Joint bidirectional energy storage device, robot joint structure and robot

Abstract

The present application provides a joint bidirectional energy storage device, a robot joint structure and a robot, wherein the joint bidirectional energy storage device comprises a sleeve, a first sliding member, a second sliding member, an elastic element, a first telescopic link and a second telescopic link. The first sliding member and the second sliding member are slidably disposed at the two ends of the sleeve, respectively. The elastic element abuts between the first sliding member and the second sliding member. The two ends of the first telescopic link are respectively pivotally connected to the first sliding member and the end rotating member at the end of the joint. The two ends of the second telescopic link are respectively pivotally connected to the second sliding member and the output rotating member at the output end of the driving device. And the output rotating member or the second telescopic link is connected to the first telescopic link to drive the first telescopic link to move. The joint bidirectional energy storage device can realize bidirectional energy storage and bidirectional work, satisfying the need to do large positive work or negative work for both forward and reverse rotation of the robot joint.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and more specifically, relates to a joint bidirectional energy storage device, a robot joint structure and a robot. Background Art

[0002] In the field of robotics, an elastic actuator is an auxiliary drive unit acting between the joint end and the load end. It can store part of the energy output by the joint and release it at the appropriate time.

[0003] Existing elastic actuators can only achieve unidirectional energy storage and release, that is, they can only store energy relative to the one-way rotation of the joint and release energy in the reverse direction during operation, which means that the elastic actuator can only provide positive or negative work for the energy output end of the joint. However, under certain working conditions, such as the complex working conditions of robot joints, the joint's positive and negative work output requirements are very high. For example, when the joint rotates forward relative to a certain initial position, it needs to do a large positive work (or negative work), and when it rotates backward, it needs to do a large negative work (or positive work). This requires the elastic actuator to be able to meet the ability to output large positive and negative work at the same time, but the existing elastic actuators that can only assist in one-way work have not played an effective role. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a joint bidirectional energy storage device, a robot joint structure and a robot, so as to solve the technical problem in the prior art that the elastic drive can only store energy when turning in one direction and release energy in the opposite direction.

[0005] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a joint bidirectional energy storage device, which includes a sleeve, a first sliding member, a second sliding member, an elastic element, a first telescopic link, and a second telescopic link. Both ends of the sleeve are open ends, the first sliding member is slidably arranged at one end of the sleeve, and the second sliding member is slidably arranged at the other end of the sleeve. The two ends of the elastic element are respectively abutted against the first sliding member and the second sliding member. One end of the first telescopic link is pivotally connected to the first sliding member so that the first sliding member is driven to slide when the first telescopic link rotates. One end of the first telescopic link is pivotally connected to the second sliding member so that the first sliding member is driven to slide when the first telescopic link rotates. The other ends of the first telescopic link and the second telescopic link are respectively pivotally connected to the end rotating member at the end of the joint and the output rotating member at the output end of the driving device, and the output rotating member or the second telescopic link is connected to the first telescopic link to drive the first telescopic link to move.

[0006] Optionally, the joint bidirectional energy storage device includes a swing rod, both ends of which are respectively connected to the first telescopic link and the second telescopic link, or both ends of the swing rod are respectively used to connect the end rotating member and the output rotating member.

[0007] Optionally, there are two rocker rods, which are respectively located on two sides of the sleeve and are arranged in parallel along the axial direction of the sleeve.

[0008] Optionally, the elastic element is a compression spring;

[0009] Alternatively, the elastic element is a magnetic spring, which includes a plurality of magnets slidably assembled in the sleeve along the axial direction of the sleeve, and the magnetism of the facing sides of two adjacent magnets is opposite;

[0010] Alternatively, the elastic element is a leaf spring.

[0011] Optionally, the first sliding member and the second sliding member are both sliding plates nested in the sleeve.

[0012] Optionally, the first sliding member and the second sliding member both have a mounting portion, the mounting portion has a mounting hole, the joint bidirectional energy storage device includes a rotating shaft, the first sliding member and the second sliding member each have a rotating shaft nested in their respective mounting holes, and the first telescopic link and the second telescopic link are respectively sleeved on the rotating shaft.

[0013] Optionally, the joint bidirectional energy storage device includes two stoppers, which are respectively fixed at two ends of the sleeve to respectively prevent the first sliding member and the second sliding member from detaching from the sleeve.

[0014] Optionally, the stopper is an annular stop ring and is fitted and fixed to the opening edge of the end of the sleeve.

[0015] Optionally, the first telescopic link and the second telescopic link each include a link sleeve and a link, and one end of the link extends into the link sleeve and can slide along the link sleeve.

[0016] Optionally, the lengths of the first telescopic link and the second telescopic link are the same or different.

[0017] Optionally, the number of the first telescopic links and the number of the second telescopic links are both two, one end of each of the two first telescopic links is pivotally connected to the first sliding member, and the other end of each of the two first telescopic links is pivotally connected to different positions of the end rotating member at the joint end;

[0018] One end of each of the two second telescopic links is pivotally connected to the second sliding member, and the other end of each of the two second telescopic links is pivotally connected to different positions of the output rotating member at the output end of the driving device.

