CN220096499U - Humanoid robot hip leg pitch motion structure - Google Patents
Humanoid robot hip leg pitch motion structure Download PDFInfo
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- CN220096499U CN220096499U CN202321037124.8U CN202321037124U CN220096499U CN 220096499 U CN220096499 U CN 220096499U CN 202321037124 U CN202321037124 U CN 202321037124U CN 220096499 U CN220096499 U CN 220096499U
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Abstract
The utility model discloses a humanoid robot hip leg pitch motion structure in the field of humanoid robots, which comprises a motion support base, wherein bottom transmission support box bodies are fixedly arranged on two sides of the bottom end of the motion support base, hip leg rotating seats are arranged in the bottom transmission support box bodies through bearings, the hip leg rotating seats are of Y-shaped structures, and ball-shaped sleeves are arranged on the hip leg rotating seats. According to the utility model, the rotating motor is arranged on the spherical sleeve which can rotate along the hip leg rotating shaft on the hip leg rotating seat, so that multidirectional rotating motion control of the hip leg can be facilitated, the structure is small, the device is flexible and practical, the front end transmission shaft can bear larger transmission force through arranging the rotating bracket connected with the right-angle connecting seat below the transmission bevel gear, meanwhile, the transmission between the power output bevel gear and the transmission bevel gear can be protected, the device is extremely convenient, and the problem that the front end transmission shaft is fatigued when the two ends of the front end transmission shaft are stressed can be effectively solved.
Description
Technical Field
The utility model relates to the field of humanoid robots, in particular to a humanoid robot hip-leg pitch motion structure.
Background
The humanoid robot integrates multiple subjects such as a machine, electricity, materials, a computer, a sensor, a control technology and the like, is an important sign of the national high-tech strength and the development level,
however, in the motion control structure of the hip leg of the existing humanoid robot, the end parts of the transmission shafts with two ends synchronously driven are subjected to larger radial force due to lack of support, so that the transmission shafts are easy to quickly reach the fatigue limit, the service life is reduced, and in the motion control process, the hip leg is large in structure and not attractive due to the fact that a plurality of angles are required to rotate. Accordingly, one skilled in the art would provide a humanoid robot hip-leg pitch motion structure to solve the problems set forth in the background art above.
Disclosure of Invention
The utility model aims to provide a humanoid robot hip-leg pitch motion structure so as 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 hip leg pitch motion structure, includes the motion supporting base, motion supporting base bottom both sides all fixed mounting has bottom transmission supporting box, the inside hip leg roating seat that is provided with through the bearing of bottom transmission supporting box, hip leg roating seat Y style of calligraphy structure, be provided with the ball type cover on the hip leg roating seat, the ball type cover with be provided with the hip leg rotation axis between the hip leg roating seat, the hip leg roating seat with the ball type cover passes through the hip leg rotation axis rotates to be connected, the rotary motor is installed through the screw in the ball type cover inside, install the motor mount pad on one side wall of motion supporting base, the right angle connecting seat is installed to the motor mount pad bottom, the output shaft of motor passes behind the motor mount pad is provided with power take off bevel gear, right angle connecting seat installs on one side wall the rotary bracket, the rotary bracket with be provided with the front end transmission shaft between the right angle connecting seat, front end transmission shaft one end install with power take off bevel gear engagement.
As a further scheme of the utility model: the front end transmission shaft is characterized in that a first transmission gear is arranged at one end of the front end transmission shaft, a second transmission gear is arranged on one side of the right-angle connecting seat, which is positioned on the first transmission gear, and is meshed with the first transmission gear, and the second transmission gear is rotatably connected with the right-angle connecting seat through the front end transmission shaft.
