is formed in the inner cavity structure body; and the outer shell is wrapped on the peripheries of the lower leg outer side plate, the lower leg inner side plate, the upper plug, the lower plug and the inner cavity structure body.

In some embodiments, the lateral calf plate and the medial calf plate are formed pieces of PEEK material.

In some embodiments, the inner cavity structure is a molding made of PMI.

In some embodiments, the housing is a carbon fiber shell.

In some embodiments, the lower leg structure further comprises a knee joint component mounted at the upper annular portions of the lower and upper medial leg plates; the knee joint component comprises a motor, a driving wheel and a joint sleeve, wherein the motor and the driving wheel are sleeved in the joint sleeve and are actuated by the driving wheel; the joint sleeve is provided with a shaft collar fixedly connected with the annular part at the upper end of the supporting side plate.

In some embodiments, the upper plug is provided with a through hole penetrating through the left side and the right side, a connecting column is arranged in the through hole in a penetrating manner, and two end faces of the connecting column are provided with threaded holes; and the positions of the upper plugs, which are matched and connected with the lower leg outer side plate and the lower leg inner side plate, are provided with countersunk holes and connecting screws for fixing the connecting columns.

In some embodiments, the upper plug and the lower plug have threading holes penetrating through the upper side and the lower side.

In some embodiments, the parts of the lower leg lateral plate and the lower leg medial plate corresponding to the accommodating cavity of the inner cavity structure body are provided with through heat dissipation grooves; the lower leg structure further comprises a heat sink mounted at the heat sink.

In some embodiments, the inner chamber structure is connected to the outer calf plate and the inner calf plate by screws.

According to another aspect of the utility model, also provide a humanoid robot, this humanoid robot includes above-mentioned humanoid robot shank structure.

According to the utility model discloses a humanoid robot shank structure has good intensity and rigidity in each direction, make full use of the inner space of shank, realizes totally enclosed connection at the shank.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the following detailed description.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. For convenience in illustrating and describing some portions of the present invention, corresponding parts of the drawings may be exaggerated, i.e., may be larger, relative to other components in an exemplary device actually manufactured according to the present invention. In the drawings:

fig. 1 is a schematic view of a left leg structure of a humanoid robot in an embodiment of the present invention.

Fig. 2 is a schematic structural view of a lower leg structure and a knee joint component according to an embodiment of the present invention.

Fig. 3 is a schematic view of a combined structure of a lower leg structure in an embodiment of the present invention.

Fig. 4 is an exploded view of a lower leg structure according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of an outer calf plate according to an embodiment of the invention.

Fig. 6 is a schematic structural view of a medial calf plate according to an embodiment of the present invention.

Fig. 7 is a schematic structural view of an upper annular portion of a supporting side plate and an embedded filling structure according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of an embedded filling structure in an embodiment of the present invention.

Fig. 9 is a schematic structural diagram of an upper plug according to an embodiment of the present invention.

Fig. 10 is a schematic structural diagram of a lower plug according to an embodiment of the present invention.

Fig. 11 is a schematic structural diagram of a housing according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and/or process steps that are closely related to the solution according to the invention are shown in the drawings, while other details that are not relevant to the invention are omitted.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.

It is also noted herein that the term "coupled," if not specifically stated, may refer herein to not only a direct connection, but also an indirect connection in which an intermediate is present.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.

Semi-enclosed shank connection structure adopts U type support or aluminum alloy leg board among the prior art, and the problem that this connected mode front and back collateral branch supporting strength is not enough, shank portion inner space does not have effectual utilization is in order to solve or alleviate, the utility model provides a humanoid robot's shank structure.

Fig. 1 is a schematic view of a left leg structure of a humanoid robot in an embodiment of the present invention. As shown in fig. 1, the left leg structure includes a thigh body 3, a knee joint component 2 and a lower leg body 1, wherein, when the humanoid robot moves, the lower leg body 1 can rotate around the knee joint component 2 within a certain angle range as a lower leg part.