[0019] According to another aspect of the present application, the present application further provides a robot joint structure, the robot joint structure comprising a joint body, a driving device, an end rotating member, an output rotating member, and any one of the above joint bidirectional energy storage devices. The end rotating member is rotatably mounted on the end of the joint body. The output rotating member is rotatably mounted on the output end of the driving device. The first telescopic link is pivotally connected to the end rotating member, and the second telescopic link is pivotally connected to the output rotating member.

[0020] According to another aspect of the present application, the present application further provides a robot, the robot comprising any one of the above-mentioned joint bidirectional energy storage devices.

[0021] The joint bidirectional energy storage device, robot joint structure and robot provided by the present application have the following beneficial effects: compared with the prior art, the joint bidirectional energy storage device of the present application is provided with an elastic element in the sleeve, and the first sliding member and the second sliding member are slidably provided at the two ends of the sleeve respectively, so that the first sliding member and the second sliding member can slide along the axial direction of the sleeve, and when the spacing between the first sliding member and the second sliding member decreases, the elastic element is deformed; the two ends of the first telescopic link are respectively pivotally connected to the first sliding member and the end rotating member at the end of the joint, so that the first telescopic link can drive the first sliding member to slide along the sleeve, and the first telescopic link can also drive the joint to rotate through the assistance of the end rotating member; and the two ends of the second telescopic link are respectively pivotally connected to the second sliding member and the output rotating member at the output end of the driving device, so that the output rotating member can drive the second telescopic link to rotate, and the second telescopic link can drive the second sliding member to slide along the sleeve; and the output rotating member or the second telescopic link is connected to the first telescopic link to drive the first telescopic link to move. 。 When the joint bidirectional energy storage device is working, when the driving device drives the output rotating member to rotate to one side, the second telescopic link drives the second sliding member to slide along the sleeve, and the output rotating member or the second telescopic link drives the first telescopic link to extend and retract; when the driving device drives the output rotating member to rotate to the other side, the second telescopic link is extended and retracted, the output rotating member or the second telescopic link drives the first telescopic link to rotate, and the first telescopic link drives the first sliding member to slide along the sleeve. When the first sliding member or the second sliding member slides along the sleeve, the elastic element is deformed, thereby realizing bidirectional energy storage. On the basis of storing energy, if the driving device drives the output rotating member to rotate in the opposite direction, the elastic element drives the first sliding member or the second sliding member to slide in the opposite direction, the first telescopic link or the second telescopic link gradually retracts and recovers to the initial state, and the elastic element also recovers to the initial state, and the telescopic movement of the first telescopic link or the second telescopic link can assist the rotational movement of the end rotating member, thereby assisting the end rotating member of the joint to do work on the load, and realizing bidirectional release of the energy of the elastic element. It can be seen that no matter which direction the output rotating member rotates, it can directly or indirectly drive one of the first telescopic link and the second telescopic link to telescope, and the other of the first telescopic link and the second telescopic link correspondingly drives the first sliding member or the second sliding member to slide along the axial direction of the sleeve, thereby causing the elastic element to change and store energy; and when the elastic element stores energy, if the output rotating member rotates in the opposite direction, it can drive one of the first telescopic link or the second telescopic link to telescope in the opposite direction, thereby releasing the energy stored in the elastic element, so that the complex working conditions of outputting a large positive work (or negative work) when the joint rotates forward and outputting a large negative work (or positive work) when it rotates reversely can be met at the same time, thereby realizing bidirectional energy storage and bidirectional work. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 A schematic diagram of a three-dimensional structure of a robot joint structure provided in an embodiment of the present application, wherein the robot joint structure includes a joint bidirectional energy storage device;

[0024] Figure 2 for Figure 1 The structural exploded diagram of the robot joint structure is shown to illustrate the coordination relationship between the joint bidirectional energy storage device and the drive device, and the joint body;

[0025] Figure 3 A schematic diagram of the three-dimensional structure of a joint bidirectional energy storage device provided in an embodiment of the present application;

[0026] Figure 4 for Figure 3 A top view of the joint bidirectional energy storage device shown;

[0027] Figure 5 for Figure 3 The structural exploded view of the joint bidirectional energy storage device shown;

[0028] Figure 6 A schematic diagram of a three-dimensional structure of a robot joint structure provided by an embodiment of the present application in a state where the robot joint structure is rotated to one side;

[0029] Figure 7 A schematic diagram of the three-dimensional structure of the robot joint structure provided in an embodiment of the present application, which is rotated to the other side.

[0030] Among them, the reference numerals in the figure are:

[0031] 1-joint bidirectional energy storage device; 10-sleeve; 11-fixing part; 20-first sliding part; 21-mounting part; 2101-mounting hole; 30-second sliding part; 31-mounting part; 3101-mounting hole; 40-elastic element; 50-first telescopic connecting rod; 51-connecting rod sleeve; 52-connecting rod; 60-second telescopic connecting rod; 61-connecting rod sleeve; 62-connecting rod; 70-rocker; 80-rotating shaft; 81-limiting flange; 90-stopper; 2-joint body; 3-end rotating part; 4-output rotating part; 5-support body. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0033] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or 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.

