Anthropomorphic joint and robot

Abstract

The utility model provides an anthropomorphic joint and a robot. The anthropomorphic joint comprises a first connecting arm and a second connecting arm, a second connecting arm; the two ends of the first connecting rod are rotationally connected with the first connecting arm and the second connecting arm respectively; the two ends of the second connecting rod are rotationally connected with the first connecting arm and the second connecting arm respectively, the first connecting rod and the first connecting arm form a first connecting point, the second connecting rod and the first connecting arm form a second connecting point, and the second connecting point is eccentrically arranged relative to the first connecting point; and the driving piece is connected with at least one of the first connecting arm and the second connecting arm and drives the first connecting arm and the second connecting arm to move relatively. The problem that in the prior art, a mechanical arm of a robot is low in personification degree is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a humanoid joint and a robot. Background Art

[0002] In the prior art, the joint structure of the robot is designed to rotate around a fixed point. For humanoid robots, this structural design is different from the joint movement of the human body, especially for the elbow joint. The shaft connection method of the traditional robot arm cannot simulate the structure of the human elbow joint at all. Therefore, the degree of anthropomorphism of the traditional robot arm is low, which cannot meet the requirements of high anthropomorphism and cannot be used in scenes with high anthropomorphism requirements. Utility Model Content

[0003] The main purpose of the utility model is to provide an anthropomorphic joint and a robot, so as to solve the problem that the mechanical arm of the robot in the prior art has a low degree of anthropomorphism.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, there is provided an anthropomorphic joint, comprising: a first connecting arm; a second connecting arm; a first connecting rod, wherein both ends of the first connecting rod are rotatably connected to the first connecting arm and the second connecting arm respectively; a second connecting rod, wherein both ends of the second connecting rod are rotatably connected to the first connecting arm and the second connecting arm respectively, and the first connecting rod and the first connecting arm form a first connecting point, and the second connecting rod and the first connecting arm form a second connecting point, and the second connecting point is eccentrically arranged relative to the first connecting point; a driving member, which is connected to at least one of the first connecting arm and the second connecting arm, and drives the relative movement between the first connecting arm and the second connecting arm.

[0005] Furthermore, the first connecting arm and the second connecting arm both have a butt end, and the butt end has an arc-shaped edge, the first connecting point is located at the center of the arc-shaped edge, and the second connecting point is located at the arc-shaped edge.

[0006] Furthermore, two third connection points formed by the first connecting rod, the second connecting rod and the second connecting arm are arranged to overlap.

[0007] Furthermore, the first connecting arm and the second connecting arm both have a butt end, and the butt end has an arc-shaped edge, and the third connecting point is located at the center of the arc-shaped edge.

[0008] Furthermore, the butt end has a mounting recess, and the first connecting rod and the second connecting rod are both arranged at the mounting recess.

[0009] Furthermore, there are multiple mounting recesses, and both the two opposite side surfaces on the first connecting arm and the two opposite side surfaces on the second connecting arm have mounting recesses, and the first connecting rod and the second connecting rod are respectively located in the mounting recesses on the two opposite side surfaces.

[0010] Furthermore, the driving member includes a linear driver, which includes a main body and an output shaft. The output shaft is telescopically arranged relative to the main body, one of the main body and the output shaft is rotatably connected to the first connecting arm, and the other of the main body and the output shaft is rotatably connected to the second connecting arm.

[0011] Furthermore, the first connecting arm has a central axis along the length direction of the first connecting arm and passing through the first connecting point, and the second connecting point, the connecting point of the linear drive and the first connecting arm are all located on the same side of the central axis.

[0012] Furthermore, the first connecting arm and the second connecting arm further include a connecting end for connecting to an external component, and the connecting end is located at an end of the first connecting arm or the second connecting arm that is away from each other.

[0013] According to another aspect of the utility model, a robot is provided, comprising the above-mentioned anthropomorphic joint.