According to an aspect of the present invention, in some embodiments, fig. 3 and fig. 4 are a schematic view of a combined structure and an explosion structure of a shank structure in an embodiment of the present invention, respectively. As shown in fig. 3 (without shell) and fig. 4, the lower leg structure comprises: the support curb plate, press from both sides the embedded filling structure of establishing between the support curb plate and wrap up the shell in support curb plate and embedded filling structure periphery. Wherein, the support lateral plate is used as the support plate at the left side and the right side of the shank structure and plays the role of a skeleton. Namely, the calf lateral plate 110 and the calf medial plate 120 function as left and right side supports and vertical supports. The embedded filling structure serves as a transverse supporting structure for supporting the side plates, and also plays a role in internally arranging a motor driver, various circuits and the like, and the embedded filling structure can enhance the front and rear side supporting strength of the lower leg structure. The shell serves to protect and enclose the internal structure of the lower leg structure. According to the utility model discloses a shank structure has good intensity and rigidity in each direction, make full use of the inner space of shank, realize totally enclosed connection at the shank, alleviateed weight again.

In some embodiments, the supporting side plate comprises an outer calf plate 110 and an inner calf plate 120 fixedly installed at left and right sides at a predetermined distance, the upper ends of the outer calf plate 110 and the inner calf plate 120 are provided with upper annular parts for supporting and connecting the knee joint component, and the annular parts 111 and 121 of the outer calf plate 110 and the inner calf plate are coaxially matched and can be used for connecting and fixing the knee joint component 2 and also can be connected with the thigh body 3 by the knee joint component 2. In addition, the lower ends of the lateral calf plate 110 and the medial calf plate 120 have lower end loops (112/122) for supporting and connecting the ankle joint assembly.

In some embodiments, the in-line fill structure comprises: an upper plug 210 positioned below the upper annular portion (111/121) and interposed between the lower leg outer panel 110 and the lower leg inner panel 120, a lower plug 220 positioned above the lower annular portion (112/122) and interposed between the lower leg outer panel 110 and the lower leg inner panel 120, and an inner cavity structure 230 fixedly interposed between the upper plug 210 and the lower plug 220 and between the lower leg outer panel 110 and the lower leg inner panel 120. The inner structural body 230 has a receiving cavity therein. The upper plug 210 and the lower plug 220 are mainly used for connecting two supporting side plates, and also play a role in limiting the inner cavity structure 230, that is, the inner cavity structure 230 is fixed in the inner space in the middle of the leg composite structure up and down. The inner cavity structure body 230 holds the cavity and can place motor drive, the inner space of rational utilization shank structure, in addition, embedded filling structure is with supporting curb plate fixed connection, also can strengthen the front and back side support intensity and the left and right sides support intensity of shank structure.

In some embodiments, the lateral calf plate 110 and the medial calf plate 120 can be formed of PEEK; the inner cavity structure 230 may be a molded part made of PMI material; the housing 310 may be a carbon fiber shell. The upper plug 210 and the lower plug 220 may also be formed of PMI material. The utility model discloses in, PMI-PEEK-carbon fiber composite structure can be constituteed to the PEEK material of shank structure both sides, middle PMI material and outmost carbon fiber, and this composite structure not only has certain intensity and rigidity, and make full use of new material utilizes the inboard space of shank moreover, realizes totally enclosed connection at the shank. The leg strength and the rigidity of the humanoid robot are improved, and meanwhile, the self weight of the leg of the humanoid robot is reduced, so that the movement capacity of the humanoid robot is improved.

Polyether-ether-ketone (PEEK) resin is a linear aromatic high polymer compound with chain links in a molecular main chain, has more remarkable advantages compared with other special engineering plastics, and can resist positive high temperature of 260 ℃, has excellent mechanical properties, good self-lubricating property, chemical corrosion resistance, flame retardance, stripping resistance, wear resistance, weak nitric acid, concentrated sulfuric acid, radiation resistance and super-strong mechanical properties, and can be used for high-end science and technology such as machinery, nuclear engineering, aviation and the like.

The Polymethacrylimide (PMI) foam is a cross-linked rigid structure type foam material, is a heat-resistant foam plastic (180-240 ℃) with highest strength and rigidity at present, and can meet the requirements of medium-high temperature and high pressure curing and prepreg technology. The composite material has good compatibility with various types of resins, is suitable for being used as a core layer material in a high-performance sandwich structure, and can be easily machined into various cross-sectional shapes with complicated shapes.

The carbon fiber is a special fiber mainly composed of carbon elements, has the characteristics of common carbon materials, such as high temperature resistance, friction resistance, electric conduction, heat conduction, corrosion resistance and the like, is a new material with excellent mechanical properties, has a specific gravity less than 1/4 of steel, has tensile strength generally higher than 3500Mpa, is 7-9 times of that of the steel, and has tensile elastic modulus of 23000-43000 Mpa which is higher than that of the steel.

