CN222096151U - Finger push rod of humanoid robot - Google Patents

Abstract

The utility model belongs to the field of mechanical drive technology, and relates to a push rod, and specifically to a finger push rod of a humanoid robot. By designing an integrated structure including a motor, a screw rod, a magnetic ring, and an encoder, the overall volume of the drive assembly is effectively reduced, and the applicability of the motor in the narrow space of the humanoid robot's fingers is improved; by setting a bearing and combining a sleeve to effectively support the screw rod, the stability and durability of the screw rod under a large load are enhanced; the detachable connection between the connecting part and the fixed block facilitates the assembly and replacement of the finger part, and reduces maintenance costs. The finger push rod structure of the humanoid robot is cleverly designed, which not only solves the existing technical problems, but also improves the performance and service life of the drive device, which is conducive to improving the operational flexibility of the humanoid robot.

Description

Finger push rod of humanoid robot

Technical Field

The utility model belongs to the technical field of mechanical driving, and relates to a push rod, in particular to a finger push rod of a humanoid robot.

Background

Along with the development of the humanoid robot industry, users are fully expected to apply the intelligent humanoid robot to daily life, but the motor driving structure of the fingers of the existing humanoid robot cannot completely meet daily requirements, and the problems of ① how to change the internal structure of the motor to overcome the problem of difficult assembly of the motor due to the size adaptability reduction of the motor and how to design a finger push rod to meet the load requirements when the finger of the humanoid robot is used due to the fact that the ② finger is required to bear enough load in the using process.

In view of this, the present utility model has been made.

Disclosure of utility model

The utility model aims to overcome the defects of the prior art and provide a finger push rod of a humanoid robot.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

A finger push rod of a humanoid robot comprises an outer motor stator, an inner motor rotor and a screw rod penetrating through the inner motor rotor, wherein one end of the screw rod is sequentially provided with a magnetic ring and an encoder matched with the magnetic ring, the other end of the screw rod is in threaded connection with a screw rod nut, the screw rod nut is provided with a connecting part which is convenient for fingers to bend and stretch, the inner motor rotor drives the screw rod to rotate, and the screw rod drives the screw rod nut to do linear reciprocating motion.

Specifically, a first bearing for supporting the screw rod is arranged between the motor inner rotor and the magnetic ring, and a second bearing for supporting the screw rod is also arranged between the motor inner rotor and the screw rod nut.

Specifically, a pretension piece for axially fixing the first bearing, the motor inner rotor and the second bearing is further arranged between the magnetic ring and the first bearing.

Specifically, a first shaft sleeve is arranged between the first bearing and the motor inner rotor, and a second shaft sleeve is arranged between the motor inner rotor and the second bearing.

Specifically, the screw rod is provided with a spigot for limiting the second bearing.

Specifically, the motor further comprises a shell, wherein the first bearing and the second bearing are both positioned in the shell, and the outer diameters of the first bearing and the second bearing are smaller than the inner diameter of the motor inner stator.

The screw nut comprises a screw nut, a shell, a screw nut, a bearing mounting flange, a counter bore and a threaded hole, wherein the screw nut is arranged on the screw nut, and the screw nut is arranged on the screw nut.

Specifically, one side of the bearing mounting flange, which is close to the screw nut, is provided with a bearing cover plate for axially fixing the second bearing, and the bearing mounting flange is fixed with the bearing cover plate through bolts.

Specifically, one end of the shell, which is far away from the screw nut, is provided with a rear cover, the encoder is positioned on the inner wall of the rear cover, and the encoder is a non-contact magneto-electric encoder.

The screw rod nut is characterized in that a fixing block for fixing the connecting portion on the screw rod nut is further arranged in the circumferential direction of the screw rod nut, the fixing block is fixed with the connecting portion through bolts, a counter bore is formed in the fixing block, a threaded hole matched with the counter bore is formed in the connecting portion, and clamping shoulders of the limiting screw rod nut are arranged on the fixing block and the connecting portion.

