CN219563161U - Upper limb pitch motion control structure of humanoid robot - Google Patents
Upper limb pitch motion control structure of humanoid robot Download PDFInfo
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- CN219563161U CN219563161U CN202320461675.0U CN202320461675U CN219563161U CN 219563161 U CN219563161 U CN 219563161U CN 202320461675 U CN202320461675 U CN 202320461675U CN 219563161 U CN219563161 U CN 219563161U
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- upper limb
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The utility model discloses an upper limb pitch motion control structure of a humanoid robot in the field of humanoid robots, which comprises an upper limb big arm and an upper limb small arm, wherein the upper limb big arm is arranged at one end part of the upper limb small arm, a force generating motor is arranged in the upper limb big arm, and an output shaft of the force generating motor is provided with a driving bevel gear. According to the utility model, the driving bevel gear can be driven to rotate through the power generation motor, so that the transmission shaft and the transmission gear can be driven to rotate under the transmission of the transmission bevel gear, the throwing motion control of the upper limb and the forearm can be realized under the engagement of the transmission gear and the forearm transmission gear, the transmission direction is skillfully changed through the bevel gear, the external dimension of a transmission joint part is greatly reduced, the appearance is more attractive, and the transmission torque can be greatly improved by adopting multi-stage gear transmission; through setting up the motor shaft of power generation motor and forearm rotating electrical machines to hollow structure, can make things convenient for the hidden overall arrangement of connecting wire, it is extremely convenient.
Description
Technical Field
The utility model relates to the field of humanoid robots, in particular to a humanoid robot upper limb pitch motion control structure.
Background
The research of the humanoid robot starts in the later 1960 s, and aims to solve the problem of bipedal walking of the humanoid robot. When the upper limb movement of the existing humanoid robot is controlled, particularly for a throwing control structure, the rotation motor is arranged at the joint part to directly control the throwing control structure, the torque of the motor is smaller, so that the force is weaker, and the joint part structure is larger, the attractiveness is poor, meanwhile, the circuit layout is disordered, and the inconvenience is caused. Accordingly, one skilled in the art provides a motion control structure for upper limb pitch of humanoid robot to solve the above-mentioned problems in the background art.
Disclosure of Invention
The utility model aims to provide a motion control structure for an upper limb pitch of a humanoid robot, which aims to solve the problems in the prior art.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
the utility model provides a humanoid robot upper limb pitch motion control structure, includes upper limbs big arm and upper limbs forearm, the upper limbs big arm sets up upper limbs forearm one end, upper limbs big arm internally mounted has the power generator, install initiative bevel gear on the output shaft of power generator, the power generator is located the peripheral fixedly connected with joint rotation support of output shaft one end, inside transmission shaft and the rotation axis of wearing to be equipped with of joint rotation support, rotation axis one end has the transmission bevel gear through key connection, the transmission shaft middle part has drive gear through key connection, be connected with the driving ball through the bearing rotation on the rotation axis, the driving ball is located drive gear one side integrated into one piece has the forearm drive tooth, driving ball opposite side integrated into one piece has the rotating base, rotating base one end has the forearm rotating electrical machines through key connection, the forearm rotating electrical machines sets up inside the upper limbs.
As a further scheme of the utility model: the upper limb forearm is characterized in that the other end part of the upper limb forearm is provided with an elbow rotating motor through a screw, an output shaft of the elbow rotating motor is connected with a hand connecting seat through a key, and a rotating sleeve which is rotationally connected with the periphery of the elbow rotating motor through a bearing is integrally formed on the hand connecting seat.
As a further scheme of the utility model: the forearm rotating motor is connected with the upper limb forearm through a screw, the power generating motor is fixed inside the upper limb forearm through a screw, and the power generating motor and a motor shaft of the forearm rotating motor are of hollow structures.
As a further scheme of the utility model: the transmission shaft is parallel to the rotation shaft, and the transmission shaft, the rotation shaft and the joint rotation support are all connected in a rotating mode through bearings.
As a further scheme of the utility model: the driving bevel gear is connected with an output shaft of the power generation motor through a key, the transmission bevel gear is meshed with the driving bevel gear, and the transmission gear is meshed with the forearm transmission gear on the transmission ball.
As a further scheme of the utility model: the upper limb big arm is rotationally connected with the upper limb small arm through the rotating shaft, and the hand connecting seat is rotationally connected with the upper limb small arm through the elbow rotating motor.
