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, an elastic element, a sliding member, a first telescopic link and a second telescopic link. The elastic element is arranged on the sleeve. The sliding member is slidably arranged on the open end of the sleeve, and the two ends of the elastic element respectively abut the inner wall of the bottom end of the sleeve and the sliding member. One end of each of the first telescopic link and the second telescopic link is pivotally connected to the sliding member. The other end of each of the first telescopic link and the second telescopic link is pivotally connected to the rotating member at the end of the joint, so that when the rotating member at the end of the joint rotates to one side, the first telescopic link shortens and / or the second telescopic link lengthens to drive the sliding member to slide along the sleeve, and when the rotating member rotates to the other side, the first telescopic link lengthens and / or the second telescopic link shortens to drive the sliding member to slide along the sleeve. The joint bidirectional energy storage device can realize bidirectional storage and release of energy.

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] In order 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, an elastic element, a sliding member, a first telescopic link and a second telescopic link. One end of the sleeve is an open end, and the other end of the sleeve is a bottom end. The elastic element is arranged on the sleeve. The sliding member is slidably arranged on the open end of the sleeve, and the two ends of the elastic element respectively abut the inner wall of the bottom end of the sleeve and the sliding member. One end of the first telescopic link is pivotally connected to the sliding member, and one end of the second telescopic link is also pivotally connected to the sliding member. The other ends of the first telescopic link and the second telescopic link are respectively used to pivotally connect the rotating member at the end of the joint, so that when the rotating member at the end of the joint rotates to one side, the first telescopic link shortens and / or the second telescopic link lengthens to drive the sliding member to slide along the sleeve, and when the rotating member at the end of the joint rotates to the other side, the first telescopic link lengthens and / or the second telescopic link shortens to drive the sliding member to slide along the sleeve. Optionally, the elastic element is a compression spring;

[0006] 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;

[0007] Alternatively, the elastic element is a leaf spring.

[0008] Optionally, the sliding member is a sliding plate nested in the sleeve.

[0009] Optionally, the sliding member has a protruding mounting portion, the mounting portion has a mounting hole, the joint bidirectional energy storage device includes a first rotating shaft, the first rotating shaft is nested in the mounting hole, and the ends of the first telescopic link and the second telescopic link are both provided with through holes and are respectively sleeved on the first rotating shaft.

[0010] Optionally, the joint bidirectional energy storage device includes a stopper, which is fixed to the open end of the sleeve to prevent the sliding member from detaching from the sleeve.

[0011] Optionally, the stopper is an annular stop ring and is fitted and fixed to the edge of the opening end of the sleeve.

[0012] 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.

[0013] Optionally, the lengths of the first telescopic link and the second telescopic link are the same or different.

[0014] According to another aspect of the present application, the present application further provides a robot joint structure, which includes a joint body, a rotating part and any one of the above-mentioned joint bidirectional energy storage devices, the rotating part is rotatably mounted on the end of the joint body, and the first telescopic link and the second telescopic link are pivotally connected to the rotating part.

[0015] According to yet 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.

[0016] The joint bidirectional energy storage device, robot joint structure and robot provided by the present application have the beneficial effects that: compared with the prior art, the joint bidirectional energy storage device of the present application is provided with an elastic element between the sleeve and the sliding member, one end of each of the first telescopic link and the second telescopic link is pivotally connected to the sliding member, and the other end of each of the first telescopic link and the second telescopic link is used to pivotally connect to the rotating member at the end of the joint, and the rotating member can be connected to the load connecting member to drive the load to do work, and when the joint rotates to both sides, the load is driven to do work through the rotating member at the end, and at the same time, the rotating member drives the first telescopic link and / or the second telescopic link to extend and retract, thereby realizing bidirectional storage and bidirectional release of energy. Specifically, when the rotating member rotates to one side, it drives the first telescopic link to shorten and / or the second telescopic link to extend, so as to drive the sliding member to slide along the sleeve; and when the rotating member rotates to the other side, it drives the first telescopic link to extend and / or the second telescopic link to shorten, so as to drive the sliding member to slide along the sleeve. The sliding of the sliding member causes the elastic element located between the inner wall of the bottom end of the sleeve and the sliding member to deform, thereby realizing bidirectional energy storage. When the joint bidirectional energy storage device is in the energy storage state, if the rotating member rotates in the opposite direction, the elastic element drives the sliding member to slide in the opposite direction, and the sliding member further drives the first telescopic link and / or the second telescopic link to telescope in the opposite direction, until the first telescopic link and the second telescopic link are restored to the initial length, and the elastic element is restored to the initial state; in this process, the telescopic movement of the first telescopic link and the second telescopic link can assist the rotating movement of the rotating member, thereby assisting the rotating member to do work on the load, and realizing the bidirectional release of the energy of the elastic element. It can be seen that no matter which direction the rotating member rotates, it can drive the first telescopic link and / or the second telescopic link to telescope, thereby storing energy through the elastic element; and when the rotating member rotates in the opposite direction, it can drive the first telescopic link and / or the second telescopic link to telescope in the opposite direction, thereby releasing the energy stored in the elastic element, so that it can simultaneously meet the complex working conditions of outputting a large positive work (or negative work) when the robot joint structure rotates forward and outputting a large negative work (or positive work) when it is reversed, and realize bidirectional energy storage and bidirectional work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] 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;