Compared with the prior art, the technical scheme provided by the utility model has the following beneficial effects:

The utility model effectively reduces the whole volume of the driving assembly by designing the integrated structure comprising the motor, the screw rod, the magnetic ring and the encoder, improves the applicability of the motor in a narrow space of a human-shaped robot finger, effectively supports the screw rod by arranging the bearing and combining the shaft sleeve, enhances the stability and durability of the screw rod under the condition of bearing a larger load, facilitates the assembly and replacement of the finger part by detachably connecting the connecting part with the fixed block, reduces the maintenance cost, and has ingenious structural design, thereby not only solving the prior technical problem, but also improving the performance and the service life of the driving device and being beneficial to improving the operation flexibility of the human-shaped robot.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate principles of the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a cross-sectional view of the present utility model;

Fig. 2 is a schematic diagram of an explosive structure according to the present utility model.

The novel motor is characterized by comprising a rear cover 1, an encoder 2, a magnetic ring 3, a pretensioning piece 4, a first bearing 5, a first shaft sleeve 6, a motor outer stator 7, a motor inner rotor 8, a housing 9, a second shaft sleeve 10, a second bearing 11, a bearing mounting flange 12, a bearing cover plate 13, a fixed block 14, a screw nut 15, a screw rod 16 and a connecting part 17.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. The implementations described in the following exemplary examples do not represent all implementations consistent with the utility model. Rather, they are merely examples of certain aspects of the utility model that are consistent with the details of the claims below.

The present utility model will be described in further detail below with reference to the drawings and examples for better understanding of the technical solutions of the present utility model to those skilled in the art.

Example 1

The embodiment provides a finger push rod of a humanoid robot, which comprises an outer motor stator 7, an inner motor rotor 8 and a screw rod 16 penetrating through the inner motor rotor 8, wherein one end of the screw rod 16 is sequentially provided with a magnetic ring 3 and an encoder 2 matched with the magnetic ring 3, the other end of the screw rod is in threaded connection with a screw rod nut 15, the screw rod nut 15 is provided with a connecting part 17 which is convenient for fingers to bend and stretch, the inner motor rotor 8 drives the screw rod 16 to rotate, and the screw rod 16 drives the screw rod nut 15 to do linear reciprocating motion.

Specifically, a first bearing 5 for supporting the screw rod 16 is arranged between the motor inner rotor 8 and the magnetic ring 3, and a second bearing 11 for supporting the screw rod 16 is also arranged between the motor inner rotor 8 and the screw rod nut 15.

Preferably, the motor formed by the motor outer stator 7 and the motor inner rotor 8 is a brushless motor, and the brushless motor has long service life and effectively controls the rotating speed and the force.

Specifically, a pretension piece 4 for axially fixing the first bearing 5, the motor inner rotor 8 and the second bearing 11 is further arranged between the magnetic ring 3 and the first bearing 5.

Specifically, a first shaft sleeve 6 is arranged between the first bearing 5 and the motor inner rotor 8, and a second shaft sleeve 10 is arranged between the motor inner rotor 8 and the second bearing 11.

Specifically, the screw rod 16 is provided with a spigot for limiting the second bearing 11.

Specifically, the finger push rod further comprises a housing 9, and the first bearing 5 and the second bearing 11 are both located in the housing 9.

Specifically, a bearing mounting flange 12 matched with the second bearing 11 is arranged at one end of the housing 9 close to the screw nut 15.

Specifically, a side of the bearing mounting flange 12, which is close to the screw nut 15, is provided with a bearing cover plate 13 for axially fixing the second bearing 11.

Specifically, a rear cover 1 is arranged at one end of the housing 9 away from the screw nut 15, and the encoder 2 is located on the inner wall of the rear cover 1.

Specifically, a fixing block 14 for fixing the connecting portion 17 to the screw nut 15 is further disposed in the circumferential direction of the screw nut 15.

Specifically, a push-pull force sensor is arranged on the finger push rod and is connected with the control system, and the push-pull force sensor is used for feeding back push-pull force data of the finger push rod to the control system so as to realize accurate closed-loop control.

