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Joint motion mechanism and robot

A joint motion and transmission mechanism technology, which is applied in the field of mechanical transmission, can solve the problems of high torque demand for joint steering gear and low center of mass of the robot, and achieve the effect of compact structure, reduced torque demand, and improved center of mass

Active Publication Date: 2022-05-17
UBTECH ROBOTICS CORP LTD
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the embodiments of the present invention is to provide a joint motion mechanism and a robot to solve the technical problems in the prior art that the center of mass of the robot is too low and the torque of the joint steering gear is relatively large

Method used

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  • Joint motion mechanism and robot
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  • Joint motion mechanism and robot

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Embodiment Construction

[0023] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0024] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0025] It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations...

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Abstract

The invention provides an articulation mechanism and a robot. The articulation mechanism includes an actuator, a fixed frame rotatably connected to the actuator, and two transmission mechanisms. In the first direction, the two transmission mechanisms are respectively arranged on On the opposite sides, in the second direction, two transmission mechanisms are arranged on the same side of the fixed frame. The transmission mechanism includes a drive assembly, a screw assembly and a connecting rod structure. One end of the connecting rod structure is rotatably connected to the moving end of the screw assembly. , the other end is rotatably connected to the actuator. The joint motion mechanism and the robot provided by the present invention drive the actuator to pitch and roll through the screw assembly and the connecting rod structure, and the position of the drive assembly is relatively far from the actuator. When applied to a robot, the position of the drive assembly is relatively high, which can improve The center of mass of the robot. In the length direction of the screw rod assembly, the screw rod structure partially overlaps with the connecting rod structure, which does not occupy too much length space and makes the structure more compact.

Description

technical field [0001] The invention belongs to the technical field of mechanical transmission, and more specifically relates to a joint motion mechanism and a robot. Background technique [0002] Most of the joints of legged robots are dual-degree-of-freedom, that is, they can perform pitch and roll motions at the same time, so two motors are needed to drive them to control their pitch and roll angles. The current steering gear arrangement is partly orthogonal, especially for small and medium-sized robots. This often results in a large size of the joints of the robot, a large overall inertia, a relatively low center of mass, and a relatively large torque requirement for the joint steering gear, resulting in a decline in the robot's motion performance. Contents of the invention [0003] The purpose of the embodiments of the present invention is to provide a joint motion mechanism and a robot to solve the technical problems in the prior art that the center of mass of the r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J9/12B25J9/10
CPCB25J17/00B25J9/126B25J9/10Y02T10/7072
Inventor 汪文广杨雄威丁宏钰柴延辉
Owner UBTECH ROBOTICS CORP LTD
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