CN215789963U - Orthogonal joint structure and humanoid robot - Google Patents

Abstract

The utility model relates to the field of anthropomorphic robots, and provides an orthogonal joint structure and an anthropomorphic robot. The orthogonal joint structure comprises a cross shaft, a shaft seat and a rotating part. The cross shaft comprises a first shaft and a second shaft which are arranged orthogonally; the shaft seat comprises a base and two supporting seats fixed on the base, the two supporting seats are respectively arranged at two opposite ends of the first shaft, and the supporting seats are provided with rotating holes for the end parts of the first shaft to penetrate through; the rotating member includes two rotating legs respectively sleeved to opposite ends of the second shaft, and the rotating member can rotate around the second shaft. The orthogonal joint structure has two orthogonal rotational degrees of freedom, so that the joint parts such as the ankle joint of the humanoid robot can adopt the orthogonal joint structure, and pitching motion and rolling motion can be flexibly realized. And the orthogonal joint structure has the advantages of simple structure, convenient processing, higher processing precision and fewer assembling parts, thereby improving the transmission precision.

Description

Orthogonal joint structure and humanoid robot

Technical Field

The utility model belongs to the technical field of anthropomorphic robots, and particularly relates to an orthogonal joint structure and an anthropomorphic robot.

Background

In the prior art, joint parts such as ankle joints of a humanoid robot are generally in an orthogonal joint structure so as to carry out Pitch pitching motion and Roll rolling motion. However, the existing orthogonal joint structure is usually formed by assembling a plurality of parts, and the problems of complex structure, complex installation, low transmission precision and the like generally exist.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model aims to provide an orthogonal joint structure to solve the technical problems of complex structure, complex installation and low transmission precision of the conventional orthogonal joint structure.

In order to achieve the purpose, the utility model adopts the technical scheme that: an orthogonal joint structure comprising:

the cross shaft comprises a first shaft and a second shaft which are arranged orthogonally;

the shaft seat comprises a base and two supports fixed on the base, the two supports are respectively arranged at two opposite ends of the first shaft, and the supports are provided with rotating holes for the end parts of the first shaft to penetrate through;

and the rotating piece comprises two rotating feet which are respectively sleeved at two opposite ends of the second shaft, and the rotating piece can rotate around the second shaft.

In one embodiment, the orthogonal joint structure further comprises:

the first detected piece is arranged at one end of the first shaft and is fixed relative to the first shaft;

the first circuit board is fixed on the support close to the first detected piece, a first detection device is arranged on one side, facing the first detected piece, of the first circuit board, the first detection device is arranged opposite to the first detected piece, and the first detection device is used for being matched with the first detected piece so as to detect the relative rotating angle of the first shaft relative to the shaft seat.

In one embodiment, the first object is a magnet and the first detection device is a magnetic encoder.

In one embodiment, the first object is a block structure, and the orthogonal joint structure further includes:

the first fixed seat is detachably connected to one end of the first shaft, and is provided with a first embedding groove in which the first detected part can be embedded.

In one embodiment, the orthogonal joint structure further includes a first spacer and two first bearings, the two first bearings are respectively sleeved between the two opposite ends of the first shaft and the corresponding support, and the first spacer is detachably connected to one end of the first shaft away from the first fixed seat;

one of the first bearings is limited between the shaft shoulder of the first shaft and the first fixed seat;

the other first bearing is limited between the other shaft shoulder of the first shaft and the first gasket.

In one embodiment, the orthogonal joint structure further comprises:

the second detected piece is arranged at one end of the second shaft and is fixed relative to the second shaft;

the second circuit board is fixed in and is close to the second is examined on the piece the rotation foot, the second circuit board orientation the second is examined one side of piece and is equipped with the second detection device, the second detection device with the second is examined a relative setting, the second detection device be used for with the second is examined a cooperation, in order to detect out rotate the piece for the relative turned angle of second axle.

In one embodiment, the second object is a magnet, and the second detection device is a magnetic encoder.

In one embodiment, the second object is a block structure, and the orthogonal joint structure further includes:

and the second fixed seat is detachably connected to one end of the second shaft, and is provided with a second caulking groove in which the second detected part can be embedded.

In one embodiment, the orthogonal joint structure further includes a second shim and two second bearings, the two second bearings are respectively sleeved between two opposite ends of the second shaft and the corresponding rotating feet, and the second shim is detachably connected to one end of the second shaft away from the second fixed seat;

one of the second bearings is limited between the shaft shoulder of the second shaft and the second fixed seat;

the other second bearing is limited between the other shaft shoulder of the second shaft and the second gasket.