Referring to fig. 2, the assembly process of the finger stick is as follows:

the assembly of the rotating component, namely, the second bearing 11, the second shaft sleeve 10, the motor inner rotor 8, the first shaft sleeve 6 and the first bearing 5 are sequentially sleeved at one end of the screw rod 16, and are pre-tightened through the pre-tightening piece 4, and then the magnetic ring 3 is installed;

The motor outer stator 7 is firstly installed in the shell 9, then the assembled rotating component passes through the motor outer stator 7 and then is matched with the shell 9, the bearing installation flange 12 is further installed, the bearing installation flange 12 is fixed on the circumference of the shell 9 through radial bolts, and then the bearing cover plate 13 of the limiting second bearing 11 is installed on the bearing installation flange 12 through bolts;

The screw nut 15 is clamped up and down by the connecting part 17 and the fixed block 14, the connecting part 17 and the fixed block 14 are fixed by bolts, and then the screw nut 15 is in threaded connection with the screw 16;

Finally, the rear cover 1 with the encoder 2 is mounted to the side of the housing 9 near the magnetic ring 3, thus assembling the finger stick.

Referring to fig. 1, the operating principle of the finger stick is as follows:

The motor is started, the motor inner rotor 8 rotates to drive the screw rod 16 to rotate, so that the screw rod nut 15 and the connecting part 17 are driven to reciprocate along the screw rod 16, and the encoder records the rotation angle of the screw rod 16 in real time, so that the displacement condition of the screw rod 16 is recorded.

The foregoing is only a specific embodiment of the utility model to enable those skilled in the art to understand or practice the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model.

It will be understood that the utility model is not limited to what has been described above and that various modifications and changes may be made without departing from the scope thereof. The scope of the utility model is limited only by the appended claims.

Claims (10)

1. The finger push rod of the humanoid robot is characterized by comprising an outer motor stator (7), an inner motor rotor (8) and a screw rod (16) penetrating the inner motor rotor (8), wherein one end of the screw rod (16) is sequentially provided with a magnetic ring (3) and an encoder (2) matched with the magnetic ring (3), the other end of the screw rod is in threaded connection with a screw rod nut (15), the screw rod nut (15) is provided with a connecting part (17) which is convenient for fingers to bend and stretch, the inner motor rotor (8) drives the screw rod (16) to rotate, and the screw rod (16) drives the screw rod nut (15) to do linear reciprocating motion.

2. Finger push rod according to claim 1, characterized in that a first bearing (5) for supporting the screw rod (16) is arranged between the motor inner rotor (8) and the magnetic ring (3), and a second bearing (11) for supporting the screw rod (16) is also arranged between the motor inner rotor (8) and the screw rod nut (15).

3. Finger stick according to claim 2, characterized in that a pretensioner (4) for axially fixing the first bearing (5), the motor inner rotor (8) and the second bearing (11) is also provided between the magnetic ring (3) and the first bearing (5).

4. The finger stick according to claim 2, characterized in that a first bushing (6) is arranged between the first bearing (5) and the motor inner rotor (8), and a second bushing (10) is arranged between the motor inner rotor (8) and the second bearing (11).

5. A finger stick according to claim 2, characterized in that the screw (16) is provided with a spigot for limiting the second bearing (11).

6. The finger stick according to claim 2, further comprising a housing (9), wherein the first bearing (5) and the second bearing (11) are both located within the housing (9).

7. A finger stick according to claim 6, characterized in that the end of the housing (9) adjacent the spindle nut (15) is provided with a bearing mounting flange (12) cooperating with the second bearing (11).

8. The finger stick according to claim 7, characterized in that the side of the bearing mounting flange (12) adjacent to the spindle nut (15) is provided with a bearing cover plate (13) for axially fixing the second bearing (11).

9. The finger stick according to claim 6, characterized in that the end of the housing (9) remote from the spindle nut (15) is provided with a rear cover (1), the encoder (2) being located on the inner wall of the rear cover (1).

10. The finger push rod according to claim 1, wherein a fixing block (14) for fixing the connecting portion (17) to the screw nut (15) is further provided in the circumferential direction of the screw nut (15).