[0034] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0036] Please also read Figure 1 and Figure 2 Now, the joint bidirectional energy storage device 1 provided in the embodiment of the present application is described. The joint bidirectional energy storage device 1 is used to be installed between the robot joint structure and the load to assist the robot joint structure to drive the load to do work. The joint bidirectional energy storage device 1 includes a sleeve 10, a first sliding member 20, a second sliding member 30, an elastic element 40, a first telescopic link 50, and a second telescopic link 60.

[0037] Both ends of the sleeve 10 are open ends, and the interior of the sleeve 10 has a receiving cavity. The first sliding member 20 is slidably disposed at one end of the sleeve 10, and the second sliding member 30 is slidably disposed at the other end of the sleeve 10. In other words, the first sliding member 20 and the second sliding member 30 are respectively disposed at the two end positions of the sleeve 10, and the first sliding member 20 and the second sliding member 30 can slide axially along the sleeve 10. The two ends of the elastic element 40 are respectively abutted against the first sliding member 20 and the second sliding member 30. In other words, the elastic element 40 is located between the first sliding member 20 and the second sliding member 30. When either one of the first sliding member 20 and the second sliding member 30 slides along the sleeve 10, the spacing between the first sliding member 20 and the second sliding member 30 is reduced, and the first sliding member 20 or the second sliding member 30 forces the elastic element 40 to change, thereby realizing energy storage and release.

[0038] The length of the first telescopic link 50 can be extended. One end of the first telescopic link 50 is pivotally connected to the first sliding member 20, so that one end of the first telescopic link 50 can rotate relative to the first sliding member 20. The other end of the first telescopic link 50 is pivotally connected to the end rotating member 3 at the end of the joint, so that the other end of the first telescopic link 50 can rotate relative to the end rotating member 3.

[0039] The length of the second telescopic link 60 can also be extended. One end of the second telescopic link 60 is pivotally connected to the second sliding member 30, so that one end of the second telescopic link 60 can rotate relative to the second sliding member 30. The other end of the second telescopic link 60 is pivotally connected to the output rotating member 4 at the output end of the driving device, so that the output rotating member 4 can drive the second telescopic link 60 to rotate. The output rotating member or the second telescopic link 60 is connected to the first telescopic link 50 to drive the first telescopic link 50 to move.

[0040] For example, in the illustrated embodiment, the joint bidirectional energy storage device 1 includes a swing rod 70, and the two ends of the swing rod 70 are respectively used to connect the end rotating member 3 and the output rotating member 4, so that the output rotating member 4 drives the first telescopic link 50 to move through the swing rod 70 and the end rotating member 3 in turn. In other embodiments, the two ends of the swing rod 70 are respectively connected to the first telescopic link 50 and the second telescopic link 60, so that the first telescopic link 50 and the second telescopic link 60 can be transmitted through the swing rod 70.

[0041] The joint bidirectional energy storage device 1 is installed at the end of the robot joint structure. Specifically, the end edge of the sleeve 10 also has a fixing part 11, and the fixing part 11 is used to be fixed to the end of the robot joint structure. The robot joint structure generally includes a joint body 2, an end rotating part 3, a driving device and an output rotating part 4. The end rotating part 3 is rotatably installed at the end of the joint body 2. The driving device can be a servo. The output rotating part 4 is connected to the output end of the driving device so that the driving device drives the output rotating part 4 to rotate. Exemplarily, the fixing part 11 is a roughly arc-shaped fixing plate, and the fixing part 11 of the sleeve 10 is fixed to the end of the joint body 2 by a fastener. The arc-shaped fixing part 11 and the end of the joint body 2 are relatively consistent in shape, which is conducive to the fitting and fixing of the two. In other embodiments, the fixing part 11 can also adopt other shapes or other structures. The joint bidirectional energy storage device 1 is Figure 1 The state shown is the initial state (also called the zero point state). When the driving device drives the output rotating member 44 to rotate to one side relative to the initial state, for example, when rotating clockwise, the output rotating member 4 drives the second telescopic link 60 to rotate, and the second telescopic link 60 drives the second sliding member 30 to slide along the sleeve 10 while rotating, and the second sliding member 30 then acts on the elastic element 40, causing the elastic element 40 to change, thereby storing energy; and the driving device drives the first telescopic link 50 to rotate and extend the length through the output rotating member 4 and the swing rod 70 in turn, and the first telescopic link 50 further drives the joint structure to rotate through the end rotating member 3.