[0014] By applying the technical solution of the utility model, the first connecting rod and the second connecting rod are provided, so that the first connecting arm and the second connecting arm are no longer directly connected by the traditional rotating shaft. Specifically, although both ends of the first connecting rod and the second connecting rod are rotatably connected to the first connecting arm and the second connecting arm, the connection points formed by the first connecting rod and the second connecting rod and the first connecting arm are not coincident, that is, the first connecting point and the second connecting point are staggered, so that when the second connecting arm is driven by the driving member, it does not rotate around a fixed point, but rotates around a circle with the first connecting point as the center and passing through the second connecting point. The rotation center of the second connecting arm is constantly changed along the trajectory of the circle. In other words, the rotation center of the second connecting arm is changed in real time, and its path is the partial trajectory of the above-mentioned circle. In this way, the movement mode is very similar to the elbow joint of a person, so that the anthropomorphism degree of the elbow joint can be improved, so that the anthropomorphism degree of the anthropomorphic joint of this embodiment is higher, and it can be applied to various scenes with high anthropomorphism requirements to meet the anthropomorphic use needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0016] Figure 1 The structure diagram of the anthropomorphic joint of the utility model is shown;

[0017] Figure 2 Shows Figure 1 A structural diagram of the anthropomorphic joints from another perspective.

[0018] The above drawings include the following reference numerals:

[0019] 10. First connecting arm; 11. Mounting recess; 12. Connecting end; 20. Second connecting arm; 30. First connecting rod; 40. Second connecting rod; 50. Driving member. DETAILED DESCRIPTION

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0022] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0023] In order to solve the problem that the robot arm in the prior art has a low degree of anthropomorphism, the utility model provides an anthropomorphic joint and a robot. The robot has the following anthropomorphic joints. The anthropomorphic joints of this embodiment are mainly aimed at the elbow joints, and of course they can also be applied to other joints.

[0024] In order to make the improvement of the present application clearer, the following description is given of the human joint structure. When the elbow joint is near the end of flexion and extension, the ulna has an axial rotation activity. When the elbow is fully extended, the ulna rotates internally, and when the elbow is fully flexed, the ulna rotates externally. At the same time, the radius has a longitudinal displacement. When flexed, the radius moves upward, and the ulna is accompanied by adduction activity. When straightened, the radius moves downward, and the ulna is accompanied by abduction activity. The adduction and abduction activities of the ulna during the flexion and extension process can be 5-10 degrees. It can be seen that the rotation process of the human elbow joint is not a simple circular motion around a fixed center.

[0025] like Figure 1 and Figure 2An anthropomorphic joint is shown, comprising a first connecting arm 10, a second connecting arm 20, a first link 30, a second link 40 and a driving member 50, wherein the two ends of the first link 30 are rotatably connected to the first connecting arm 10 and the second connecting arm 20 respectively; the two ends of the second link 40 are rotatably connected to the first connecting arm 10 and the second connecting arm 20 respectively, and the first link 30 and the first connecting arm 10 form a first connection point, and the second link 40 and the first connecting arm 10 form a second connection point, and the second connection point is eccentrically arranged relative to the first connection point; the driving member 50 is connected to at least one of the first connecting arm 10 and the second connecting arm 20, and drives the relative movement between the first connecting arm 10 and the second connecting arm 20.

[0026] In this embodiment, by providing the first connecting rod 30 and the second connecting rod 40 , the first connecting arm 10 and the second connecting arm 20 are no longer directly connected in the conventional manner of a rotating shaft. Specifically, although both ends of the first connecting rod 30 and the second connecting rod 40 are rotatably connected to the first connecting arm 10 and the second connecting arm 20, the connection points formed by the first connecting rod 30 and the second connecting rod 40 and the first connecting arm 10 do not overlap, that is, the first connection point and the second connection point are staggered, so that when the second connecting arm 20 is driven by the driving member 50, it does not rotate around a fixed point, but rotates around a circle with the first connection point as the center and passing through the second connection point. The rotation center of the second connecting arm 20 continuously changes along the trajectory of the circle. In other words, the rotation center of the second connecting arm 20 changes in real time, and its path is the partial trajectory of the above-mentioned circle. In this way, the movement mode is very similar to the human elbow joint, which can improve the anthropomorphism of the elbow joint, so that the anthropomorphism of the anthropomorphic joint of this embodiment is higher, and can be suitable for various scenes with high requirements for anthropomorphism, meeting the anthropomorphic usage needs.