It is also an object of embodiments of the present invention to provide a humanoid robot comprising the orthogonal joint structure.

The utility model has the following beneficial effects:

according to the orthogonal joint structure provided by the embodiment of the utility model, the opposite two ends of the first shaft of the cross shaft are respectively penetrated through the rotating holes of the two support seats of the shaft seat, so that the cross shaft and the shaft seat can rotate relatively; the two rotating feet of the rotating piece are respectively sleeved at the two opposite ends of the second shaft of the cross shaft, so that the cross shaft and the rotating piece can rotate relatively; based on the structure, the orthogonal joint structure can have two orthogonal rotational degrees of freedom, so that the joint parts such as the ankle joint of the humanoid robot can adopt the orthogonal joint structure conveniently, and Pitch pitching motion and Roll rolling motion are realized. The orthogonal joint has the advantages of flexible structural design, convenience in assembly, higher machining precision and fewer assembly parts, so that the transmission precision is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a perspective view of an orthogonal joint structure provided by an embodiment of the present invention;

FIG. 2 is a cross-sectional view taken along A-A as provided in FIG. 1;

FIG. 3 is a cross-sectional view taken along line B-B as provided in FIG. 1;

fig. 4 is an exploded view of an orthogonal joint structure according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

100-cross, 110-first, 120-second; 200-shaft seat, 210-base, 220-support and 221-rotating hole; 300-rotation piece, 310-rotation foot; 400-a first object to be inspected; 500-a first circuit board, 510-a first detection device; 600-a first fixed seat, 601-a first caulking groove; 700-a first shim; 800-a first bearing; 900-a second object to be detected; 1000-a second circuit board, 1010-a second detection device; 1100-a second fixed seat, 1101-a second caulking groove; 1200-second shim, 1300-second bearing.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following describes a specific implementation of the present invention in more detail with reference to specific embodiments:

referring to fig. 1, 2 and 4, an embodiment of the utility model provides an orthogonal joint structure, which includes a cross shaft 100, a shaft seat 200 and a rotating member 300. Cross 100 includes orthogonally disposed first shaft 110 and second shaft 120; the shaft seat 200 comprises a base 210 and two supports 220 fixed on the base 210, the two supports 220 are respectively arranged at two opposite ends of the first shaft 110, and the supports 220 are provided with rotating holes 221 for the end of the first shaft 110 to penetrate through; the rotation member 300 includes two rotation legs 310 respectively coupled to opposite ends of the second shaft 120, and the rotation member 300 is capable of rotating around the second shaft 120.

It should be noted that, opposite ends of the first shaft 110 of the cross shaft 100 are respectively inserted into the rotation holes 221 of the two supports 220 of the shaft seat 200, so that the shaft seat 200 has a degree of freedom to rotate around the first shaft 110, and the cross shaft 100 also has a degree of freedom to rotate around the central axis of the first shaft 110, that is, the cross shaft 100 and the shaft seat 200 can rotate relatively.

The two rotation legs 310 of the rotation member 300 are respectively sleeved on the two opposite ends of the second shaft 120 of the cross 100, so that the rotation member 300 has a degree of freedom to rotate around the second shaft 120, and the cross 100 also has a degree of freedom to rotate around the central axis of the second shaft 120, i.e. the cross 100 and the rotation member 300 can rotate relatively.

Based on the orthogonal arrangement of the first shaft 110 and the second shaft 120, the two rotational degrees of freedom of the orthogonal joint structure are orthogonal.

That is, in the orthogonal joint structure provided in the embodiment of the present invention, the opposite ends of the first shaft 110 of the cross shaft 100 are respectively inserted into the rotation holes 221 of the two supports 220 of the shaft seat 200, so that the cross shaft 100 and the shaft seat 200 can rotate relatively; the two rotating legs 310 of the rotating member 300 are respectively sleeved on the two opposite ends of the second shaft 120 of the cross shaft 100, so that the cross shaft 100 and the rotating member 300 can rotate relatively; based on the structure, the orthogonal joint structure can have two orthogonal rotational degrees of freedom, so that the joint parts such as the ankle joint of the humanoid robot can adopt the orthogonal joint structure conveniently, and Pitch pitching motion and Roll rolling motion are realized. The orthogonal joint has the advantages of flexible structural design, convenience in assembly, higher machining precision and fewer assembly parts, so that the transmission precision is improved.