[0042] When the driving device drives the output rotating member 4 to rotate to the other side relative to the initial state, for example, when rotating counterclockwise, the output rotating member 4 drives the second telescopic link 60 to rotate, and the second telescopic link 60 performs telescopic movement in the length direction while rotating. At the same time, the driving device drives the first telescopic link 50 to rotate through the output rotating member 4 and the swing rod 70 in turn, and the first telescopic link 50 drives the first sliding member 20 to slide along the sleeve 10 while rotating. The first sliding member 20 then acts on the elastic element 40, causing the elastic element to change, thereby storing energy. It can be seen that no matter which direction the driving device drives the output rotating member 4 to rotate, the output rotating member 4 can directly or indirectly drive one of the first telescopic link 50 and the second telescopic link 60 to telescope, and the other of the first telescopic link 50 and the second telescopic link 60 correspondingly drives the first sliding member 20 or the second sliding member 30 to slide axially along the sleeve 10, thereby causing the elastic element 40 to change and store energy. The elastic element 40 can be used to store energy in both directions. When the elastic element 40 stores energy, if the output rotating member 4 rotates in the opposite direction, it can drive one of the first telescopic link 50 or the second telescopic link 60 to perform a reverse telescopic movement, and the elastic element 40 drives the first sliding member 20 or the second sliding member 30 to slide in the opposite direction until the first telescopic link 50 or the second telescopic link 60 returns to its initial state, and the elastic element 40 also returns to its initial state, thereby releasing the energy stored in the elastic element 40.

[0043] Compared with the prior art, the joint bidirectional energy storage device 1 provided in the present application can realize bidirectional energy storage and bidirectional work, and can simultaneously meet the complex working conditions of outputting a large positive work (or negative work) when the joint rotates forward and outputting a large negative work (or positive work) when the joint rotates reversely.

[0044] In another embodiment of the present application, the elastic element 40 is a compression spring. The compression spring is arranged inside the sleeve 10. The two ends of the compression spring respectively abut against the first sliding member 20 and the second sliding member 30 located at the two ends of the sleeve 10. When the first telescopic link 50 pushes the first sliding member 20 to slide axially along the sleeve 10 toward the inside of the sleeve 10 while rotating, or when the second telescopic link 60 pushes the second sliding member 30 to slide axially along the sleeve 10 toward the inside of the sleeve 10 while rotating, the compression spring is compressed and stores energy. On the contrary, when the first telescopic link 50 or the second telescopic link 60 rotates in the opposite direction, the compression spring pushes the first sliding member 20 or the second sliding member 30 to slide in the opposite direction under the action of its own elastic force until the compression spring returns to the initial state, thereby realizing the release of energy. The use of a spring as the elastic element 40 for storing and releasing energy has a simple structure, is easy to manufacture, and is convenient to assemble.

[0045] In another embodiment, a narrow and long sliding groove is provided on the side wall of the sleeve 10, and the first sliding member 20 and the second sliding member 30 respectively have a connecting portion extending out of the sleeve 10 through the sliding groove, and the elastic element 40 is a compression spring and is arranged on the outer wall of the sleeve 10, and the two ends of the compression spring respectively abut the connecting portions of the first sliding member 20 and the second sliding member 30, so that when the first sliding member 20 or the second sliding member 30 slides, the compression spring is pushed through the connecting portion to compress and deform the compression spring.

[0046] In another embodiment of the present application, the elastic element 40 is a magnetic spring, which includes a plurality of magnets that are axially slidably assembled in the sleeve 10 along the sleeve 10, and the magnetism of the facing sides of two adjacent magnets is opposite, so that the two adjacent magnets are mutually exclusive. When the first telescopic link 50 pushes the first sliding member 20 to slide axially along the sleeve 10 toward the inside of the sleeve 10 while rotating, or when the second telescopic link 60 pushes the second sliding member 30 to slide axially along the sleeve 10 toward the inside of the sleeve 10 while rotating, the distance between the magnets of the magnetic spring is compressed and reduced, thereby storing energy. On the contrary, when the first telescopic link 50 or the second telescopic link 60 rotates in the opposite direction, since the two adjacent magnets of the magnetic spring are mutually exclusive, the magnets move away from each other under the action of magnetic force, and the distance increases, so that the magnetic spring pushes the first sliding member 20 or the second sliding member 30 to slide in the opposite direction until the magnetic spring returns to the initial state, thereby releasing energy. The magnetic spring is used as the elastic element 40, which has a simple structure and is easy to assemble. The magnetic force is used to store and release energy. The magnetic spring will not be easily deformed excessively during use to cause structural damage like a conventional spring, and has a longer service life.

[0047] In another embodiment of the present application, the elastic element 40 is a leaf spring. The two ends of the leaf spring abut against the first sliding member 20 and the second sliding member 30 respectively. When the first telescopic link 50 pushes the first sliding member 20 to slide axially along the sleeve 10 toward the inside of the sleeve 10 while rotating, or when the second telescopic link 60 pushes the second sliding member 30 to slide axially along the sleeve 10 toward the inside of the sleeve 10 while rotating, the two ends of the leaf spring are subjected to force and bend and deform, realizing bidirectional energy storage. On the contrary, when the first telescopic link 50 or the second telescopic link 60 rotates in the opposite direction, the leaf spring has a tendency to restore its shape and pushes the first sliding member 20 or the second sliding member 30 to slide in the opposite direction until the leaf spring restores its shape, realizing energy release. Using a leaf spring as an elastic element 40 for storing and releasing energy has a simple structure, is easy to manufacture, and is convenient to assemble. In other embodiments, the elastic element 40 can also use other elements that can store and release energy.