[0019] Figure 2An exploded view of the robot joint structure provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of the three-dimensional structure of the robot joint structure provided in an embodiment of the present application when it is rotated to one side;

[0021] Figure 4 A schematic diagram of the three-dimensional structure of the robot joint structure provided in an embodiment of the present application when it is rotated to the other side.

[0022] Among them, the reference numerals in the figure are:

[0023] 1-joint bidirectional energy storage device; 10-sleeve; 11-open end; 12-bottom end; 13-fixing part; 20-elastic element; 30-sliding part; 31-mounting part; 3101-mounting hole; 40-first telescopic link; 41-connecting rod sleeve; 42-connecting rod; 50-second telescopic link; 51-connecting rod sleeve; 52-connecting rod; 60-first rotating axis; 61-limiting flange; 70-second rotating axis; 71-limiting flange; 80-third rotating axis; 81-limiting flange; 90-stopper; 2-joint body; 3-rotating part; 4-load connecting part. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] Please also read Figure 1 and Figure 2 The joint bidirectional energy storage device 1 provided in the embodiment of the present application is now 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, an elastic element 20, a sliding member 30, a first telescopic link 40, and a second telescopic link 50.

[0029] One end of the sleeve 10 is an open end 11, and the other end of the sleeve 10 is a bottom end 12. The interior of the sleeve 10 has a storage cavity. The edge of the open end 11 of the sleeve 10 also has a fixing member 13, and the fixing member 13 is used to fix with the end of the robot joint. Exemplarily, in the illustrated embodiment, the fixing member 13 is a substantially arc-shaped fixing plate; in other embodiments, the fixing member 13 may also adopt other shapes or other structures. The elastic element 20 is arranged in the storage cavity in the sleeve 10, and one end of the elastic element 20 abuts against the inner wall of the bottom end 12 of the sleeve 10. The sliding member 30 is slidably arranged at the open end 11 of the sleeve 10, and the other end of the elastic element 20 abuts against the sliding member 30. In other words, the two ends of the elastic element 20 abut against the inner wall of the bottom end 12 and the sliding member 30 respectively.

[0030] One end of the first telescopic link 40 is pivotally connected to the sliding member 30, and one end of the second telescopic link 50 is also pivotally connected to the sliding member 30. The other ends of the first telescopic link 40 and the second telescopic link 50 are respectively pivotally connected to two spaced connection ends of the rotating member 3 at the joint end of the robot; that is, both ends of the first telescopic link 40 and the second telescopic link 50 are respectively pivotally connected to the sliding member 30 and the rotating member 3 at the joint end; so that when the rotating member 3 at the joint end rotates along one side of the clockwise or counterclockwise direction, the first telescopic link 40 shortens and / or the second telescopic link 50 lengthens to drive the sliding member 30 to slide along the sleeve 10; when the rotating member 3 at the joint end rotates along one side of the counterclockwise or clockwise direction (i.e., the side opposite to the above-mentioned direction), the first telescopic link 40 lengthens and / or the second telescopic link 50 shortens to drive the sliding member 30 to slide along the sleeve 10.