[0027] In the present embodiment, the first connecting arm 10 and the second connecting arm 20 both have a butt end. In order to match the motion state of the first connecting arm 10 and the second connecting arm 20, the butt end of the present embodiment has an arc-shaped edge, that is, the edges of the end portions of the first connecting arm 10 and the second connecting arm 20 that are close to each other and matched are arc-shaped, so that the second connecting arm 20 can rotate more smoothly relative to the first connecting arm 10 to avoid interference and the like. Based on the setting method of the arc-shaped edge, the first connection point of the present embodiment is located at the center of the arc-shaped edge of the second connecting arm 20, and the second connection point is located at the arc-shaped edge, thereby forming a form in which the second connection point is eccentric relative to the first connection point. Of course, the specific structural form of the butt end is not limited to the above-mentioned shape of the present embodiment, and it can be adjusted accordingly as needed.

[0028] Different from the above-mentioned setting of the first connection point and the second connection point, the first connecting rod 30 and the second connecting rod 40 of this embodiment form two third connection points with the second connecting arm 20, and the two third connection points are arranged to overlap. In other words, the first connecting rod 30 and the second connecting rod 40 are connected to the same position of the second connecting arm 20. At the same time, based on the setting of the aforementioned arc edge, the third connection point of this embodiment is located at the center of the arc edge of the first connecting arm 10. In this way, in combination with the setting of the aforementioned first connection point and the second connection point, the movement of the first connecting arm 10 and the second connecting arm 20 is more anthropomorphic.

[0029] In this embodiment, the first connecting arm 10 and the second connecting arm 20 are plate-shaped and have a certain thickness. A mounting recess 11 is opened in the thickness direction of the butt end. The mounting recess 11 can play a role in installation positioning. The first connecting rod 30 and the second connecting rod 40 are both arranged in the mounting recess 11, thereby ensuring the accuracy and reliability of the installation position.

[0030] The specific setting methods of the rotatable connection in this embodiment all adopt the pin connection method. Specifically, taking the rotatable connection between the first connecting rod 30 and the first connecting arm 10 as an example, the first connecting rod 30 and the first connecting arm 10 are both provided with mounting holes, and the pin is penetrated in the mounting holes, so that the first connecting rod 30 and the first connecting arm 10 form a rotatable connection matching method. Other rotatable connection matching methods are basically the same as above and will not be repeated.

[0031] Taking into account the avoidance of the movement of the first connecting rod 30 and the second connecting rod 40, in this embodiment, a plurality of mounting recesses 11 are provided on the first connecting arm 10 and the second connecting arm 20, and the two opposite side surfaces on the first connecting arm 10 and the two opposite side surfaces on the second connecting arm 20 have mounting recesses 11, and the first connecting rod 30 and the second connecting rod 40 are respectively located in the mounting recesses 11 on the two opposite side surfaces. In this way, the first connecting rod 30 and the second connecting rod 40 are respectively located on the two sides in the thickness direction of the first connecting arm 10 and the second connecting arm 20, so that the movements of the first connecting rod 30 and the second connecting rod 40 do not affect each other, thereby ensuring the smoothness of the overall movement of the elbow joint.

[0032] In this embodiment, the driving member 50 includes a linear driver, which includes a main body and an output shaft. The output shaft is axially telescopically arranged relative to the main body, one of the main body and the output shaft is rotatably connected to the first connecting arm 10, and the other of the main body and the output shaft is rotatably connected to the second connecting arm 20. In this way, the linear driver is arranged between the first connecting arm 10 and the second connecting arm 20, so that the linear driver can directly drive the relative movement between the first connecting arm 10 and the second connecting arm 20. When in use, the first connecting arm 10 is generally connected to a structure such as a shoulder joint, and the second connecting arm 20 is connected to a subsequent structure such as a wrist joint, so that the first connecting arm 10 can be considered to be fixed, and the linear driver drives the second connecting arm 20 to move relative to the first connecting arm 10. Of course, the specific selection and setting method of the driving member 50 can also be adjusted as needed, and is not limited to the above-mentioned method in this embodiment, as long as the movement of the second connecting arm 20 relative to the first connecting arm 10 can be achieved.

[0033] In this embodiment, considering the authenticity of anthropomorphism, this embodiment optimizes the setting position of the second connection point. Specifically, the first connecting arm 10 has a central axis along the length direction of the first connecting arm 10 and passing through the first connecting point, and the central axis is also the axis of the length direction of the first connecting arm 10. The second connecting point and the connection point of the linear drive and the first connecting arm 10 are all located on the same side of the central axis, which is also the side where the first connecting arm 10 and the second connecting arm 20 form an angle less than 180 degrees, so that the elbow joint of a person can be simulated more realistically.