Compared with the prior art, the utility model has the beneficial effects that:
according to the utility model, the driving bevel gear can be driven to rotate through the power generation motor, so that the transmission shaft and the transmission gear can be driven to rotate under the transmission of the transmission bevel gear, the throwing motion control of the upper limb and the forearm can be realized under the engagement of the transmission gear and the forearm transmission gear, the transmission direction is skillfully changed through the bevel gear, the external dimension of a transmission joint part is greatly reduced, the appearance is more attractive, and the transmission torque can be greatly improved by adopting multi-stage gear transmission; through setting up the motor shaft of power generation motor and forearm rotating electrical machines to hollow structure, can make things convenient for the hidden overall arrangement of connecting wire, it is extremely convenient.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a rear view block diagram of the present utility model;
FIG. 3 is a block diagram of the mid-joint swivel mount of the present utility model shown separated;
FIG. 4 is a cross-sectional view of the present utility model;
fig. 5 is an enlarged view of a portion of fig. 3 a in accordance with the present utility model.
In the figure: 1. upper limb thigh; 2. an upper limb forearm; 3. a hand connecting seat; 4. an elbow rotating motor; 5. a rotating sleeve; 6. a forearm rotating motor; 601. a via hole; 7. rotating the base; 8. a drive ball; 9. forearm drive teeth; 10. a joint rotation support; 11. a rotation shaft; 12. a transmission shaft; 13. a transmission gear; 14. a transmission bevel gear; 15. a force generating motor; 16. a driving bevel gear.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1 to 5, in an embodiment of the present utility model, an upper limb pitch motion control structure of a humanoid robot includes an upper limb 1 and an upper limb 2, the upper limb 1 is disposed at one end of the upper limb 2, a power generator 15 is mounted in the upper limb 1, an output shaft of the power generator 15 is mounted with a driving bevel gear 16, the power generator 15 is fixedly connected with a joint rotation support 10 at the periphery of one end of the output shaft, a transmission shaft 12 and a rotation shaft 11 are disposed in the joint rotation support 10, one end of the rotation shaft 11 is connected with a transmission bevel gear 14 through a key, the middle of the transmission shaft 12 is connected with a transmission gear 13 through a key, a transmission ball 8 is rotatably connected to the rotation shaft 11 through a bearing, the transmission ball 8 is integrally formed with a forearm transmission tooth 9 on one side of the transmission gear 13, the other side of the transmission ball 8 is integrally formed with a rotation base 7, one end of the rotation base 7 is connected with a forearm rotation motor 6 through a key, and the forearm rotation motor 6 is disposed in the upper limb 2.
Through adopting above-mentioned technical scheme, can drive the rotation of initiative bevel gear 16 through generating motor 15, and then under the transmission of transmission bevel gear 14, can drive transmission shaft 12 and drive gear 13 and rotate, under the meshing of drive gear 13 and forearm drive tooth 9, can realize throwing motion control to upper limbs forearm 2, through the ingenious change transmission direction of bevel gear, reduce the overall dimension at transmission joint position greatly, it is more pleasing to the eye, adopts multistage gear drive moreover, can improve driven moment of torsion greatly.
The other end of the upper limb forearm 2 is provided with an elbow rotating motor 4 through a screw, an output shaft of the elbow rotating motor 4 is connected with a hand connecting seat 3 through a key, and a rotating sleeve 5 which is rotationally connected with the periphery of the elbow rotating motor 4 through a bearing is integrally formed on the hand connecting seat 3.
In the technical scheme, the hand connecting seat 3 can be driven to rotate through the elbow rotating motor 4, so that the throwing rotation control of the non-retractable hand can be realized, further, the throwing rotation control is combined with the joint throwing movement, the throwing movement of a human body can be simulated, and the throwing movement is more vivid.
Wherein, forearm rotating electrical machines 6 pass through screw connection with upper limbs forearm 2, and the power generation motor 15 passes through inside the big arm of upper limbs 1 of screw fixation, and power generation motor 15 and forearm rotating electrical machines 6's motor shaft are hollow structure.
Through adopting above-mentioned technical scheme, through setting up the motor shaft of power generator 15 and forearm rotating electrical machines 6 to hollow structure, can make things convenient for the hidden overall arrangement of connecting wire, it is extremely convenient.
The transmission shaft 12 is parallel to the rotation shaft 11, and the transmission shaft 12, the rotation shaft 11 and the joint rotation support 10 are rotatably connected through bearings, so that flexible rotation of the transmission shaft 12 and the rotation shaft 11 can be ensured.
The driving bevel gear 16 is connected with an output shaft of the power generation motor 15 through a key, the transmission bevel gear 14 is meshed with the driving bevel gear 16, the transmission gear 13 is meshed with the forearm transmission gear 9 on the transmission ball 8, transmission of the power generation motor 15 can be achieved, and rotation control of the upper limb forearm 2 can be driven.