As a further scheme of the utility model: the outer circle surface of the hip leg rotating seat is rotationally connected with the bottom transmission supporting box body through a bearing, a supporting shaft is connected inside the hip leg rotating seat through a bearing, a fifth transmission gear is connected on the supporting shaft through a key, fan-shaped transmission teeth are integrally formed on one side of the fifth transmission gear on the supporting shaft, and spherical teeth of an inner core of the fan-shaped transmission teeth are formed on the spherical sleeve.
As a further scheme of the utility model: the hip leg rotating seat is internally connected with a motion transmission shaft which is in 90-degree layout with the bearing support shaft through a bearing in a rotating way, the motion transmission shaft is connected with a fourth transmission gear meshed with the fifth transmission gear through a key, and the fifth transmission gear and the fourth transmission gear are bevel gears.
As a further scheme of the utility model: the other end of the motion transmission shaft is connected with a third transmission gear through a key, and the third transmission gear is meshed with the second transmission gear.
As a further scheme of the utility model: the bottom transmission supporting box body is connected with the right-angle connecting seat through screws, and the right-angle connecting seat is connected with the motor mounting seat through screws.
Compared with the prior art, the utility model has the beneficial effects that:
according to the utility model, the rotating motor is arranged on the spherical sleeve which can rotate along the hip leg rotating shaft on the hip leg rotating seat, so that multidirectional rotating motion control of the hip leg can be facilitated, the structure is small, the device is flexible and practical, the front end transmission shaft can bear larger transmission force through arranging the rotating bracket connected with the right-angle connecting seat below the transmission bevel gear, meanwhile, the transmission between the power output bevel gear and the transmission bevel gear can be protected, the device is extremely convenient, and the problem that the front end transmission shaft is fatigued when the two ends of the front end transmission shaft are stressed can be effectively solved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a bottom view of the present utility model;
FIG. 3 is a first internal structural view of the transmission part of the present utility model;
fig. 4 is a second internal structural diagram of the transmission part in the present utility model.
In the figure: 1. a motion support base; 2. a motor mounting seat; 3. a motion control motor; 4. a bottom transmission supporting box body; 5. a hip-leg swivel; 6. a hip leg rotation axis; 7. a spherical sleeve; 8. a rotating electric machine; 9. a power output bevel gear; 10. a right-angle connecting seat; 11. rotating the bracket; 12. a front end transmission shaft; 13. a drive bevel gear; 14. a first transmission gear; 15. a second transmission gear; 16. a third transmission gear; 17. a fourth transmission gear; 18. a fifth transmission gear; 19. sector transmission teeth; 20. spherical teeth; 21. a bearing support shaft; 22. and a motion transmission shaft.
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. 1-4, in an embodiment of the utility model, a motion structure of a humanoid robot hip leg pitch comprises a motion support base 1, wherein bottom transmission support boxes 4 are fixedly arranged at two sides of the bottom end of the motion support base 1, hip leg rotating bases 5 are arranged in the bottom transmission support boxes 4 through bearings, the hip leg rotating bases 5 are in a Y-shaped structure, ball-shaped sleeves 7 are arranged on the hip leg rotating bases 5, hip leg rotating shafts 6 are arranged between the ball-shaped sleeves 7 and the hip leg rotating bases 5, the hip leg rotating bases 5 are rotatably connected with the ball-shaped sleeves 7 through the hip leg rotating shafts 6, rotating motors 8 are arranged in the ball-shaped sleeves 7 through screws, motor mounting bases 2 are arranged on one side wall of the motion support base 1, right-angle connecting bases 10 are arranged at the bottom end of the motor mounting bases 2, power output bevel gears 9 are arranged on two sides above the motor mounting bases 2, power output shafts of the motion control motors 3 pass through the motor mounting bases 2, rotating brackets 11 are arranged on one side wall of the right-angle connecting bases 10, front end transmission shafts 12 are arranged between the rotating brackets 11 and the right-angle connecting bases 10, and one end transmission bevel gears 13 are meshed with the power output bevel gears 9.