Therein, the cross 100 is integrally formed. So set up, can further improve processing convenience and machining precision, and do benefit to the intensity and the rigidity of guarantee cross 100, and guarantee cross 100 can bear great moment of flexure.

Preferably, the center of the first shaft 110 and the center of the second shaft 120 coincide. With this arrangement, the length, weight, etc. of the opposing portions of the first shaft 110 on opposite sides of the second shaft 120 may be balanced, and the length, weight, etc. of the opposing portions of the second shaft 120 on opposite sides of the first shaft 110 may be balanced, thereby balancing the strength and stiffness of the cross 100 on each side and balancing the range of bending moments that each side of the cross 100 may bear.

Referring to fig. 1, fig. 2, and fig. 4, in the present embodiment, the orthogonal joint structure further includes a first detected piece 400 and a first circuit board 500, where the first detected piece 400 is disposed at one end of the first shaft 110 and fixed relative to the first shaft 110; the first circuit board 500 is fixed on the support 220 close to the first detected member 400, a first detecting device 510 is arranged on a side of the first circuit board 500 facing the first detected member 400, the first detecting device 510 is arranged opposite to the first detected member 400, and the first detecting device 510 is used for matching with the first detected member 400 to detect a relative rotation angle of the first shaft 110 relative to the shaft seat 200.

It should be noted here that the first object 400 and the first wiring board 500 are provided at one of the end sides of the first shaft 110. The first device under test 400 is fixed to the first shaft 110, and the first circuit board 500 and the first detection device 510 provided thereon are fixed to the support 220; therefore, when the relative rotation occurs between (the first shaft 110 of) the cross shaft 100 and (the support 220 of) the shaft holder 200, the first detection device 510 is disposed opposite to and spaced apart from the first object 400, and is deflected relative to the first object 400, so that the first detection device 510 can be engaged with the first object 400 to detect the relative rotation angle between the first shaft 110 of the cross shaft 100 and the shaft holder 200. Therefore, the orthogonal joint structure can be accurately and reliably controlled to act based on the detection data, and the service performance and the service reliability of the orthogonal joint structure can be guaranteed and improved.

And the first object 400 and the first circuit board 500 are both arranged close to the cross axle 100, so that the orthogonal joint structure has a compact structure, and is beneficial to compressing the whole occupied space of the orthogonal joint structure, and the orthogonal joint structure not only can be suitable for the narrow design space of the humanoid robot, but also can ensure and even expand the motion range of the joint part adopting the orthogonal joint structure.

Referring to fig. 1, 2 and 4, in the present embodiment, the first device under test 400 is a magnet, and the first detecting device 510 is a magnetic encoder.

By adopting the above-described configuration, when the relative rotation occurs between (the first shaft 110 of) the cross shaft 100 and (the support 220 of) the shaft receptacle 200, the first detection device 510 can detect the relative rotation angle between the first shaft 110 of the cross shaft 100 and the shaft receptacle 200 by detecting the change in the magnetic field of the first object 400 that is deflected relative thereto. The detection is convenient, and the detection precision is higher.

Of course, in other possible embodiments, the first detecting device 510 may also be a grating encoder, an inductance encoder, or the like, and the first detected device 400 may be a device capable of cooperating with the first detecting device 510.

Referring to fig. 1, 2, and 4, in the present embodiment, the first object 400 is a cylindrical block structure, the orthogonal joint structure further includes a first fixing base 600, the first fixing base 600 is detachably connected to one end of the first shaft 110, and the first fixing base 600 is provided with a first embedding slot 601 in which the first object 400 is embedded.

By adopting the above scheme, the blocky first detected piece 400 can be embedded in the first embedding groove 601 of the first fixed seat 600, and then the first detected piece 400 is fixed relative to the first shaft 110 based on the connection relation between the first fixed seat 600 and the end part of the first shaft 110, and the first detected piece 400 is arranged as close to the first shaft 110 as possible, so that the structure of the orthogonal joint structure is more compact, the overall occupied space of the orthogonal joint structure is further compressed, the orthogonal joint structure can be more suitable for the narrow design space of the humanoid robot, and the motion range of the joint part adopting the orthogonal joint structure is further ensured and even expanded.