[0048] In another embodiment of the present application, the first sliding member 20 and the second sliding member 30 are both sliding plates embedded in the sleeve 10. The sliding plate is cylindrical, and the cross section of the sliding plate matches the cross section of the sleeve 10. The sliding plate is slidably embedded in the end of the sleeve 10, so that the sliding plate can slide in the sleeve 10 along the axial direction of the sleeve 10 under the action of thrust. The two ends of the elastic element 40 respectively abut the side walls of the two sliding plates, so that the elastic element 40 and the sliding plates can push each other, and the cylindrical sliding plate can facilitate stable force transmission.

[0049] In another embodiment of the present application, the first sliding member 20 has a protruding mounting portion 21 on one side facing the outside of the sleeve 10, and the mounting portion 21 has a mounting hole 2101. Similarly, the second sliding member 30 also has a protruding mounting portion 31 on one side facing the outside of the sleeve 10, and the mounting portion 31 has a mounting hole 3101. The joint bidirectional energy storage device 1 includes a plurality of rotating shafts 80, and the rotating shafts 80 are columnar, wherein one rotating shaft 80 is nested in the mounting hole 2101 of the first sliding member 20, and one end of the first telescopic link 50 is provided with a through hole and sleeved on the rotating shaft 80. Similarly, another rotating shaft 80 is nested in the mounting hole 3101 of the second sliding member 30, and one end of the second telescopic link 60 is provided with a through hole and sleeved on the rotating shaft 80. In this way, the pivot connection between the first telescopic link 50 and the first sliding member 20, and between the second telescopic link 60 and the second sliding member 30 is realized, so that the first telescopic link 50 and the second telescopic link 60 can both rotate around the rotating shaft 80.

[0050] Specifically, a limiting flange 81 is provided at the edge of the rotating shaft 80 , and the limiting flange 81 can limit the first telescopic link 50 and the second telescopic link 60 to prevent the first telescopic link 50 and the second telescopic link 60 from being separated from the rotating shaft 80 .

[0051] In another embodiment of the present application, the first telescopic link 50 and the end rotating member 3 , and the second telescopic link 60 and the output rotating member 4 are pivotally connected via a rotating shaft 80 .

[0052] In another embodiment of the present application, please refer to Figure 1 and Figure 2 The joint bidirectional energy storage device 1 includes a plurality of blocking members 90 , which are fixed to the end opening edge of the sleeve 10 to prevent the first sliding member 20 and the second sliding member 30 from separating from the sleeve 10 .

[0053] In the illustrated embodiment, the stopper 90 is an annular retaining ring, which is fitted and fixed to the edge of the end opening of the sleeve 10. The cross-sectional dimensions of the first sliding member 20 and the second sliding member 30 are both larger than the channel dimension of the middle portion of the annular retaining ring, so that the first sliding member 20 and the second sliding member 30 cannot pass through the annular retaining ring, thereby preventing the first sliding member 20 and the second sliding member 30 from sliding out of the end of the sleeve 10.

[0054] In another embodiment of the present application, please refer to Figure 2 The first telescopic link 50 includes a link sleeve 51 and a link 52. The link sleeve 51 has a cavity inside. One end of the link sleeve 51 is open and the other end is closed, so that the two ends of the link sleeve 51 are end faces and groove faces respectively. The end face of the link sleeve 51 is provided with a through hole and is rotatably sleeved on one of the rotating shafts 80. One end of the link 52 is an axial face and is provided with a through hole. The axial face of the link 52 is rotatably sleeved on the other rotating shaft 80. The other end of the link 52 is a stop face and extends into the cavity of the link sleeve 51 to slide along the link sleeve 51, thereby realizing the extension and contraction of the first telescopic link 50.

[0055] Similarly, the second telescopic link 60 includes a link sleeve 61 and a link 62. The link sleeve 61 has a cavity inside. One end of the link sleeve 61 is open and the other end is closed, so that the two ends of the link sleeve 61 are an end face and a groove face respectively. The end face of the link sleeve 61 is provided with a through hole and is rotatably sleeved on one of the rotating shafts 80. One end of the link 62 is an axial face and is provided with a through hole. The axial face of the link 62 is rotatably sleeved on the other rotating shaft 80. The other end of the link 62 is a stop face and extends into the cavity of the link sleeve 61 to slide along the link sleeve 61, thereby realizing the extension and contraction of the second telescopic link 60.