[0031] Specifically, Figure 1As shown, in the use state, the joint bidirectional energy storage device 1 is installed at the end of the robot joint. The robot joint structure usually includes a joint body 2 and a rotating member 3 connected to the rotation output end of the joint body 2. The rotating member 3 is rotatably installed at the end of the rotation output end of the joint body 2 and is driven to rotate by the rotation output end of the joint body 2. The rotating member 3 is connected to the load connecting member 4, and the load connecting member 4 drives the external load to move through the rotating member 3. The fixing member 13 of the sleeve 10 is fixed to the end of the joint body 2 by a fastener. The arc-shaped fixing member 13 and the end of the joint body 2 are consistent in shape, which is conducive to the fit and fixation of the two. The joint bidirectional energy storage device 1 is Figure 1 The state shown is the initial state (also called the "zero state" in this embodiment). When the rotating member 3 at the end of the joint body 2 rotates to one side relative to the initial state, for example Figure 3 When rotating in the counterclockwise direction as shown, the rotating member 3 drives the first telescopic link 40 and the second telescopic link 50 to rotate, and at the same time the second telescopic link 50 extends, while the length of the first telescopic link 40 remains unchanged or shortens, and the first telescopic link 40 pushes the sliding member 30 to slide along the sleeve 10 from the open end 11 toward the bottom end 12, and the sliding member 30 gradually approaches the bottom end 12, and the elastic element 20 between the sliding member 30 and the bottom end 12 undergoes elastic deformation of compression, thereby storing elastic energy. At this moment, the joint bidirectional energy storage device 1 performs positive work (or negative work) on the joint structure. When the rotating member 3 at the end of the joint body 2 rotates to the other side relative to the initial state, for example Figure 4 When the rotating member 3 rotates clockwise as shown, the rotating member 3 drives the first telescopic link 40 and the second telescopic link 50 to rotate, and at the same time, the first telescopic link 40 is extended, and the length of the second telescopic link 50 remains unchanged or shortens, and the second telescopic link 50 pushes the sliding member 30 to slide along the sleeve 10 from the open end 11 to the bottom end 12. The sliding member 30 gradually approaches the bottom end 12, and the elastic element 20 between the sliding member 30 and the bottom end 12 undergoes elastic deformation of compression, thereby storing elastic energy. At this moment, the joint bidirectional energy storage device 1 performs negative work (or positive work) on the joint structure. It can be seen from this that no matter which direction the rotating member 3 rotates, the rotating member 3 can drive the first telescopic link 40 and / or the second telescopic link 50 to telescope, and the first telescopic link 40 or the second telescopic link 50 can push the sliding member 30 to slide, thereby causing the elastic element 20 to undergo compression deformation, thereby realizing energy storage during the bidirectional rotation process of the rotating member 3.

[0032] On the contrary, in Figure 3Based on the state shown, if the rotating member 3 rotates clockwise to restore to the initial state, the elastic element 20 gradually recovers its deformation from the previous compressed state and gradually releases the elastic potential energy stored in the compressed state. The elastic element 20 will push the sliding member 30 to slide in a direction gradually away from the bottom end 12 and close to the opening end 11. The rotating member 3 drives the first telescopic link 40 and the second telescopic link 50 to rotate clockwise, and the length of the second telescopic link 50 gradually shortens. As the clockwise rotation angle of the rotating member 3 increases, the length of the first telescopic link 40 remains unchanged or gradually lengthens. Preferably, the rotating member 3 is made of Figure 3 Turn the status shown clockwise to Figure 1 When the second telescopic link 50 is in the initial position shown in FIG. 1 , the first telescopic link 40 is unchanged in length or restored to its initial length. At this time, the elastic element 20 is also restored to its original length, and the elastic element 20 releases energy. Figure 1 After the initial position shown in FIG. 1 , if the rotating member 3 continues to rotate clockwise, then Figure 4 The energy storage state shown is that the rotating member 3 drives the first telescopic link 40 and the second telescopic link 50 to rotate, and at the same time the first telescopic link 40 extends, and the length of the second telescopic link 50 remains unchanged or shortens, and the second telescopic link 50 pushes the sliding member 30 to slide along the sleeve 10 from the open end 11 toward the bottom end 12, and the sliding member 30 gradually approaches the bottom end 12, and the elastic element 20 located between the sliding member 30 and the bottom end 12 undergoes compressed elastic deformation, thereby storing elastic energy.

