Joints and robots

Abstract

The application provides a joint and a robot, the joint comprising a support frame, a first driving member fixed on the support frame, a second driving member movably installed on the support frame, a transmission assembly, the first driving member driving the second driving member to rotate around a first axis through the transmission assembly, a connecting member, the second driving member being drivingly connected with the connecting member, the second driving member providing driving force for the connecting member to rotate around a second axis, the connecting member being used for connecting with the joint, and the first axis and the second axis having a crossing point. The joint and the robot provided by the application can solve the problem that the joint structure in the prior art cannot simultaneously meet high load and high flexibility.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a joint and a robot. Background Technology

[0002] In the prior art, a structural solution for a multi-degree-of-freedom robotic arm is to use a combination of multiple single-degree-of-freedom joints to achieve multi-degree-of-freedom motion. Although this solution achieves multi-degree-of-freedom motion, the motion space is large, which is not suitable for scenarios with small working spaces.

[0003] Another approach uses a ball joint to achieve multi-degree-of-freedom rotation. However, due to its inherent structural characteristics, the ball joint structure has relatively low structural strength. Furthermore, when the ball joint structure is under pressure, all the force is concentrated at the ball joint, which can lead to excessive stress on the ball joint and easy damage. This results in a low load-bearing capacity and poor structural reliability of the ball joint structure. Increasing the structural stiffness of the ball joint would lead to a large moment of inertia.

[0004] It is evident that traditional multi-degree-of-freedom robotic arm structures suffer from problems such as large motion space or low structural strength, making them unsuitable for applications requiring high load and high flexibility. Summary of the Invention

[0005] The main objective of this invention is to provide joints and robots to solve the problem that existing joint structures cannot simultaneously meet the requirements of high load and high flexibility.

[0006] To achieve the above objectives, according to one aspect of the present invention, a joint is provided, comprising: a support frame; a first driving member fixed to the support frame; a second driving member movably mounted on the support frame; a transmission assembly, wherein the first driving member drives the second driving member to rotate about a first axis; and a connecting member, wherein the second driving member is drivenly connected to the connecting member, the second driving member providing driving force for the connecting member to rotate about a second axis, the connecting member being used to connect to a member to be connected, and the first axis and the second axis having an intersection point.

[0007] Furthermore, the length direction of the support frame is perpendicular to the length direction of the first axis, and the first driving member and the second driving member are respectively disposed at both ends of the support frame along the length direction of the support frame.

[0008] Furthermore, the length direction of the support frame is perpendicular to the length direction of the first axis, the first drive member is fixed on the support frame, and the extension direction of the output shaft of the first drive member is perpendicular to both the length direction of the support frame and the first axis.

[0009] Furthermore, the joint also includes a connecting sleeve having a receiving cavity, at least a portion of the second driving member is housed inside the receiving cavity, the second driving member is rotatably connected to the support frame via the connecting sleeve, and a connecting member is disposed on one side of the connecting sleeve along the length direction of the second axis.

[0010] Furthermore, the connecting sleeve includes: a sleeve, the axis of which is collinear with the second axis, and the outer peripheral wall of the sleeve is rotatably connected to the support frame; a fixing plate, which covers one of the openings of the sleeve, and the fixing plate and the sleeve form a receiving cavity, and the fixing plate has a through hole for the output shaft of the second driving member to pass through.

[0011] Furthermore, the connector along the length of the second axis is located outside the fixed plate and is driven to connect with the output shaft of the second drive unit.

[0012] Furthermore, the connector includes a first plate segment and a second plate segment arranged at an angle, the output shaft of the second drive member is drivenly connected to the first plate segment, the distance between the connection point of the first plate segment and the second drive member and the second plate segment is greater than the radius of the sleeve; and / or the extension length of the second plate segment along the length direction of the second axis is greater than the extension length of the sleeve.

[0013] Furthermore, the support frame includes two support arms spaced apart along the length of the first axis, with at least a portion of the sleeve located between the two support arms.