Referring to fig. 1, fig. 2, and fig. 4, in the present embodiment, the orthogonal joint structure further includes a first spacer 700 and two first bearings 800, the two first bearings 800 are respectively sleeved between two opposite ends of the first shaft 110 and the corresponding support 220, and the first spacer 700 is detachably connected to one end of the first shaft 110 far away from the first fixing base 600; wherein a first bearing 800 is limited between the shoulder of the first shaft 110 and the first fixing seat 600; another first bearing 800 is retained between another shoulder of the first shaft 110 and the first spacer 700.

It should be noted that, the first bearings 800 are disposed at two opposite ends of the first shaft 110, and the first bearings 800 may be supported between the first shaft 110 and the corresponding support 220 to reduce a friction coefficient when the first shaft 110 and the support 220 rotate relatively, and to ensure a rotation precision therebetween.

Based on the arrangement of the first bearing 800, the bending moment range commonly borne by the first shaft 110 and the first bearing 800, namely the bending moment range capable of being borne by the cross shaft 100, is further facilitated to be expanded; and the virtual position sense and the response hysteresis in the relative rotation process between the first shaft 110 and the support 220 are relieved and reduced, and the sensitivity in the relative rotation process between the first shaft 110 and the support 220 is improved.

Wherein, the first bearing 800 can be selected as a deep groove ball bearing, a thin wall bearing, a cross roller bearing or a four-point contact bearing, etc.

It should be noted that, at one end of the first shaft 110, the first spacer 700 may be detachably connected to the end of the first shaft 110 by a screw, so as to limit the first bearing 800 located inside the first spacer between the first bearing and the shoulder of the first shaft 110. Based on this, the first spacer 700 can effectively limit the first bearing 800 from falling off the first shaft 110, and even limit the movement of the first bearing 800 on the first shaft 110 in combination with the shoulder of the first shaft 110, thereby facilitating to ensure that the first bearing 800 close to the first spacer 700 stably exerts effect between the first shaft 110 and the corresponding support 220.

On the other end of the first shaft 110, the arrangement of the gasket and the screw is omitted, but the first detected part 400 is embedded into the first fixed seat 600 to fix the first detected part 400 relative to the first shaft 110, the first fixed seat 600 limits the first bearing 800 located at the inner side of the first fixed seat from falling out of the first shaft 110, and even the first fixed seat 600 and the shaft shoulder of the first shaft 110 together limit the movement of the first bearing 800 on the first shaft 110. Therefore, the position of the first bearing 800 close to the first fixing seat 600 can be stabilized, so as to ensure that the first bearing 800 close to the first fixing seat 600 can be stably used between the first shaft 110 and the corresponding support 220. Based on the arrangement, the structure of the orthogonal joint structure can be correspondingly simplified, the number of parts is reduced, and the transmission precision is improved; and the overall occupied space of the orthogonal joint structure can be further compressed, so that the orthogonal joint structure can be more suitable for the narrow design space of the humanoid robot, and the motion range of a joint part adopting the orthogonal joint structure is further favorably ensured and even expanded.

Referring to fig. 1, fig. 3, and fig. 4, in the present embodiment, the orthogonal joint structure further includes a second object 900 and a second circuit board 1000, the second object 900 is disposed at one end of the second shaft 120 and fixed relative to the second shaft 120; the second circuit board 1000 is fixed to the rotation leg 310 near the second object 900, a second detection device 1010 is disposed on a side of the second circuit board 1000 facing the second object 900, the second detection device 1010 is disposed opposite to the second object 900, and the second detection device 1010 is configured to cooperate with the second object 900 to detect a relative rotation angle of the rotation member 300 with respect to the second shaft 120.

It should be noted here that the second object 900 and the second wiring board 1000 are provided at one of the end sides of the second shaft 120. The second device under test 900 is fixed with respect to the second shaft 120, and the second circuit board 1000 and the second detecting device 1010 provided thereon are fixed with respect to the rotating leg 310; therefore, when the relative rotation occurs between (the second shaft 120 of) the cross 100 and (the rotation leg 310 of) the rotor 300, the second detection device 1010 is disposed to face the second object 900 at a distance and is deflected relative to the second object 900, so that the second detection device 1010 can be engaged with the second object 900 to detect the relative rotation angle between the second shaft 120 of the cross 100 and the rotor 300. Therefore, the orthogonal joint structure can be accurately and reliably controlled to act based on the detection data, and the service performance and the service reliability of the orthogonal joint structure can be guaranteed and improved.

And the second object 900 and the second circuit board 1000 are both arranged close to the cross axle 100, so that the orthogonal joint structure has a compact structure, and is beneficial to compressing the whole occupied space of the orthogonal joint structure, and the orthogonal joint structure not only can be suitable for the narrow design space of the humanoid robot, but also can ensure and even expand the motion range of the joint part adopting the orthogonal joint structure.