[0033] Similarly, in Figure 4 Based on the state shown, if the rotating member 3 rotates counterclockwise to restore to the initial state, the elastic element 20 gradually recovers its deformation from the previous compressed state and gradually releases the elastic potential energy stored in the compressed state. The elastic element 20 will push the sliding member 30 to slide in a direction gradually away from the bottom end 12 and close to the opening end 11. The rotating member 3 drives the first telescopic link 40 and the second telescopic link 50 to rotate clockwise. The first telescopic link 40 gradually shortens, and as the counterclockwise rotation angle of the rotating member 3 increases, the length of the second telescopic link 50 remains unchanged or gradually lengthens. Preferably, the rotating member 3 is Figure 4 Turn counterclockwise to the position shown. Figure 1 When the first telescopic link 40 is in the initial position shown in FIG. 1 , the first telescopic link 40 is restored to the initial length, the second telescopic link 50 is unchanged in length or restored to the initial length, and the elastic element 20 is also restored to the original length, and the elastic element 20 releases energy. Figure 1 After the initial position shown, if the rotating member 3 continues to rotate counterclockwise, Figure 3The energy storage state shown is that the rotating member 3 drives the first telescopic link 40 and the second telescopic link 50 to rotate, and at the same time the second telescopic link 50 extends, and the length of the first telescopic link 40 remains unchanged or shortens, and the first telescopic link 40 pushes the sliding member 30 to slide along the sleeve 10 from the open end 11 toward the bottom end 12, and the sliding member 30 gradually approaches the bottom end 12, and the elastic element 20 located between the sliding member 30 and the bottom end 12 undergoes compressed elastic deformation, thereby storing elastic energy.

[0034] Compared with the prior art, the joint bidirectional energy storage device 1 provided by the present application is characterized in that an elastic element 20 is arranged between the sleeve 10 and the sliding member 30, one end of each of the first telescopic link 40 and the second telescopic link 50 is pivotally connected to the sliding member 30, and the other end of each of the first telescopic link 40 and the second telescopic link 50 is used to pivotally connect to the rotating member 3 at the end of the joint, and the rotating member 3 can be connected to the load connecting member 4 to drive the load to do work. When the joint rotates to both sides, the load is driven to do work through the rotating member 3 at the end, and the rotating member 3 drives the first telescopic link 40 and / or the second telescopic link 50 to extend and retract, thereby realizing bidirectional storage and bidirectional release of energy. Specifically, when the rotating member 3 rotates to one side, it drives the first telescopic link 40 to shorten and / or the second telescopic link 50 to extend, so as to drive the sliding member 30 to slide along the sleeve 10; and when the rotating member 3 rotates to the other side, it drives the first telescopic link 40 to extend and / or the second telescopic link 50 to shorten, so as to drive the sliding member 30 to slide along the sleeve 10. The sliding of the sliding member 30 causes the elastic element 20 located between the inner wall of the bottom end 12 of the sleeve 10 and the sliding member 30 to deform, thereby realizing bidirectional energy storage. When the joint bidirectional energy storage device 1 is in the energy storage state, if the rotating member 3 rotates in the opposite direction, the elastic element 20 drives the sliding member 30 to slide in the opposite direction, and the sliding member 30 further drives the first telescopic link 40 and / or the second telescopic link 50 to extend and retract, until the first telescopic link 40 and the second telescopic link 50 are restored to their initial lengths, and the elastic element 20 is restored to its initial state; in this process, the telescopic movement of the first telescopic link 40 and the second telescopic link 50 can assist the rotational movement of the rotating member, thereby assisting the rotating member to do work on the load, thereby realizing bidirectional release of the energy of the elastic element 20. In this way, it can simultaneously meet the requirements of outputting a larger positive work (or negative work) during forward rotation and outputting a larger negative work (or positive work) during reverse rotation, thereby realizing bidirectional energy storage and bidirectional work.