The utility model discloses a carbon fiber shell cladding, PEEK material realize the robot shank structure of light, high strength as skeleton, PMI foam as filling.

In some embodiments, as shown in fig. 1 and 2, the lower leg structure of the present invention may further include a knee joint assembly 2 mounted at the outer lower leg plate and the upper end annulus of the inner lower leg plate. The knee joint component 2 can comprise a motor, a transmission wheel and a joint sleeve which is arranged in the motor and the transmission wheel and is actuated by the transmission wheel; the joint sleeve is provided with a shaft collar fixedly connected with the upper end annular part of the supporting side plate.

In this embodiment, the joint cover can be one side is uncovered, one end has the open cover barrel spare of osculum, and the both sides of the periphery of joint cover have two with support the fixed axle collar of curb plate, the shaft shoulder terminal surface of axle collar can be opened has even annular distribution's screw hole, accessible screw and the upper end annular portion fixed mounting of supporting the curb plate.

In this embodiment, the motor and the speed reducer may be fixedly installed in the inner space of the joint sleeve, and a driving wheel installed on the motor shaft is installed inside, and the driving wheel and the joint sleeve may form a transmission structure, such as a planetary wheel mechanism or a harmonic gear transmission mechanism. The driving wheel drives the joint sleeve to rotate, so that the supporting side plate of the shank structure can be driven to drive the shank body to move. When the thigh body exercise device is specifically implemented, the motor sleeve can be sleeved in the joint sleeve, the motor sleeve and the motor can be fixed on one side plate of the thigh body, and the joint sleeve rotates relative to the motor sleeve, so that the shank body is driven to move. When the harmonic gear transmission mechanism is adopted, the rigid wheel can be fixedly installed with the joint sleeve, the flexible wheel can be fixedly installed with the joint sleeve, and the flexible wheel rotates in the rigid wheel to drive the joint sleeve to rotate, so that the supporting side plate of the shank composite structure is driven to drive the shank body to move.

In some embodiments, as shown in fig. 5, the outer calf plate 110 is basically comprised of an upper annular portion 111 and a lower annular portion 112 of the outer calf plate, a middle portion can be configured to resemble a human calf, and the middle portion can have an upper plug counterbore 114 and a lower plug counterbore 115. As shown in fig. 6, the lower leg inner plate 120 mainly includes an upper annular portion 121 and a lower annular portion 121 of the lower leg inner plate, the middle portion of the lower leg inner plate may be shaped like a human lower leg, and the middle portion of the lower leg inner plate may be provided with an upper plug counter bore 124 and a lower plug counter bore 125.

In some embodiments, as shown in fig. 4, 5, 6 and 8, the lateral calf plate 110 and the medial calf plate 120 of the support side panels have through heat sink slots 113/123 at locations corresponding to the receiving cavities 231 of the lumenal structure 230; the lower leg structure also includes fins mounted at heat sink 113/123. So that the motor driver mounted in the receiving cavity 231 of the inner cavity structure body 230 radiates heat.

In some embodiments, as shown in fig. 7, 8 and 9, the upper plug 210 has a larger thickness, and has a through hole penetrating through the left and right sides, a connection post 211 is inserted into the through hole, and both end surfaces of the connection post 211 have threaded holes 212. At the position where the calf lateral plate 110 and the calf medial plate 1209 are connected to the upper plug 210 in a matching manner, a countersunk hole and a connecting screw for fixing the connecting column 211 are provided. The upper plug 210 has a threading hole 213 penetrating through upper and lower sides. As shown in fig. 10, the lower plug 220 has a smaller thickness, the left and right sides of the lower plug are slotted, and can be clamped between the two supporting side plates, and the lower plug 220 has a threading hole 223 penetrating through the upper and lower sides, so as to electrically connect the ankle joint assembly and the knee joint assembly. In addition, the upper plug 210 and the lower plug 220 may be opened with air inlets through from top to bottom, so that the electrical components of the inner cavity structure 230 can dissipate heat and ventilate.

In some embodiments, as shown in fig. 8, the inner cavity structure 230 may have threaded holes 232 for connecting the heat sink and the support side plates together. The inner chamber structure 230 can be bolted to the outer calf plate 110 and the inner calf plate 120. The screw holes 232 at the upper end are used for fixing the heat sink and supporting the side plates, and the screw holes 232 at the lower end are only used for fixing the supporting side plates.

In some embodiments, as shown in fig. 8, the upper plug 210 may be provided with an electrode well for receiving the lower leg electrode 214 for connection to the electrodes of the upper leg body.