[0014] Furthermore, the sleeve has a first rotating structure extending along the length direction of the first axis, and the support arm has a second rotating structure extending along the length direction of the first axis. The first rotating structure and the second rotating structure cooperate and are rotatably connected about the first axis.

[0015] Furthermore, the connecting sleeve has a protrusion that protrudes toward the side of the first driving member, and an elongated hole extending along the length direction of the second axis is provided on the protrusion, and at least a part of the transmission assembly is slidably disposed inside the elongated hole.

[0016] Furthermore, the transmission assembly includes: a slider, a portion of which is slidably disposed within the elongated hole, and at least another portion of which is disposed outside the through hole; a connecting assembly, a first driving member being drivenly connected to a first end of the connecting assembly, and a second end of the connecting assembly being rotatably connected to the slider; the first driving member driving the slider to reciprocate along the length direction of the support frame via the connecting assembly.

[0017] Furthermore, the connecting assembly includes: a rotating disk, which is drivenly connected to the first driving member; and a connecting rod, the first end of which is rotatably connected to the rotating disk, and the second end of which is rotatably connected to the slider. The connecting rod is installed at an eccentric position on the rotating disk, and the rotating disk drives the first end of the connecting rod to rotate circumferentially along the rotating disk, while the second end of the connecting rod drives the slider to reciprocate along the length of the support frame.

[0018] Furthermore, a protrusion is provided on the outer circumferential surface of the rotating disk, and the connecting rod is rotatably connected to the protrusion. The rotating disk drives the connecting rod to rotate through the protrusion.

[0019] According to another aspect of the present invention, a robot is provided, including the aforementioned joints.

[0020] By applying the technical solution of this invention, the following technical effects are achieved:

[0021] 1. By converging the first and second rotating shafts to a single point, when the first and second driving components are driven to move, the connecting component will rotate around this converged point as the center of the ball, thereby simulating the human wrist joint and making the movement of the simulated joint closer to the movement of a real person.

[0022] 2. The second drive component cannot be directly installed on the support frame. It is installed through a connecting sleeve, which facilitates the placement of the second drive component.

[0023] 3. By setting the connection point between the connecting rod and the rotating disk on the outer circumference of the rotating disk, the connecting rod moves a longer distance after the rotating disk rotates once. This allows the slider to move a longer distance, which in turn allows the connecting sleeve to swing at a larger angle, increasing the rotation range of the simulated joint. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0025] Figure 1 This is a schematic diagram of the overall structure of the joint of the present invention;

[0026] Figure 2 This is a schematic diagram of the connecting sleeve structure of the present invention;

[0027] Figure 3 This is a schematic diagram of the transmission component of the present invention.

[0028] The above figures include the following reference numerals:

[0029] 1. Support frame; 11. Support arm; 12. Second rotating structure; 2. First driving component; 3. Second driving component; 4. Transmission assembly; 41. Slider; 42. Connecting assembly; 421. Rotating disk; 4211. Protrusion; 422. Connecting rod; 5. Connecting component; 6. Connecting sleeve; 61. Sleeve; 611. First rotating structure; 62. Fixing plate; 621. Through hole; 63. Receiving cavity; 64. Protrusion; 65. Elongated hole. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0032] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0033] To address the problem of limited wrist joint flexibility in existing technologies, this invention provides an anthropomorphic wrist joint that increases flexibility through the mutual rotation of multiple swinging parts.

[0034] Example 1

[0035] A type of joint, see Figures 1 to 3 It includes a support frame 1, a first driving member 2, a second driving member 3, a transmission assembly 4, and a connecting member 5. The first driving member 2 is fixed on the support frame 1, and the second driving member 3 is movably mounted on the support frame 1. The first driving member 2 drives the second driving member 3 to move around a first axis through the transmission assembly 4. The second driving member 3 is driven to connect with the connecting member 5. The second driving member 3 provides driving force for the connecting member 5 to rotate around a second axis. The connecting member 5 is used to connect with the part to be connected. The first axis and the second axis have an intersection point.