[0035] In another embodiment of the present application, Figure 2As shown, the elastic element 20 is a compression spring. The two ends of the compression spring abut against the inner wall of the bottom end 12 of the sleeve 10 and the sliding member 30 respectively. When the first telescopic link 40 or the second telescopic link 50 pushes the sliding member 30 to slide from the open end 11 toward the bottom end 12, the compression spring is compressed and stores energy. On the contrary, when the first telescopic link 40 or the second telescopic link 50 shortens and recovers, the compression spring pushes the sliding member 30 to slide in the opposite direction under the action of its own elastic force, so that the sliding member 30 assists in pushing the contraction of the first telescopic link 40 or the second telescopic link 50, thereby further assisting the rotation of the rotating member 3 and realizing the release of energy. Using a spring as the elastic element 20 for storing and releasing energy has a simple structure, is easy to manufacture, and is convenient to assemble.

[0036] In another embodiment of the present application, the elastic element 20 is a magnetic spring, which includes a plurality of magnets that are axially slidably assembled in the sleeve 10, and the magnetism of the opposite sides of two adjacent magnets is opposite, so that the two adjacent magnets are mutually exclusive. When the first telescopic link 40 or the second telescopic link 50 pushes the sliding member 30 to slide from the open end 11 to the bottom end 12, the distance between the magnets of the magnetic spring is compressed and reduced, thereby storing energy. On the contrary, when the length of the first telescopic link 40 or the second telescopic link 50 is shortened and restored, 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 sliding member 30 to slide in the opposite direction, so that the sliding member 30 helps to push the contraction of the first telescopic link 40 or the second telescopic link 50, thereby further helping the rotation of the rotating member 3 to achieve energy release. The magnetic spring is used as the elastic element 20, which has a simple structure and is easy to assemble. It uses magnetic force to store and release energy. The magnetic spring will not be easily deformed excessively during use like a conventional spring to cause structural damage, and has a longer service life.

[0037] In another embodiment of the present application, the elastic element 20 is a leaf spring. The two ends of the leaf spring abut against the inner wall of the bottom end 12 of the sleeve 10 and the sliding member 30 respectively. When the first telescopic link 40 or the second telescopic link 50 pushes the sliding member 30 to slide from the open end 11 to the bottom end 12, the two ends of the leaf spring are subjected to force and bend and deform, thereby realizing bidirectional energy storage. On the contrary, when the first telescopic link 40 or the second telescopic link 50 shortens and recovers, the leaf spring has a tendency to recover its shape and pushes the sliding member 30 to slide in the opposite direction, so that the sliding member 30 assists in pushing the contraction of the first telescopic link 40 or the second telescopic link 50, thereby further assisting the rotation of the rotating member 3, until the leaf spring recovers its shape, realizing energy release. The leaf spring is used as the elastic element 20 for storing and releasing energy, which has a simple structure, is easy to manufacture, and is convenient to assemble. In other embodiments, the elastic element 20 can also use other elements that can store and release energy.

[0038] In another embodiment of the present application, Figure 2 As shown, the sliding member 30 is a sliding plate embedded in the sleeve 10. The sliding plate is a circular sheet, and the cross section of the sliding plate matches the cross section of the sleeve 10. The sliding plate can be slidably embedded in the open end 11 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 force. One end of the elastic element 20 abuts against the side wall of one side of the sliding plate, so that the elastic element 20 and the sliding plate can push each other, and the circular sheet sliding plate can facilitate stable force transmission.

[0039] In another embodiment of the present application, Figure 2 As shown, the side of the sliding member 30 facing the outside of the sleeve 10 has a protruding mounting portion 31, and the mounting portion 31 has a mounting hole 3101. The joint bidirectional energy storage device 1 includes a first rotating shaft 60, which is columnar and nested in the mounting hole 3101. The first telescopic link 40 and the second telescopic link 50 are respectively provided with through holes at one end and are respectively sleeved on the first rotating shaft 60. In this way, the first telescopic link 40 and the second telescopic link 50 are pivotally connected to the same rotating shaft provided on the sliding member 30, so as to realize the pivotal connection between the first telescopic link 40 and the sliding member 30, and between the second telescopic link 50 and the sliding member 30, so that the first telescopic link 40 and the second telescopic link 50 can both rotate around the first rotating shaft 60.