Referring to fig. 1, 3 and 4, in the present embodiment, the second device under test 900 is a magnet, and the second detecting device 1010 is a magnetic encoder.

By adopting the above-described configuration, when the relative rotation occurs between (the second shaft 120 of) the cross 100 and (the rotation leg 310 of) the rotation member 300, the second detection device 1010 can detect the relative rotation angle between the second shaft 120 of the cross 100 and the rotation member 300 by detecting the change in the magnetic field of the second object 900 that is deflected relative thereto. The detection is convenient, and the detection precision is higher.

Of course, in other possible embodiments, the second detecting device 1010 may also be a grating encoder, an inductance encoder, or the like, and the second object 900 may be a device capable of cooperating with the second detecting device 1010.

Referring to fig. 1, 3 and 4, in the present embodiment, the second object 900 is a cylindrical block structure, the orthogonal joint structure further includes a second fixing base 1100, the second fixing base 1100 is detachably connected to one end of the second shaft 120, and the second fixing base 1100 is provided with a second caulking groove 1101 for the second object 900 to be detected to be embedded therein.

By adopting the above scheme, the blocky second detected piece 900 can be embedded in the second embedding groove 1101 of the second fixing seat 1100, and then the second detected piece 900 is fixed relative to the second shaft 120 based on the connection relation between the second fixing seat 1100 and the end part of the second shaft 120, and the second detected piece 900 is arranged as close to the second shaft 120 as possible, so that the structure of the orthogonal joint structure is more compact, the overall occupied space of the orthogonal joint structure is further compressed, the orthogonal joint structure can be more suitable for the human-shaped narrow design space, and the motion range of the joint part adopting the orthogonal joint structure is further ensured and even expanded.

Referring to fig. 1, fig. 3 and fig. 4, in the present embodiment, the orthogonal joint structure further includes a second spacer 1200 and two second bearings 1300, the two second bearings 1300 are respectively sleeved between two opposite ends of the second shaft 120 and the corresponding rotating pins 310, and the second spacer 1200 is detachably connected to one end of the second shaft 120 far away from the second fixing base 1100; one of the second bearings 1300 is limited between the shoulder of the second shaft 120 and the second fixing seat 1100; another second bearing 1300 is captured between another shoulder of the second shaft 120 and the second spacer 1200.

It should be noted that the second bearings 1300 are disposed at two opposite ends of the second shaft 120, and the second bearings 1300 can be supported between the second shaft 120 and the corresponding rotating legs 310 to reduce the friction coefficient when the second shaft 120 and the rotating legs 310 rotate relatively, and to ensure the rotation precision therebetween.

Based on the arrangement of the second bearing 1300, the bending moment range jointly borne by the second shaft 120 and the second bearing 1300 is further facilitated to be expanded, namely the bending moment range capable of being borne by the cross shaft 100 is expanded; and the virtual position sense and the response hysteresis in the relative rotation process between the second shaft 120 and the rotating foot 310 are favorably relieved and reduced, and the sensitivity in the relative rotation process between the second shaft 120 and the rotating foot 310 is favorably improved.

Wherein, the second bearing 1300 can be selected as a deep groove ball bearing, a thin wall bearing, a cross roller bearing or a four-point contact bearing, etc.

It should also be noted that at one end of the second shaft 120, the second spacer 1200 may be removably attached to the end of the second shaft 120 by screws, so as to restrain the second bearing 1300 located inside thereof between itself and the shoulder of the second shaft 120. Based on this, the second spacer 1200 can effectively limit the second bearing 1300 from falling off the second shaft 120, even the shaft shoulder of the second shaft 120 is combined to limit the movement of the second bearing 1300 on the second shaft 120, thereby facilitating to ensure that the second bearing 1300 close to the second spacer 1200 is stably exerted between the second shaft 120 and the corresponding rotating foot 310.