[0034] In this embodiment, the first connecting arm 10 and the second connecting arm 20 also include a connecting end 12 for connecting to an external component. The connecting end 12 is located at an end of the first connecting arm 10 or the second connecting arm 20 that is away from each other. The specific shape of the connecting end 12 can be set as needed, as long as it can cooperate with the external structural parts to realize the connection of the anthropomorphic joint with other structures to form a complete robotic arm structure.

[0035] It should be noted that, the multiple in the above embodiments refers to at least two.

[0036] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0037] 1. Solve the problem of low anthropomorphism of the robot arm in the prior art;

[0038] 2. The movement mode of the anthropomorphic joint is very similar to that of the human elbow joint, which can improve the anthropomorphism of the elbow joint, making the anthropomorphic joint more anthropomorphic, and can be applied to various scenes with high requirements for anthropomorphism, meeting the anthropomorphic usage needs.

[0039] Obviously, the embodiments described above are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0042] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An anthropomorphic joint, characterized in that: include: A first connecting arm (10); A second connecting arm (20); A first connecting rod (30), wherein two ends of the first connecting rod (30) are rotatably connected to the first connecting arm (10) and the second connecting arm (20) respectively; a second connecting rod (40), wherein two ends of the second connecting rod (40) are rotatably connected to the first connecting arm (10) and the second connecting arm (20), respectively, and the first connecting rod (30) and the first connecting arm (10) form a first connecting point, and the second connecting rod (40) and the first connecting arm (10) form a second connecting point, and the second connecting point is eccentrically arranged relative to the first connecting point; A driving member (50) is connected to at least one of the first connecting arm (10) and the second connecting arm (20), and drives the relative movement between the first connecting arm (10) and the second connecting arm (20).

2. The anthropomorphic joint according to claim 1, characterized in that: The first connecting arm (10) and the second connecting arm (20) both have a butt end, and the butt end has an arc-shaped edge, the first connecting point is located at the center of the arc-shaped edge, and the second connecting point is located at the arc-shaped edge.

3. The anthropomorphic joint according to claim 1, characterized in that: The two third connection points formed by the first connecting rod (30) and the second connecting rod (40) and the second connecting arm (20) are arranged to overlap.

4. The anthropomorphic joint according to claim 3, characterized in that: The first connecting arm (10) and the second connecting arm (20) both have a butt end, and the butt end has an arc-shaped edge, and the third connecting point is located at the center of the arc-shaped edge.

5. The anthropomorphic joint according to claim 2 or 4, characterized in that: The butt end has a mounting recess (11), and the first connecting rod (30) and the second connecting rod (40) are both arranged at the mounting recess (11).

6. The anthropomorphic joint according to claim 5, characterized in that: There are a plurality of mounting recesses (11), and two opposite side surfaces on the first connecting arm (10) and two opposite side surfaces on the second connecting arm (20) both have the mounting recesses (11), and the first connecting rod (30) and the second connecting rod (40) are respectively located in the mounting recesses (11) on the two opposite side surfaces.

7. The anthropomorphic joint according to any one of claims 1 to 4, characterized in that: The driving member (50) includes a linear drive, which includes a main body and an output shaft, wherein the output shaft is telescopically arranged relative to the main body, one of the main body and the output shaft is rotatably connected to the first connecting arm (10), and the other of the main body and the output shaft is rotatably connected to the second connecting arm (20).

8. The anthropomorphic joint according to claim 7, characterized in that: The first connecting arm (10) has a central axis along the length direction of the first connecting arm (10) and passing through the first connecting point, and the second connecting point and the connection point of the linear drive and the first connecting arm (10) are all located on the same side of the central axis.

9. The anthropomorphic joint according to any one of claims 1 to 4, characterized in that: The first connecting arm (10) and the second connecting arm (20) further comprise a connecting end (12) for connecting to an external component, wherein the connecting end (12) is located at an end of the first connecting arm (10) or the second connecting arm (20) that is away from each other.

10. A robot, characterized in that: The invention comprises the anthropomorphic joint according to any one of claims 1 to 9.

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