[0040] The end of the first rotating shaft 60 is provided with a limiting flange 61 for preventing the first telescopic link 40 and / or the second telescopic link 50 from being separated from the first rotating shaft 60. Specifically, in the illustrated embodiment, both ends of the first rotating shaft 60 are provided with limiting flanges 61, the mounting hole 3101 of the mounting portion 31 is matched with the middle position of the first rotating shaft 60, and the limiting flanges 61 at both ends of the first rotating shaft 60 are respectively located at both sides of the mounting portion 31. The first telescopic link 40 is sleeved on the outer periphery of the first rotating shaft 60 through the through hole at its end, and the end of the first telescopic link 40 is limited between the mounting portion 31 and the limiting flange 61 at one end of the first rotating shaft 60. The second telescopic link 50 is sleeved on the outer periphery of the first rotating shaft 60 through the through hole at its end, and the end of the second telescopic link 50 is limited between the mounting portion 31 and the limiting flange 61 at the other end of the first rotating shaft 60. In this way, the ends of the first telescopic link 40 and the second telescopic link 50 are respectively located on both sides of the mounting portion 31 and are both limited by the limiting flange 61 . The limiting flange 61 can prevent the first telescopic link 40 and the second telescopic link 50 from being separated from the first rotating shaft 60 .

[0041] In another embodiment of the present application, Figures 2 to 4As shown, the joint bidirectional energy storage device 1 also includes a second rotating shaft 70 and a third rotating shaft 80. The end of one end of the second rotating shaft 70 has a limiting flange 71, and the other end of the second rotating shaft 70 is fixed to the rotating member 3 at the joint end. The end of one end of the third rotating shaft 80 has a limiting flange 81, and the other end of the third rotating shaft 80 is fixed to the rotating member 3 at the joint end. The ends of the other ends of the first telescopic link 40 and the second telescopic link 50 are also provided with through holes. The first telescopic link 40 is rotatably sleeved on the second rotating shaft 70 through the through hole at its end, and the first telescopic link 40 is limited by the limiting flange 71 to prevent the first telescopic link 40 from detaching from the second rotating shaft 70. Similarly, the second telescopic link 50 is rotatably sleeved on the third rotating shaft 80 through the through hole at its end, and the second telescopic link 50 is limited by the limiting flange 81 to prevent the second telescopic link 50 from detaching from the third rotating shaft 80. The second rotating shaft 70 and the third rotating shaft 80 are respectively fixed to different positions of the rotating member 3, so that the first telescopic link 40 can rotate relative to the rotating member 3 around the second rotating shaft 70, and the second telescopic link 50 can rotate relative to the rotating member 3 around the third rotating shaft 80. An angle is formed between the first telescopic link 40 and the second telescopic link 50. In this way, the first telescopic link 40 is rotatably connected to the rotating member 3 at the joint end through the second rotating shaft 70, and the second telescopic link 50 is rotatably connected to the rotating member 3 at the joint end through the third rotating shaft 80. When the rotating member 3 rotates, the rotating member 3 drives the first telescopic link 40 and the second telescopic link 50 to rotate, and the first telescopic link 40 and / or the second telescopic link 50 can perform telescopic motion.

[0042] The second rotation axis 70 and the third rotation axis 80 have different heights, so that the ends of the first telescopic link 40 and the second telescopic link 50 are pivotally connected at different heights, and no interference occurs between the first telescopic link 40 and the second telescopic link 50. In other embodiments, the second rotation axis 70 and the third rotation axis 80 may also have the same height, as long as the position where the first telescopic link 40 is sleeved on the second rotation axis 70 and the position where the second telescopic link 50 is sleeved on the third rotation axis 80 are at different heights.

[0043] In another embodiment of the present application, please refer to Figure 1 and Figure 2 The joint bidirectional energy storage device 1 includes a stopper 90 , which is fixed to the open end 11 of the sleeve 10 to prevent the sliding member 30 from separating from the sleeve 10 .

[0044] In the illustrated embodiment, the stopper 90 is an annular retaining ring, which is fitted and fixed to the edge of the open end 11 of the sleeve 10. The cross-sectional size of the sliding member 30 is larger than the channel size in the middle of the annular retaining ring, so that the sliding member 30 cannot pass through the annular retaining ring, thereby preventing the sliding member 30 from sliding out of the open end 11.