[0056] Specifically, in Figure 1 In the initial state (also called the zero point state) shown, the stop surface of the connecting rod 52 abuts against the end surface of the connecting rod sleeve 51, and the stop surface of the connecting rod 62 abuts against the end surface of the connecting rod sleeve 61. When the first telescopic connecting rod 50 and the second telescopic connecting rod 60 rotate to one side relative to the initial state, for example, rotate clockwise, the stop surface of the connecting rod 62 and the end surface of the connecting rod sleeve 61 still abut against each other, the stop surface of the connecting rod 52 and the end surface of the connecting rod sleeve 51 gradually move away from each other, and the stop surface of the connecting rod 52 slides in the connecting rod sleeve 51, thereby achieving the extension of the first telescopic connecting rod 50. When the first telescopic connecting rod 50 and the second telescopic connecting rod 60 rotate in the opposite direction to return to the initial state, the stop surface of the connecting rod 62 and the end surface of the connecting rod sleeve 61 still abut against each other, the stop surface of the connecting rod 52 and the end surface of the connecting rod sleeve 51 gradually approach until they abut against each other, and the stop surface of the connecting rod 52 slides in the connecting rod sleeve 51, thereby achieving the shortening of the first telescopic connecting rod 50.

[0057] When the first telescopic link 50 and the second telescopic link 60 rotate to the other side relative to the initial state, for example, rotate counterclockwise, the stop surface of the link 52 and the end surface of the link sleeve 51 still abut against each other, the stop surface of the link 62 and the end surface of the link sleeve 61 are separated, and the stop surface of the link 62 slides in the link sleeve 61, thereby achieving the extension of the second telescopic link 60. When the first telescopic link 50 and the second telescopic link 60 rotate in the opposite direction to restore to the initial state, the stop surface of the link 52 and the end surface of the link sleeve 51 still abut against each other, the stop surface of the link 62 and the end surface of the link sleeve 61 gradually approach until they abut against each other, and the stop surface of the link 62 slides in the link sleeve 61, thereby achieving the shortening of the second telescopic link 60.

[0058] In other embodiments, the first telescopic link 50 and the second telescopic link 60 may also adopt other reasonable telescopic structures. For example, the first telescopic link 50 may also include two rods, one of which is provided with a slide groove, and the other is provided with a slider and slidably embedded in the slide groove, so that the two rods can slide and telescope relative to each other; the structure of the second telescopic link 60 is the same as that of the first telescopic link 50.

[0059] In another embodiment of the present application, the lengths of the first telescopic link 50 and the second telescopic link 60 are the same. In other embodiments, the lengths of the first telescopic link 50 and the second telescopic link 60 may also be different. According to the needs of the actual application, when the robot joint structure rotates to different extents on both sides, the lengths of the first telescopic link 50 and the second telescopic link 60 may be reasonably set.

[0060] In another embodiment of the present application, the number of the first telescopic link 50 and the second telescopic link 60 are both two, and one end of each of the two first telescopic links 50 is pivotally connected to the first sliding member 20 through the same rotating shaft 80, and both sides of the rotating shaft 80 are provided with limiting flanges 81, and the mounting hole 2101 of the mounting portion 21 is matched with the middle position of the rotating shaft 80, and the limiting flanges 81 on both sides of the rotating shaft 80 are respectively located at the positions on both sides of the mounting portion 21. The end of one of the first telescopic links 50 is limited between the limiting flanges 81 on one side of the mounting portion 21 and the rotating shaft 80. The end of the other first telescopic link 50 is limited between the limiting flanges 81 on the other side of the mounting portion 21 and the rotating shaft 80. In this way, the ends of each of the two first telescopic links 50 are respectively located on both sides of the mounting portion 21 and are limited by the limiting flanges 81. The other ends of the two first telescopic links 50 are respectively pivotally connected to different positions of the end rotating member 3 at the joint end through two rotating shafts 80 .

[0061] Similarly, one end of each of the two second telescopic links 60 is pivotally connected to the second sliding member 30 through the same rotating shaft 80, and both sides of the rotating shaft 80 are provided with limiting flanges 81. The mounting hole 3101 of the mounting portion 31 cooperates with the middle position of the rotating shaft 80, and the limiting flanges 81 on both sides of the rotating shaft 80 are respectively located at the positions on both sides of the mounting portion 31. The end of one of the second telescopic links 60 is limited between the limiting flanges 81 on one side of the mounting portion 31 and the rotating shaft 80. The end of the other second telescopic link 60 is limited between the limiting flanges 81 on the other side of the mounting portion 31 and the rotating shaft 80. In this way, the ends of the two second telescopic links 60 are respectively located on both sides of the mounting portion 31 and are limited by the limiting flanges 81. The other ends of the two second telescopic links 60 are respectively pivotally connected to different positions of the output rotating member 4 at the output end of the driving device through two rotating shafts 80.