[0036] In this embodiment, the joint simulates the wrist joint of a human wrist. However, in actual use, adjustments will be made according to the actual needs to achieve the simulation of other joints.

[0037] When the first drive component 2 and the second drive component 3 move, the connector 5 mounted on the second drive component 3 will rotate around the intersection of the first axis and the second axis. The first drive component 2 can work simultaneously with the second drive component 3, or only one of the first drive component 2 and the second drive component 3 can work alone, realizing the rotation of the connector 5 in different directions and at different angles. In this way, the human wrist joint is simulated, making the movement of the wrist joint more flexible and realistic, so as to meet the needs of actual use. The connector can be a joint or an actuator.

[0038] Furthermore, the length direction of the support frame 1 is perpendicular to the length direction of the first axis, and the first driving member 2 and the second driving member 3 are respectively arranged at both ends of the support frame 1 along the length direction of the support frame 1.

[0039] The first driving component 2 and the second driving component 3 are positioned at both ends of the support frame 1 along its length. This allows the first driving component 2 and the second driving component 3 to work independently, avoiding any interference.

[0040] Furthermore, the length direction of the support frame 1 is perpendicular to the length direction of the first axis, the first drive member 2 is fixed on the support frame 1, and the extension direction of the output shaft of the first drive member 2 is perpendicular to both the length direction of the support frame 1 and the first axis.

[0041] The position of the output shaft of the first drive component 2 is defined so that it is perpendicular to the length direction of the support frame 1 and the direction of the first axis. This facilitates the installation and adjustment of other components and increases the rationality of the layout of other components.

[0042] Furthermore, the joint also includes a connecting sleeve 6, which has a receiving cavity 63. At least a portion of the second driving member 3 is housed inside the receiving cavity 63. The second driving member 3 is rotatably connected to the support frame 1 through the connecting sleeve 6. A connecting member 5 is disposed on one side of the connecting sleeve 6 along the length direction of the second axis.

[0043] The second driving component 3 is generally a motor. However, existing motors are insufficient for connecting the support frames 1. Therefore, a connecting sleeve 6 is provided on the support frame 1 to mount the motor onto the support frame 1. The cavity inside the connecting sleeve 6 is used to place the second driving component 3 and to connect and fix it, so that when the first driving component 2 drives the connecting sleeve 6 to rotate, the connecting sleeve 6 drives the second driving component 3 to rotate synchronously.

[0044] Furthermore, the connecting sleeve 6 includes a sleeve 61 and a fixing plate 62. The axis of the sleeve 61 is collinear with the second axis. The outer peripheral wall of the sleeve 61 is rotatably connected to the support frame 1. The fixing plate 62 covers one of the openings of the sleeve 61. The fixing plate 62 and the sleeve 61 form a receiving cavity 63. The fixing plate 62 has a through hole 621 for the output shaft of the second driving member 3 to pass through.

[0045] The second axis is the axial direction of the output shaft of the second drive unit 3.

[0046] In this embodiment, the sleeve 61 is a cylindrical structure with two openings at both ends. The fixing plate 62 is fixed at one of its openings, and the second driving member 3 is located within the receiving cavity 63 formed between the fixing plate 62 and the sleeve 61. The axis of the sleeve 61 is collinear with the second axis, so the direction of the output shaft of the second driving member 3 is the direction of the second axis, which facilitates the movement of the connecting member 5 after the second driving member 3 operates. The fixing plate 62 can be correspondingly provided with fixing connection holes for fixing the second driving member 3, so that the second driving member 3 can be stably fixed in the connecting sleeve 6.

[0047] Furthermore, the connector 5 along the length of the second axis is located outside the fixed plate 62 and is driven connected to the output shaft of the second drive member 3.

[0048] Specifically, the connector 5 is located on the outside of the fixed plate 62. In this way, when the second driving member 3 drives the connector 5 to work, the connector 5 located on the outside of the fixed plate 62 will not be affected by other parts and can move without obstruction.