[0045] In another embodiment of the present application, please refer to Figure 2 The first telescopic link 40 includes a link sleeve 41 and a link 42. The link sleeve 41 has a cavity inside. One end of the link sleeve 41 is open and the other end is closed, so that the two ends of the link sleeve 41 are an end face and a groove face respectively. The end face of the link sleeve 41 is provided with a through hole and is rotatably sleeved on the first rotating shaft 60. One end of the link 42 is an axial face and is provided with a through hole. The axial face of the link 42 is rotatably sleeved on the second rotating shaft 70. The other end of the link 42 is a stop face and extends into the cavity of the link sleeve 41 to slide along the link sleeve 41, thereby realizing the extension and shortening of the first telescopic link 40.

[0046] Similarly, the second 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 an end face and a groove face respectively. The end face of the link sleeve 51 is provided with a through hole and is rotatably sleeved on the first rotating shaft 60. 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 third 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 shortening of the second telescopic link 50.

[0047] Specifically, in Figure 1 In the initial state (also called the zero state) shown in FIG. 1 , the stop surface of the connecting rod 42 abuts against the end surface of the connecting rod sleeve 41, and the stop surface of the connecting rod 52 abuts against the end surface of the connecting rod sleeve 51. When the first telescopic connecting rod 40 and the second telescopic connecting rod 50 rotate to one side relative to the initial state, for example, when rotating counterclockwise, as shown in FIG. Figure 3 As shown, the stop surface of the connecting rod 42 and the end surface of the connecting rod sleeve 41 are in contact, the stop surface of the connecting rod 52 and the end surface of the connecting rod sleeve 51 are gradually separated, and the stop surface of the connecting rod 52 slides in the connecting rod sleeve 51, thereby achieving the extension of the second telescopic connecting rod 50. When the first telescopic connecting rod 40 and the second telescopic connecting rod 50 rotate in the opposite direction to restore to the initial state, the stop surface of the connecting rod 42 and the end surface of the connecting rod sleeve 41 are still in contact, and the stop surface of the connecting rod 52 and the end surface of the connecting rod sleeve 51 gradually approach until they are in contact, and the stop surface of the connecting rod 52 slides in the connecting rod sleeve 51, thereby achieving the shortening of the second telescopic connecting rod 50.

[0048] When the first telescopic link 40 and the second telescopic link 50 rotate to the other side relative to the initial state, for example, when rotating clockwise, Figure 4As shown, the stop surface of the connecting rod 52 abuts against the end surface of the connecting rod sleeve 51, the stop surface of the connecting rod 42 separates from the end surface of the connecting rod sleeve 41, and the stop surface of the connecting rod 42 slides in the connecting rod sleeve 41, thereby achieving the extension of the first telescopic connecting rod 40. When the first telescopic connecting rod 40 and the second telescopic connecting rod 50 rotate in the opposite direction to restore to the initial state, the stop surface of the connecting rod 52 and the end surface of the connecting rod sleeve 51 still abut against each other, and the stop surface of the connecting rod 42 and the end surface of the connecting rod sleeve 41 gradually approach until they abut against each other, and the stop surface of the connecting rod 42 slides in the connecting rod sleeve 41, thereby achieving the shortening of the first telescopic connecting rod 40.

[0049] In other embodiments, the first telescopic link 40 and the second telescopic link 50 may also adopt other reasonable telescopic structures. For example, the first telescopic link 40 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 50 is the same as that of the first telescopic link 40.

[0050] Of course, in other embodiments, for the first telescopic link 40, the positions of the link sleeve 41 and the link 42 can be interchanged, that is, the link 42 is sleeved on the first rotating shaft 60, and the link sleeve 41 is sleeved on the second rotating shaft 70. Similarly, in other embodiments, for the second telescopic link 50, the positions of the link sleeve 51 and the link 52 can be interchanged, that is, the link 52 is sleeved on the first rotating shaft 60, and the link sleeve 51 is sleeved on the third rotating shaft 80.

[0051] In another embodiment of the present application, see Figures 1 to 4 The first telescopic link 40 and the second telescopic link 50 have the same length. In this way, the maximum angle at which the rotating member 3 drives the first telescopic link 40 to rotate is the same as the maximum angle at which the rotating member 3 drives the second telescopic link 50 to rotate, and the maximum angles at which the rotating member 3 can rotate to both sides are the same.

