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CN-224209992-U - Linear actuator for humanoid robot

CN224209992UCN 224209992 UCN224209992 UCN 224209992UCN-224209992-U

Abstract

The utility model discloses a linear actuator for a humanoid robot, which relates to the technical field of linear actuators of robots and comprises a shell, wherein limiting lines are annularly and uniformly distributed on the inner wall of the shell, a movable plate is connected inside the shell in a sliding manner through the limiting lines, a universal ball seat is arranged at the top of the movable plate, a plurality of spherical joints which are sequentially connected are arranged at the top of the universal ball seat, the output end of the linear actuator can be bent in any direction in a mode of connecting the spherical joints through the universal ball seat, the linear actuator can be effectively rotated or stretched after being bent, the spherical joints can be self-adapted to different bending and transmission angles in the rotating and stretching processes, and guide rings and guide plates are respectively arranged at the top and the inside of the shell, so that the spherical joint parts which are not fully stretched out are limited, the spherical joints can be automatically reset in the stretching or retracting process, and the spherical lamp joints are prevented from being influenced by the shape of the spherical joints and can not be effectively rotated and stretched in the bending state.

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 (7)

  1. 1. A linear actuator for a humanoid robot comprises a housing (1), limiting lines (2) are annularly and uniformly distributed on the inner wall of the housing (1), and the linear actuator is characterized in that a movable plate (3) is slidably connected inside the housing (1) through the limiting lines (2), the bottom of the movable plate (3) is connected with a driving assembly, a universal ball seat (4) is arranged at the top of the movable plate (3) and is connected with the driving assembly through the movable plate (3), a plurality of spherical joints (5) which are sequentially connected are arranged at the top of the universal ball seat (4), the spherical joints (5) are connected with each other to form an output shaft along the outward extension of the top of the housing (1), a support plate (6) surrounding the spherical joints (5) is arranged at the top of the housing (1), guide rings (7) sleeved on the outer side of the spherical joints (5) are arranged at the tail ends of the support plate (6) and the top of the housing (1), and guide plates (8) penetrating through the movable plate (3) are arranged at the bottom of the guide rings (7) arranged at the top of the housing (1).
  2. 2. The linear actuator for the humanoid robot, as set forth in claim 1, wherein the outer edge of the moving plate (3) is provided with a vertical extension part, the width of the extension part is greater than the thickness of the moving plate (3), and the moving plate (3) is slidably clamped with the limiting lines (2) through the extension part.
  3. 3. A linear actuator for a humanoid robot as claimed in claim 1, wherein the spherical joint (5) has a diameter larger than that of the guide ring (7) and a diameter smaller than that of the universal ball seat (4).
  4. 4. The linear actuator for the humanoid robot according to claim 1, wherein the universal ball in the universal ball seat (4) is a self-resetting universal ball, and the rotation direction of the universal ball seat (4) is always vertical upwards.
  5. 5. The linear actuator for the humanoid robot, as set forth in claim 1, characterized in that the guide ring (7) is entirely cylindrical, rounded chamfers are provided at both ends of the inner wall, smooth transition is provided between the rounded chamfers at both ends of the guide ring (7), wherein the rounded chamfers of the guide ring (7) at the bottom have a larger width than the chamfers at the top.
  6. 6. A linear actuator for a humanoid robot as claimed in claim 1, wherein the support plates (6) are of a plurality of triangular sheet-like structures arranged between the guide ring (7) and the housing (1) around the spherical joint (5), passages for the spherical joint (5) to pass through are formed between the support plates (6), and the diameters of the passages are adapted to the diameters of the spherical joint (5).
  7. 7. The linear actuator for the humanoid robot, as set forth in claim 1, wherein the top of the guide plate (8) is connected with the bottom of the guide ring (7) and the bottom of the inner wall of the housing (1), the guide plate (8) is annularly distributed at the bottom of the guide ring (7) to form a cylindrical cavity, and the cylindrical cavity wraps the spherical joint (5) and the universal ball seat (4).

Description

Linear actuator for humanoid robot Technical Field The utility model relates to the technical field of linear actuators of robots, in particular to a linear actuator for a humanoid robot. Background The linear actuator is a device for converting rotary motion into linear motion, and is widely applied to various fields of industrial automation, medical equipment, aerospace and the like. In the field of humanoid robots, the application of linear actuators is more extensive, for example, the linear actuators can be used for realizing complex motions and releasing functions at the joint positions of the robot and the end effectors, but the existing linear execution output part is mostly a hard component, the hard component can meet the use requirements of the humanoid robot only by connecting other components, for example, the arc change of the joint positions, the curve movement of the end effectors and the like, and the hard component adapts the force transmitted by the hard component into flexible transmission again through other components. Disclosure of utility model Aiming at the problems, the utility model aims to provide a linear actuator for a humanoid robot, which solves the problem that the linear actuator in the humanoid robot cannot meet flexible transmission. The linear actuator for the humanoid robot comprises a shell, limiting lines are uniformly distributed on the inner wall of the shell in an annular mode, a movable plate is connected inside the shell in a sliding mode through the limiting lines, the bottom of the movable plate is connected with a driving assembly, a universal ball seat is arranged at the top of the movable plate and penetrates through the movable plate to be connected with the driving assembly, a plurality of spherical joints which are sequentially connected are arranged at the top of the universal ball seat, the spherical joints are connected with each other to extend outwards along the top of the shell to form an output shaft, a support plate surrounding the spherical joints is arranged at the top of the shell, guide rings sleeved on the outer sides of the spherical joints are arranged at the tail ends of the support plate and the top of the shell, and guide plates penetrating through the movable plate are arranged at the bottoms of the guide rings at the top of the shell. Further, the movable plate outward flange is provided with vertically extending portion, and extending portion's width is greater than movable plate thickness, and the movable plate passes through extending portion and restriction line slip joint, avoids the movable plate to take place the slope at the removal in-process, ensures that the movable plate can effectually support universal ball seat and does not take place the skew. Further, the diameter of the spherical joint is larger than the inner diameter of the guide ring and smaller than the diameter of the universal ball seat. Further, the universal ball in the universal ball seat is a self-resetting universal ball, and the rotation direction of the universal ball seat is always vertical upwards. Further, the guide ring is integrally cylindrical, smooth chamfers are arranged at two ends of the inner wall, smooth transition is realized between the smooth chamfers at two ends of the guide ring, the smooth chamfers of the guide ring at the bottom are larger than the chamfers at the top, and when the spherical joint moves along the guide ring, if the spherical joint inclines, the spherical joint is blocked by the chamfers of the guide ring to push the spherical joint to restore to a vertical state, so that the spherical joint can be ensured not to bend and avoid influencing the precision under the continuous use state. Further, the support plates are of a plurality of triangular sheet structures which are arranged between the guide ring and the shell around the spherical joints, a channel through which the spherical joints pass is formed between the support plates, the diameter of the channel is adaptive to the diameter of the spherical joints, the spherical joints extending out of the shell can be limited in the vertical direction through the support plates, the spherical joints leaving the shell are prevented from losing supporting force rapidly to deform, and the spherical joints are guaranteed to bend only when influenced by external devices. Further, guide board top and guide ring are connected the bottom and are connected with shell inner wall bottom, guide board annular distribution forms cylindrical cavity in guide ring bottom, and cylindrical cavity parcel spherical joint and universal ball seat guide board can further strengthen the stability of movable plate to ensure that the spherical joint that is located the shell does not take place excessive deformation, spherical joint self bending leads to not outwards stretching out when avoiding universal ball seat to promote spherical joint to remove. The beneficial effects of the utility model are a