[0062] It is understandable that, when the number of the first telescopic links 50 and the second telescopic links 60 are both two, when the driving device drives the output rotating member 4 to rotate to one side, for example, clockwise, the output rotating member 4 drives the two second telescopic links 60 to rotate simultaneously, and at this time, one of the second telescopic links 60 drives the second sliding member 30 to slide along the sleeve 10, and the second sliding member 30 then acts on the elastic element 40, so that the elastic element 40 changes, thereby storing energy, and the other second telescopic link 60 is extended and retracted in length while rotating. The output rotating member 4 or the second telescopic link 60 drives the two first telescopic links 50 to rotate through the swing rod 70, and at this time, one of the first telescopic links 50 is extended and retracted in length while rotating, and the other first telescopic link 50 drives the first sliding member 20 to slide along the sleeve 10. The two first telescopic links 50 further drive the joint structure to rotate through the end rotating member 3. It is understandable that in this case, the first sliding member 20 and the second sliding member 30 both slide along the sleeve 10 and slide toward each other, and the deformation of the elastic element 40 is doubled compared to the case where there is only one first telescopic link 50 and second telescopic link 60, so that more energy can be stored. Similarly, when the driving device drives the output rotating member 4 to rotate to the other side, for example, counterclockwise, the deformation of the elastic element 40 is also doubled, so that more energy can be stored.

[0063] When the elastic element 40 stores energy, if the output rotating member 4 rotates in the opposite direction, it can drive one of the first telescopic links 50 and one of the second telescopic links 60 to telescope in the opposite direction, and the elastic element 40 simultaneously drives the first sliding member 20 and the second sliding member 30 to slide in the opposite direction, so that the first sliding member 20 and the second sliding member 30 move away from each other, until the aforementioned one first telescopic link 50 and one second telescopic link 60 are restored to the initial state, and the elastic element 40 is also restored to the initial state, thereby doubling the release of energy stored in the elastic element 40. By providing two first telescopic links 50 and two second telescopic links 60, it is possible to meet the complex working conditions that a large positive work (or negative work) needs to be output when the joint rotates forward and a large negative work (or positive work) needs to be output when the joint rotates reversely.

[0064] In another embodiment of the present application, there are two swing rods 70, which are respectively located on both sides of the sleeve 10 and arranged in parallel along the axial direction of the sleeve 10. In the case where the number of the first telescopic link 50 and the second telescopic link 60 is one, the two ends of one swing rod 70 are respectively connected to the end rotating member 3 and the output rotating member 4; and the two ends of the other swing rod 70 can be respectively connected to the first telescopic link 50 and the second telescopic link 60, or the two ends of the other swing rod 70 can be respectively connected to the end rotating member 3 and the output rotating member 4. In the case where the number of the first telescopic link 50 and the second telescopic link 60 are both two, the two ends of each swing rod 70 are respectively connected to the end rotating member 3 and the output rotating member 4, or the two ends of each swing rod 70 are respectively connected to the first telescopic link 50 and the second telescopic link 60. By setting the swing rod 70 to drive the first telescopic link 50 to move, the stability and integrity of the structure can be strengthened, which is conducive to the stable transmission of force.

[0065] Furthermore, the first telescopic link 50 and the second telescopic link 60 are both provided with exhaust holes and have a motion avoidance design. The first sliding member 20 and the second sliding member 30 are provided with exhaust holes and oil grooves, and the sleeve 10 is provided with small holes corresponding to the positions of the oil grooves of the first sliding member 20 and the second sliding member 30, so as to add lubricating oil to the oil grooves. An oil-free bushing is sleeved between the through holes at the ends of the first telescopic link 50 and the second telescopic link 60 and the rotating shaft 80. In order to simplify the structure, the end of the first telescopic link 50 away from the sleeve 10 can be sleeved together with the end of the swing rod 70, the end rotating member 3, and the rotating member of the joint body 2 on a corresponding rotating shaft 80; and a gasket is provided between any two adjacent ends of the first telescopic link 50, the end of the swing rod 70, the end rotating member 3, and the rotating member of the joint body 2. Similarly, one end of the second telescopic link 60 away from the sleeve 10 is jointly sleeved on a corresponding rotating shaft 80 together with the end of the rocker arm 70 and the output rotating member 4; and a gasket is provided between any two adjacent ends of the second telescopic link 60, the end of the rocker arm 70, and the output rotating member 4.

[0066] The present application also provides a robot joint structure, which includes the above-mentioned joint bidirectional energy storage device 1, joint body 2, driving device, end rotating member 3 and output rotating member 4. The end rotating member 3 is rotatably mounted on the end of the joint body 2. The output rotating member 4 is rotatably mounted on the output end of the driving device. The first telescopic link 50 is pivotally connected to the end rotating member 3 through a rotating shaft 80, and the second telescopic link 60 is pivotally connected to the output rotating member 4 through a rotating shaft 80. The robot joint structure also includes a support body 5, and the joint bidirectional energy storage device 1, the joint body 2, the driving device, the end rotating member 3 and the output rotating member 4 are all connected to the support body 5 to form a whole.

[0067] Exemplarily, the joint body 2 is a hip joint, and the driving device is a steering gear. The hip joint and the steering gear are respectively located at two ends of the joint bidirectional energy storage device 1, wherein the hip joint is connected to the end rotating member 3, and the steering gear is connected to the output rotating member 4.