On the other end of the second shaft 120, the arrangement of the gasket and the screw is omitted, but the second detected member 900 is embedded into the second fixing seat 1100 so as to fix the second detected member 900 relative to the second shaft 120, the second fixing seat 1100 limits the second bearing 1300 located inside the second fixing seat to be separated from the second shaft 120, and even the second fixing seat 1100 limits the movement of the second bearing 1300 on the second shaft 120 together with the shaft shoulder of the second shaft 120. Thereby stabilizing the position of the second bearing 1300 close to the second fixing seat 1100, and ensuring that the second bearing 1300 close to the second fixing seat 1100 can stably exert the effect between the second shaft 120 and the corresponding rotating foot 310. Based on the arrangement, the structure of the orthogonal joint structure can be correspondingly simplified, the number of parts is reduced, and the transmission precision is improved; and the overall occupied space of the orthogonal joint structure can be further compressed, so that the orthogonal joint structure can be more suitable for the narrow design space of the humanoid robot, and the motion range of a joint part adopting the orthogonal joint structure is further favorably ensured and even expanded.

Referring to fig. 1 and 4, an embodiment of the present invention further provides a humanoid robot including an orthogonal joint structure. The orthogonal joint structure can be used for joint parts such as ankle joints of the humanoid robot.

Illustratively, when the ankle joint of the humanoid robot adopts the above-described orthogonal joint structure, the skeleton of the humanoid robot may be used as the rotation member 300, and the base 210 of the shaft holder 200 may be connected to the foot plate. Thus, the relative state between the framework and the foot plate can be adjusted through two orthogonal relative rotations. Therefore, the foot plate can Roll (Roll, namely, swing left and right) and Pitch (Pitch, namely, swing up and down) relative to the framework, the movement is flexible, and the movement range is large.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. An orthogonal joint structure, comprising:

the cross shaft comprises a first shaft and a second shaft which are arranged orthogonally;

the shaft seat comprises a base and two supports fixed on the base, the two supports are respectively arranged at two opposite ends of the first shaft, and the supports are provided with rotating holes for the end parts of the first shaft to penetrate through;

and the rotating piece comprises two rotating feet which are respectively sleeved at two opposite ends of the second shaft, and the rotating piece can rotate around the second shaft.

2. The orthogonal joint structure as claimed in claim 1, further comprising:

the first detected piece is arranged at one end of the first shaft and is fixed relative to the first shaft;

the first circuit board is fixed on the support close to the first detected piece, a first detection device is arranged on one side, facing the first detected piece, of the first circuit board, the first detection device is arranged opposite to the first detected piece, and the first detection device is used for being matched with the first detected piece so as to detect the relative rotating angle of the first shaft relative to the shaft seat.

3. The orthogonal joint structure according to claim 2, wherein the first object is a magnet, and the first detection device is a magnetic encoder.

4. The orthogonal joint structure as claimed in claim 2, wherein the first object is a block-shaped structure, the orthogonal joint structure further comprising:

the first fixed seat is detachably connected to one end of the first shaft, and is provided with a first embedding groove in which the first detected part can be embedded.

5. The orthogonal joint structure as claimed in claim 4, further comprising a first spacer and two first bearings, wherein the two first bearings are respectively sleeved between the two opposite ends of the first shaft and the corresponding supports, and the first spacer is detachably connected to one end of the first shaft away from the first fixing seat;

one of the first bearings is limited between the shaft shoulder of the first shaft and the first fixed seat;

the other first bearing is limited between the other shaft shoulder of the first shaft and the first gasket.

6. The orthogonal joint structure of any one of claims 1-5, further comprising:

the second detected piece is arranged at one end of the second shaft and is fixed relative to the second shaft;

the second circuit board is fixed in and is close to the second is examined on the piece the rotation foot, the second circuit board orientation the second is examined one side of piece and is equipped with the second detection device, the second detection device with the second is examined a relative setting, the second detection device be used for with the second is examined a cooperation, in order to detect out rotate the piece for the relative turned angle of second axle.

7. The orthogonal joint structure according to claim 6, wherein the second object is a magnet, and the second detection device is a magnetic encoder.

8. The orthogonal joint structure as claimed in claim 6, wherein the second object is a block-shaped structure, the orthogonal joint structure further comprising:

and the second fixed seat is detachably connected to one end of the second shaft, and is provided with a second caulking groove in which the second detected part can be embedded.

9. The orthogonal joint structure as claimed in claim 8, further comprising a second spacer and two second bearings, wherein the two second bearings are respectively sleeved between two opposite ends of the second shaft and the corresponding rotating legs, and the second spacer is detachably connected to one end of the second shaft away from the second fixing base;

one of the second bearings is limited between the shaft shoulder of the second shaft and the second fixed seat;

the other second bearing is limited between the other shaft shoulder of the second shaft and the second gasket.

10. A humanoid robot characterized by comprising the orthogonal joint structure of any one of claims 1 to 9.

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