Through adopting above-mentioned technical scheme, through install rotating electrical machines 8 on can follow hip leg rotation axis 6 pivoted ball-type cover 7 on the hip leg roating seat 5, the multidirectional rotary motion control of hip leg that can be convenient for, small structure, it is nimble practical, through setting up the rotatory bracket 11 of being connected with right angle connecting seat 10 in transmission bevel gear 13 below, can ensure that front end transmission shaft 12 can bear great driving force, also can protect for the transmission between power take off bevel gear 9 and the transmission bevel gear 13 simultaneously, it is extremely convenient, can be effectual when solving front end transmission shaft 12 both ends atress can accelerate the tired problem of front end transmission shaft 12.
The front end transmission shaft 12 has a first transmission gear 14 installed at one end, the right angle connection seat 10 has a second transmission gear 15 installed on one side of the first transmission gear 14, the second transmission gear 15 is meshed with the first transmission gear 14, and the second transmission gear 15 is rotationally connected with the right angle connection seat 10 through the front end transmission shaft 12, and can be used for driving the power of the transmission bevel gear 13.
The outer circle surface of the hip leg rotating seat 5 is rotationally connected with the bottom transmission supporting box body 4 through a bearing, a bearing supporting shaft 21 is connected inside the hip leg rotating seat 5 through a bearing, a fifth transmission gear 18 is connected on the bearing supporting shaft 21 through a key, fan-shaped transmission teeth 19 are integrally formed on the bearing supporting shaft 21 and located on one side of the fifth transmission gear 18, and spherical teeth 20 which are inner cores of the fan-shaped transmission teeth 19 are formed on the spherical sleeve 7.
The hip leg rotating seat 5 is rotatably connected with a motion transmission shaft 22 which is arranged at 90 degrees with a supporting shaft 21 through a bearing, the motion transmission shaft 22 is connected with a fourth transmission gear 17 which is meshed with a fifth transmission gear 18 through a key, and the fifth transmission gear 18 and the fourth transmission gear 17 are bevel gears.
Wherein, the other end of the motion transmission shaft 22 is connected with a third transmission gear 16 through a key, and the third transmission gear 16 is meshed with the second transmission gear 15.
In the technical scheme, the power transmission of the motion control motor 3 can be realized, so that the ball sleeve 7 is driven to rotate along the hip leg rotating shaft 6, and the rotation control of the hip leg in the other direction is realized.
The bottom transmission supporting box body 4 is connected with the right-angle connecting seat 10 through screws, and the right-angle connecting seat 10 is connected with the motor mounting seat 2 through screws, so that firm connection can be ensured.
Working principle: when the leg is in movement, the front end transmission shaft 12 is driven to rotate through the rotation control motor under the transmission of the power output bevel gear 9 and the transmission bevel gear 13, and then the bearing support shaft 2112 is driven to rotate under the transmission of the first transmission gear 14, the second transmission gear 15, the third transmission gear 16, the fourth transmission gear 17 and the fifth transmission gear 18, the spherical sleeve 7 can be driven to rotate under the transmission of the sector transmission gear 19 and the spherical teeth 20, one-direction rotation control of the leg is realized, the rotation of the rotary motor 8 can be realized, the other-direction rotation control of the leg can be realized, the rotary motor 8 is arranged on the spherical sleeve 7 which can rotate along the hip leg rotation shaft 6 on the hip leg rotation seat 5, the multidirectional rotation motion control of the hip leg can be facilitated, the structure is small, the front end transmission shaft 12 can be ensured to bear larger transmission force through the arrangement of the rotary bracket 11 connected with the right-angle connection seat 10, meanwhile, the front end transmission shaft 12 can be protected for the transmission between the power output bevel gear 9 and the transmission bevel gear 13, and the problem that the front end transmission shaft 12 can be stressed when the front end 12 is stressed can be effectively solved is extremely convenient.