In this embodiment, the upper limb forearm 1 is rotatably connected with the upper limb forearm 2 through the rotation shaft 11, and the hand connecting seat 3 is rotatably connected with the upper limb forearm 2 through the elbow rotating motor 4, so that the upper limb forearm 1 and the upper limb forearm 2 can be ensured to flexibly rotate, and the elbow connection is flexibly rotated with the upper limb forearm 2.
The working principle of the utility model is as follows: when the upper limb throwing structure is used, the upper limb throwing structure can be arranged on the upper limb part of a robot, a hand is arranged on the hand connecting seat 3, the driving bevel gear 16 can be driven to rotate through the power generation motor 15, then the transmission shaft 12 and the transmission gear 13 can be driven to rotate under the transmission of the transmission bevel gear 14, the throwing motion control of the upper limb forearm 2 can be realized under the meshing of the transmission gear 13 and the forearm transmission gear 9, meanwhile, the hand connecting seat 3 can be driven to rotate through the elbow rotating motor 4, the throwing rotation control of the hands which are not received can be realized, and the throwing motion is combined with the joints, so that the human body throwing motion can be simulated, and the throwing structure is more lifelike.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (6)
1. The utility model provides a humanoid robot upper limbs pitch motion control structure, includes upper limbs big arm (1) and upper limbs forearm (2), its characterized in that: the upper limb big arm (1) is arranged at one end part of the upper limb small arm (2), a power generation motor (15) is arranged in the upper limb big arm (1), a driving bevel gear (16) is arranged on an output shaft of the power generation motor (15), the power generation motor (15) is fixedly connected with a joint rotation support (10) at the periphery of one end of the output shaft, a transmission shaft (12) and a rotation shaft (11) are arranged in the joint rotation support (10) in a penetrating way, one end part of the rotation shaft (11) is connected with a transmission bevel gear (14) through a key, the middle part of the transmission shaft (12) is connected with a transmission gear (13) through a key, a transmission ball (8) is rotationally connected to the rotation shaft (11) through a bearing, the transmission ball (8) is positioned on one side of the transmission gear (13) and integrally formed with a forearm transmission gear (9), the other side of the transmission ball (8) is integrally formed with a rotation base (7), one end part of the rotation base (7) is connected with a forearm rotation motor (6) through a key, and the forearm rotation motor (6) is arranged inside the upper limb forearm (2).
2. The human-shaped robot upper limb pitch motion control structure according to claim 1, wherein: the upper limb forearm (2) is characterized in that the other end part of the upper limb forearm (2) is provided with an elbow rotating motor (4) through a screw, an output shaft of the elbow rotating motor (4) is connected with a hand connecting seat (3) through a key, and a rotating sleeve (5) which is rotationally connected with the periphery of the elbow rotating motor (4) through a bearing is integrally formed on the hand connecting seat (3).
3. The human-shaped robot upper limb pitch motion control structure according to claim 2, wherein: the forearm rotating motor (6) is connected with the upper limb forearm (2) through a screw, the power generating motor (15) is fixed inside the upper limb forearm (1) through a screw, and the power generating motor (15) and a motor shaft of the forearm rotating motor (6) are of hollow structures.
4. A humanoid robot upper limb pitch motion control structure according to claim 3, characterized in that: the transmission shaft (12) is arranged in parallel with the rotating shaft (11), and the transmission shaft (12) and the rotating shaft (11) are rotatably connected with the joint rotating support (10) through bearings.
5. The motion control structure of the upper limb pitch of the humanoid robot according to claim 4, wherein: the driving bevel gear (16) is connected with an output shaft of the power generation motor (15) through a key, the transmission bevel gear (14) is meshed with the driving bevel gear (16), and the transmission gear (13) is meshed with the small arm transmission teeth (9) on the transmission ball (8).
6. The motion control structure of the upper limb pitch of the humanoid robot according to claim 5, wherein: the upper limb forearm (1) is rotationally connected with the upper limb forearm (2) through the rotating shaft (11), and the hand connecting seat (3) is rotationally connected with the upper limb forearm (2) through the elbow rotating motor (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320461675.0U CN219563161U (en) | 2023-03-13 | 2023-03-13 | Upper limb pitch motion control structure of humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320461675.0U CN219563161U (en) | 2023-03-13 | 2023-03-13 | Upper limb pitch motion control structure of humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219563161U true CN219563161U (en) | 2023-08-22 |
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ID=87664508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320461675.0U Active CN219563161U (en) | 2023-03-13 | 2023-03-13 | Upper limb pitch motion control structure of humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219563161U (en) |
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2023
- 2023-03-13 CN CN202320461675.0U patent/CN219563161U/en active Active
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