In some embodiments, fig. 11 is a schematic structural diagram of a housing in an embodiment of the present invention. As shown in fig. 11, the housing 11 may be a carbon fiber housing, leaving a gap for mounting a heat sink. In practical application, the shell 11 may be formed by wrapping a single carbon fiber cloth layer, and then curing the wrapped carbon fiber cloth layer. The shell 11 of carbon fiber can wrap up the supporting side plate and the embedded filling structure which are positioned in the shell, so that the rigidity and the strength of the leg of the robot can be improved, and the internal structure, electronic devices and circuits can be protected.

According to another aspect of the present invention, there is also provided a humanoid robot, comprising the above-mentioned shank structure.

The utility model discloses a shank structure and humanoid robot that contains this structure have used nonmetal novel material in a large number, and the support curb plate of the shank left and right sides is the PEEK material, and the curb plate outside is carbon fiber shell, and the curb plate is inside to be the embedded filling structure of PMI, and the end cap is filled in the connection from top to bottom of the embedded filling structure of PMI, and joint motor and reduction gear part are connected with the upper and lower end of the curb plate about the shank. The design is designed to imitate the structure of human skeleton, so that the weight can be reduced while the mechanical property is ensured, and the strength of the robot is improved.

The utility model discloses a carbon fiber shell of the outside parcel of shank structure twines the solidification back layer upon layer, plays supporting and guard action, and the embedded filling structure of inside PMI has effectively utilized the space between the leg board, and the support curb plate skeleton texture of PEEK material has alleviateed weight under the prerequisite of guaranteeing to connect.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A humanoid robot shank structure, characterized in that, this shank structure includes:

the left side and the right side of the shank outer side plate are fixedly installed at a preset distance, and the upper end and the lower end of the shank outer side plate and the lower end of the shank inner side plate are respectively provided with an upper end annular part and a lower end annular part;

the upper plug is positioned below the upper end annular part and clamped between the lower leg outer side plate and the lower leg inner side plate;

the lower plug is positioned above the lower end annular part and clamped between the lower leg outer side plate and the lower leg inner side plate;

the inner cavity structure body is fixedly clamped between the upper plug and the lower plug and between the lower leg outer side plate and the lower leg inner side plate, and an accommodating cavity is formed in the inner cavity structure body;

and the outer shell is wrapped on the peripheries of the lower leg outer side plate, the lower leg inner side plate, the upper plug, the lower plug and the inner cavity structure body.

2. The humanoid robot calf structure according to claim 1, characterized in that the calf lateral plate and the calf medial plate are formed pieces of PEEK.

3. The humanoid robot calf structure of claim 1, wherein the inner cavity structure is a molded piece of PMI material.

4. The humanoid robot calf structure of claim 1, characterized in that the shell is a carbon fiber shell.

5. The humanoid robot lower leg structure of any one of claims 1 to 4, further comprising a knee joint assembly mounted at an upper annular portion of the outer and inner lower leg panels; the knee joint component comprises a motor, a driving wheel and a joint sleeve, wherein the motor and the driving wheel are sleeved in the joint sleeve and are actuated by the driving wheel;

the joint sleeve is provided with a shaft collar which is fixedly connected with the upper end annular parts of the lower leg outer side plate and the lower leg inner side plate.

6. The humanoid robot crus structure of any one of claims 1 to 4, wherein the upper plug is provided with a through hole penetrating through the left side and the right side, a connecting column is arranged in the through hole in a penetrating manner, and two end faces of the connecting column are provided with threaded holes;

and the positions of the upper plugs, which are matched and connected with the lower leg outer side plate and the lower leg inner side plate, are provided with countersunk holes and connecting screws for fixing the connecting columns.

7. The humanoid robot calf structure according to any one of claims 1 to 4, wherein the upper plug and the lower plug have threading holes passing through upper and lower sides.

8. The lower leg structure of the humanoid robot as claimed in any one of claims 1 to 4, wherein through heat dissipation grooves are provided at portions of the lower leg outer side plate and the lower leg inner side plate corresponding to the accommodation cavity of the inner cavity structure;

the lower leg structure further comprises a heat sink mounted at the heat sink.

9. The humanoid robot calf structure according to any one of claims 1 to 4, characterized in that the inner cavity structure is connected with the outer calf plate and the inner calf plate by screws.

10. A humanoid robot, characterized in that it comprises a humanoid robot lower leg structure as claimed in any one of claims 1 to 9.

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