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 hip leg pitch motion structure, includes motion support base (1), its characterized in that: the two sides of the bottom end of the motion support base (1) are fixedly provided with bottom transmission support box bodies (4), hip leg rotating seats (5) are arranged in the bottom transmission support box bodies (4) through bearings, the hip leg rotating seats (5) are of Y-shaped structures, ball-shaped sleeves (7) are arranged on the hip leg rotating seats (5), hip leg rotating shafts (6) are arranged between the ball-shaped sleeves (7) and the hip leg rotating seats (5), the hip leg rotating seats (5) are rotationally connected with the ball-shaped sleeves (7) through the hip leg rotating shafts (6), rotating motors (8) are arranged in the ball-shaped sleeves (7) through screws, a motor mounting seat (2) is arranged on one side wall of the motion support base (1), a right-angle connecting seat (10) is arranged at the bottom end of the motor mounting seat (2), motion control motors (3) are arranged on two sides above the motor mounting seat (2), a power output bevel gear (9) is arranged on an output shaft of each motion control motor (3) after passing through the motor mounting seat (2), a rotary bracket (11) is arranged on one side wall of the right-angle connecting seat (10), a front end transmission shaft (12) is arranged between the rotary bracket (11) and the right-angle connecting seat (10), a transmission bevel gear (13) meshed with the power output bevel gear (9) is arranged at one end part of the front transmission shaft (12).
2. The humanoid robot hip-leg pitch motion structure according to claim 1, characterized in that: first drive gear (14) are installed to front end transmission shaft (12) one end, be located on right angle connecting seat (10) first drive gear (14) one side is installed second drive gear (15), second drive gear (15) with first drive gear (14) meshing, second drive gear (15) with right angle connecting seat (10) are through front end transmission shaft (12) rotation connection.
3. A humanoid robot hip-leg pitch motion structure as claimed in claim 2, characterized in that: the outer circle surface of the hip leg rotating seat (5) is rotationally connected with the bottom transmission supporting box body (4) through a bearing, a supporting shaft (21) is connected inside the hip leg rotating seat (5) through a bearing, a fifth transmission gear (18) is connected on the supporting shaft (21) through a key, fan-shaped transmission teeth (19) are integrally formed on one side of the fifth transmission gear (18) on the supporting shaft (21), and spherical teeth (20) of the inner core of the fan-shaped transmission teeth (19) are formed on the spherical sleeve (7).
4. A humanoid robot hip-leg pitch kinematic structure according to claim 3, characterized in that: the hip leg rotating seat (5) is internally connected with a motion transmission shaft (22) which is in 90-degree layout with the bearing support shaft (21) through a bearing in a rotating way, the motion transmission shaft (22) is connected with a fourth transmission gear (17) which is meshed with the fifth transmission gear (18) through a key, and the fifth transmission gear (18) and the fourth transmission gear (17) are bevel gears.
5. The humanoid robot hip-leg pitch motion structure of claim 4, wherein: the other end of the motion transmission shaft (22) is connected with a third transmission gear (16) through a key, and the third transmission gear (16) is meshed with the second transmission gear (15).
6. The humanoid robot hip-leg pitch motion structure according to claim 1, characterized in that: the bottom transmission supporting box body (4) is connected with the right-angle connecting seat (10) through screws, and the right-angle connecting seat (10) is connected with the motor mounting seat (2) through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321037124.8U CN220096499U (en) | 2023-05-04 | 2023-05-04 | Humanoid robot hip leg pitch motion structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321037124.8U CN220096499U (en) | 2023-05-04 | 2023-05-04 | Humanoid robot hip leg pitch motion structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220096499U true CN220096499U (en) | 2023-11-28 |
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ID=88845759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321037124.8U Active CN220096499U (en) | 2023-05-04 | 2023-05-04 | Humanoid robot hip leg pitch motion structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220096499U (en) |
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2023
- 2023-05-04 CN CN202321037124.8U patent/CN220096499U/en active Active
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