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CN-224209982-U - Joint structure of humanoid robot

CN224209982UCN 224209982 UCN224209982 UCN 224209982UCN-224209982-U

Abstract

The utility model discloses a joint structure of a humanoid robot, which relates to the field of robot joint structures and comprises a shoulder part, wherein a first support frame is fixed on the inner wall of an opening of the shoulder part, the inner wall of the first support frame is rotationally connected with an upper cover arm through a bearing, a plurality of air outlets are arranged on the side wall of the upper cover arm at equal intervals in parallel, and the joint structure of the humanoid robot can radiate heat of driving motors at the upper joint position and the lower joint position by using one air inlet fan, so that the load of the arm structure is reduced, and the running energy consumption is reduced.

Inventors

  • XU PENG
  • ZHU BAOYONG
  • ZHANG ZHIMIN

Assignees

  • 安徽云蛟科技有限公司

Dates

Publication Date
20260508
Application Date
20250606

Claims (8)

  1. 1. The utility model provides a joint structure of humanoid robot, includes shoulder spare (1), the uncovered (2) inner wall of shoulder spare (1) is connected with upper shield arm (4) through the bearing rotation, a serial communication port, upper shield arm (4) inner wall is fixed with first driving motor (6), the output and the uncovered (2) inner wall of first driving motor (6) are fixed, upper shield arm (4) lower extreme cover is established and is fixed with lower shield arm (8), the bottom of lower shield arm (8) is fixed with second driving motor (17), first air inlet (12) have been seted up to the bottom of lower shield arm (8), the position that lower shield arm (8) bottom surface just is to first air inlet (12) is fixed with air inlet fan (14), be formed with second air inlet (16) on the lateral wall of lower shield arm (8), air outlet (5) have been seted up on the lateral wall of upper shield arm (4).
  2. 2. The joint structure of the humanoid robot according to claim 1, wherein a perforation (7) is formed on one side of the upper cover arm (4) opposite to the position of the output end of the first driving motor (6), the output end of the first driving motor (6) is attached to the inner wall of the perforation (7), and the output end of the first driving motor (6) penetrates through the upper cover arm (4) through the perforation (7).
  3. 3. The joint structure of the humanoid robot according to claim 2, wherein the inner wall of the opening (2) is fixed with a first supporting frame (3), the upper cover arm (4) is rotatably connected to the inner wall of the first supporting frame (3) through bearings mounted on two sides, and the axes of the bearings, the axis of the perforation (7) and the axis of the output end of the first driving motor (6) are coincident.
  4. 4. The joint structure of the humanoid robot according to claim 1, wherein the bottom of the lower cover arm (8) is provided with a mounting groove (9), the middle part of the inner wall of the mounting groove (9) is fixed with a second support frame (10), a second driving motor (17) is fixed at the lower end of the inner wall of the second support frame (10), a first air inlet (12) is formed in the middle part of a top plate (11) of the second support frame (10), and the first air inlet (12) is communicated with the inner cavity of the lower cover arm (8).
  5. 5. The joint structure of the humanoid robot according to claim 4, wherein the four corners of the top plate (11) are provided with mounting grooves (13), four mounting holes (15) are formed at equal angular intervals on the outer circumference of the air intake fan (14), the mounting holes (15) are positioned opposite to the mounting grooves (13), and the air intake fan (14) is fixed on the second support frame (10) by inserting bolts into the mounting holes (15) and the mounting grooves (13).
  6. 6. The joint structure of the humanoid robot according to claim 1, wherein the second air inlet (16) is provided obliquely upward from the outside of the lower arm (8) toward the inside of the lower arm (8).
  7. 7. The joint structure of the humanoid robot according to claim 6, wherein the second air inlets (16) are provided in two groups, and the two groups of second air inlets (16) are symmetrically distributed on the side wall of the lower cover arm (8).
  8. 8. The joint structure of a humanoid robot as claimed in claim 7, wherein each set of the second air inlets (16) is arranged side by side at equal intervals.