[0068] Since the robot joint structure adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0069] The present application also provides a robot, the robot comprising the above-mentioned joint bidirectional energy storage device 1. Since the present robot adopts all the technical solutions of all the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0070] The joint bidirectional energy storage device 1 provided in the present application and the robot joint structure and robot including the joint bidirectional energy storage device 1 have the following advantages: 1) the elastic element 40 is used to realize energy storage and release in a specific interval of the joint structure, thereby increasing the explosive force of the joint structure at a specific moment; 2) the joint bidirectional energy storage device 1 realizes bidirectional storage and release of energy of the joint structure by utilizing the clutch conversion of the connecting rod mechanism, thereby solving the problem that the existing elastic drive can only store energy in one direction and release energy in the reverse direction; the joint bidirectional energy storage device 1 can assist the joint to do positive work and negative work on the load, thereby meeting the large demand for positive work and negative work at the load end under complex working conditions; 3) the joint bidirectional energy storage device 1 assists the joint body 2 to do work on the load, thereby reducing the power demand for the joint, improving the output performance of the robot through the mechanical structure, and realizing cost reduction and energy saving; 4) the joint bidirectional energy storage device 1 is of modular design and can be directly installed between the joint and the load end, and can be installed when needed and removed when not needed.

[0071] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A joint bidirectional energy storage device, characterized in that: include: A sleeve, both ends of which are open ends; the edge of the end of the sleeve also has a fixing piece, and the fixing piece is fixed to the end of the joint body of the joint structure by a fastener; A first sliding member, the first sliding member is slidably disposed at one end of the sleeve; a second sliding member, the second sliding member being slidably disposed at the other end of the sleeve; an elastic element, two ends of which are respectively in contact with the first sliding member and the second sliding member; a first telescopic link, one end of which is pivotally connected to the first sliding member so that the first sliding member can be driven to slide when the first telescopic link rotates; a second telescopic link, one end of which is pivotally connected to the second sliding member so that the second sliding member can be driven to slide when the second telescopic link rotates; The other ends of the first telescopic link and the second telescopic link are respectively pivotally connected to the end rotating member at the end of the joint and the output rotating member at the output end of the driving device, and the joint bidirectional energy storage device includes a rocker; The two ends of the swing link are respectively used to connect the end rotating member and the output rotating member, and the output rotating member is connected to the first telescopic link to drive the first telescopic link to move; or, the two ends of the swing link are respectively connected to the first telescopic link and the second telescopic link, and the second telescopic link is connected to the first telescopic link to drive the first telescopic link to move.

2. The joint bidirectional energy storage device according to claim 1, characterized in that: There are two swing rods, which are respectively located on two sides of the sleeve and are arranged in parallel along the axial direction of the sleeve.

3. The joint bidirectional energy storage device according to claim 1, characterized in that: The elastic element is a compression spring; Alternatively, the elastic element is a magnetic spring, which includes a plurality of magnets slidably assembled in the sleeve along the axial direction of the sleeve, and the magnetism of the facing sides of two adjacent magnets is opposite; Alternatively, the elastic element is a leaf spring.

4. The joint bidirectional energy storage device according to claim 1, characterized in that: The first sliding member and the second sliding member are both sliding plates nested in the sleeve.

5. The joint bidirectional energy storage device according to claim 4, characterized in that: The first sliding member and the second sliding member both have a mounting portion, the mounting portion has a mounting hole, the joint bidirectional energy storage device includes a rotating shaft, the rotating shaft is nested in the mounting hole of each of the first sliding member and the second sliding member, and the first telescopic link and the second telescopic link are respectively sleeved on the rotating shaft.

6. The joint bidirectional energy storage device according to claim 1, characterized in that: The joint bidirectional energy storage device comprises two stoppers, which are respectively fixed at two ends of the sleeve to respectively prevent the first sliding member and the second sliding member from detaching from the sleeve.

7. The joint bidirectional energy storage device according to claim 6, characterized in that: The blocking member is an annular blocking ring and is fitted and fixed to the opening edge of the end of the sleeve.

8. The joint bidirectional energy storage device according to claim 1, characterized in that: The first telescopic link and the second telescopic link each include a link sleeve and a link, and one end of the link extends into the link sleeve and can slide along the link sleeve.

9. The joint bidirectional energy storage device according to any one of claims 1 to 8, characterized in that: The lengths of the first telescopic link and the second telescopic link are the same or different.

10. The joint bidirectional energy storage device according to any one of claims 1 to 8, characterized in that: The number of the first telescopic links and the number of the second telescopic links are both two, one end of each of the two first telescopic links is pivotally connected to the first sliding member, and the other end of each of the two first telescopic links is pivotally connected to different positions of the end rotating member of the joint end; One end of each of the two second telescopic links is pivotally connected to the second sliding member, and the other end of each of the two second telescopic links is pivotally connected to different positions of the output rotating member at the output end of the driving device.

11. A robot joint structure, characterized in that: include: Joint body; Drive device; An end rotating member, the end rotating member is rotatably mounted on the end of the joint body; an output rotating member rotatably mounted on an output end of the driving device; According to any one of claims 1 to 10, the first telescopic link is pivotally connected to the end rotating member, and the second telescopic link is pivotally connected to the output rotating member.

12. A robot, characterized in that: It comprises a joint bidirectional energy storage device as described in any one of claims 1-10.

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