[0052] In other embodiments, the lengths of the first telescopic link 40 and the second telescopic link 50 are different, so that the maximum angles of rotation of the rotating member 3 to the two sides are different. According to the needs of practical applications, when the robot joints have different requirements for the size of work to be performed by rotating to the two sides, the lengths of the first telescopic link 40 and the second telescopic link 50 can be set to be different, so that the joint bidirectional energy storage device 1 can store and release different amounts of energy in the two directions.

[0053] Exemplarily, by changing the length of the connecting rod sleeve 41 of the first telescopic link 40 and the connecting rod sleeve 51 of the second telescopic link 50, the lengths of the first telescopic link 40 and the second telescopic link 50 are made different. At the same time, the positions of the first telescopic link 40 and the second telescopic link 50 are also different in the initial state of the joint bidirectional energy storage device 1.

[0054] See also Figure 1 The present application also provides a robot joint structure, which includes the above-mentioned joint bidirectional energy storage device 1, a joint body 2 and a rotating member 3. The rotating member 3 is rotatably mounted on the end of the joint body 2, and the rotating member 3 is connected to the load connecting member 4, and the load connecting member 4 is used to connect the load. A driving device is provided in the joint body 2, for example, the driving device is a motor, the driving device drives the rotating member 3 to rotate, and the rotating member 3 drives the load to do work through the load connecting member 4. The first telescopic link 40 and the second telescopic link 50 of the joint bidirectional energy storage device 1 are pivotally connected to different positions of the rotating member 3, respectively, so that the rotating member 3 drives the first telescopic link 40 and the second telescopic link 50 to rotate, and at the same time, the first telescopic link 40 and / or the second telescopic link 50 perform telescopic movement. The robot joint structure can be various rotary joints, such as knee joints, elbow joints, wrist joints, etc.

[0055] 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.

[0056] 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.

[0057] 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 20 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 using 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 opposite direction; the joint bidirectional energy storage device 1 can assist the joint to do positive and negative work on the load, and can meet the large demand for positive 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; 5) the joint bidirectional energy storage device 1 can be applied to any type of rotary joints, and has strong applicability.

[0058] 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, one end of the sleeve is an open end, the other end of the sleeve is a bottom end, and the interior of the sleeve has a receiving cavity; an elastic element, the elastic element being disposed in a receiving cavity in the sleeve; A sliding member, the sliding member is slidably disposed at the open end of the sleeve, and two ends of the elastic element abut against the inner wall of the bottom end of the sleeve and the sliding member respectively; a first telescopic link, one end of which is pivotally connected to the sliding member; a second telescopic link, one end of which is pivotally connected to the sliding member, and the other ends of each of the first telescopic link and the second telescopic link are pivotally connected to two spaced connection ends of the rotating member at the joint end, so that when the rotating member at the joint end rotates to one side, the first telescopic link is shortened and / or the second telescopic link is extended, so as to drive the sliding member to slide along the sleeve; and when the rotating member at the joint end rotates to the other side, the first telescopic link is extended and / or the second telescopic link is shortened, so as to drive the sliding member to slide along the sleeve; The sliding member has a protruding mounting portion, the mounting portion has a mounting hole, the joint bidirectional energy storage device includes a first rotating shaft, the first rotating shaft is nested in the mounting hole, and the ends of the first telescopic link and the second telescopic link are both provided with through holes and are respectively sleeved on the first rotating shaft; 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.

2. The joint bidirectional energy storage device according to claim 1, characterized in that: The sliding member is a sliding plate nested in the sleeve.

3. The joint bidirectional energy storage device according to claim 1, characterized in that: The joint bidirectional energy storage device comprises a stopper, which is fixed to the open end of the sleeve to prevent the sliding member from separating from the sleeve.

4. The joint bidirectional energy storage device according to claim 3, characterized in that: The blocking member is an annular blocking ring and is fitted and fixed to the edge of the opening end of the sleeve.

5. 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.

6. The joint bidirectional energy storage device according to any one of claims 1 to 5, characterized in that: The lengths of the first telescopic link and the second telescopic link are the same or different.

7. A robot joint structure, characterized in that: include: Joint body; A rotating member rotatably mounted on an end of the joint body; According to the joint bidirectional energy storage device as described in any one of claims 1 to 6, the first telescopic link and the second telescopic link are pivotally connected to the rotating member.

8. A robot, characterized in that: It comprises a joint bidirectional energy storage device as described in any one of claims 1-6.

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