Description

Joint structure of humanoid robot Technical Field The utility model relates to the field of robot joint structures, in particular to a joint structure of a humanoid robot. Background The motors are arranged at the two ends of the arms of the humanoid robot, the motors at the upper end are used for driving the arms to rotate at the shoulders, the output ends of the motors at the lower end are often connected with the clamp, the clamp is used for clamping articles, and the motors at the lower end drive the articles to be overturned after clamping the articles. The traditional joint structure for connecting the arm and the shoulder of the humanoid robot is characterized in that each motor is independently provided with a set of heat dissipation structure, so that the manufacturing cost of the whole robot is certainly increased, and the dead weight of the arm of the robot is increased due to the addition of a set of heat dissipation fan structure, so that the running energy consumption is increased, and the energy saving performance is poor. Disclosure of utility model In order to overcome the defects of the prior art, the utility model aims to provide the joint structure of the humanoid robot, and solve the problems that the joint structure of the humanoid robot in the prior art needs to be provided with a set of heat dissipation structure alone, so that the arm structure has heavy load and the operation energy consumption is increased. In order to solve the problems in the prior art, the technical scheme of the utility model is as follows: the utility model provides a joint construction of humanoid robot, includes the shoulder spare, the uncovered inner wall of shoulder spare is connected with the upper shield arm through the bearing rotation, and upper shield arm inner wall is fixed with first driving motor, and first driving motor's output is fixed with uncovered inner wall, and upper shield arm lower extreme cover is established and is fixed with down the cover arm, and the bottom of lower cover arm is fixed with second driving motor, and first air inlet has been seted up to the bottom of lower cover arm, and lower cover arm bottom surface is just to the position fixation of first air inlet has the air inlet fan, is formed with the second air inlet on the lateral wall of lower cover arm, has seted up the gas outlet on the lateral wall of upper shield arm. Optionally, a perforation is formed on one side of the upper cover arm opposite to the position of the output end of the first driving motor, the output end of the first driving motor is attached to the inner wall of the perforation, and the output end of the first driving motor penetrates through the upper cover arm through the perforation. Optionally, the open inner wall is fixed with first support frame, and the upper shield arm is connected at first support frame inner wall through installing the bearing rotation in both sides, and the axis of bearing, perforation axis and first driving motor's output axis coincidence. Optionally, the mounting groove has been seted up to the bottom of lower cover arm, and the middle part of mounting groove inner wall is fixed with the second support frame, and the lower extreme at the second support frame inner wall is fixed to the second driving motor, and the middle part at the roof of second support frame is seted up to first air inlet, and first air inlet intercommunication lower cover arm inner chamber. Optionally, the four corners of roof all have seted up the mounting groove, and the periphery of air inlet fan is equiangular interval and is formed with four mounting holes, and the mounting hole is just right with the mounting groove position, fixes air inlet fan on the second support frame through inserting the bolt in mounting hole and mounting groove. Optionally, the second air inlet is from the outside of lower cover arm to the inboard slope of lower cover arm upwards setting, and the second air inlet is provided with two sets of, and two sets of second air inlets are the symmetry and distribute on the lateral wall of lower cover arm, and every second air inlet of group all is equidistant arranging side by side. Compared with the prior art, the utility model has the following advantages: The utility model is provided with an air outlet at the joint position of the human arm of the humanoid robot, and two air inlets are respectively arranged at the bottom and the side of the arm. The heat dissipation of the driving motors at the upper joint and the lower joint can be completed by using one air inlet fan, when the fan works, the air outside the second driving motor at the lower end is driven to flow so as to realize the heat dissipation, generated hot air is blown into the lower cover wall, the flow of the generated hot air drives the outside air to enter the lower cover wall through the second air inlet at the side edge so as to reduce the temperature of the hot air, then the air flow flows through the first