[0049] Furthermore, the connector 5 includes a first plate segment and a second plate segment set at an angle, the output shaft of the second drive member 3 is drivenly connected to the first plate segment, the distance between the connection point of the first plate segment and the second drive member 3 and the second plate segment is longer than the radius of the sleeve 61, and the extension length of the second plate segment along the length direction of the second axis is longer than the extension length of the sleeve 61.

[0050] In this embodiment, the first plate segment serves as a connector, while the second plate segment connects to external parts. The distance from the connection point between the first plate segment and the second driving member 3 to the second plate segment is greater than the radius of the sleeve 61. This ensures that after the connecting member 5 is driven to move, the second plate segment can always rotate outside the connecting sleeve 6 without interfering with other parts, thus increasing the stability of the second plate segment's movement. The extension length of the second plate segment along the second axis is greater than the extension length of the sleeve 61. Since the second plate segment connects to external parts, increasing its length increases its load-bearing area, thereby increasing the strength and stability of the connection.

[0051] Furthermore, the support frame 1 includes two support arms 11 spaced apart along the length of the first axis, and at least a portion of the sleeve 61 is located between the two support arms 11.

[0052] The support arm 11 supports and connects the connecting sleeve 6, thereby facilitating the movement of the connecting sleeve 6 and the second driving member 3 on the support frame 1. In this embodiment, the arrangement of two support arms 11 helps to enhance the stability of the support provided by the support arms 11, and the arrangement of two support arms 11 also helps to simulate the position of human joints.

[0053] Furthermore, the sleeve 61 has a first rotating structure 611 extending along the length direction of the first axis, and the support arm 11 has a second rotating structure 12 extending along the length direction of the first axis. The first rotating structure 611 and the second rotating structure 12 cooperate and are rotatably connected about the first axis.

[0054] In this configuration, the first rotating structure 611 is a hole and the second rotating structure 12 is a shaft; or the first rotating structure 611 is a shaft and the second rotating structure 12 is a hole. The rotational fit between the shaft and the hole facilitates the relative rotation between the connecting sleeve 6 and the support arm 11.

[0055] Furthermore, the connecting sleeve 6 has a protrusion 64 that protrudes toward the side of the first driving member 2, and an elongated hole 65 extending along the length direction of the second axis is provided on the protrusion 64, and at least a part of the transmission assembly 4 is slidably disposed inside the elongated hole 65.

[0056] By placing a part of the transmission component 4 inside the elongated hole 65, and by sliding the transmission component 4 inside the elongated hole 65, the transmission component 4 drives the connecting sleeve 6 to move. The transmission component 4 drives the connecting sleeve 6 to rotate around the first axis by sliding inside the elongated hole 65.

[0057] Furthermore, the transmission assembly 4 includes a slider 41 and a connecting assembly 42. A portion of the slider 41 is slidably disposed within the elongated hole 65, and at least another portion of the slider 41 is disposed outside the elongated hole 65. The first driving member 2 is drivenly connected to the first end of the connecting assembly 42, and the second end of the connecting assembly 42 is rotatably connected to the slider 41. The first driving member 2 drives the slider 41 to reciprocate along the length direction of the support frame 1 through the connecting assembly 42.

[0058] The connecting end of the connecting component 42 and the slider 41 is rotatably connected to the slider 41 through a rotating shaft that extends axially along the output shaft of the first driving member 2; the part of the slider 41 located inside the elongated hole 65 is a shaft structure that extends axially along the first axis, and the shaft structure is rotatably engaged with the part of the slider 41 located outside the elongated hole 65.

[0059] Furthermore, the connecting component 42 reciprocates along the length of the support frame 1 under the drive of the first driving member 2, thereby driving the slider 41 to move, so that the slider 41 slides in the elongated hole 65, thereby driving the connecting sleeve 6 to rotate around the first axis through the slider 41.

[0060] Furthermore, the connecting assembly 42 includes a rotating disk 421 and a connecting rod 422. The rotating disk 421 is drivenly connected to the first driving member 2. The first end of the connecting rod 422 is rotatably connected to the rotating disk 421, and the second end of the connecting rod 422 is rotatably connected to the slider 41. The connecting rod 422 is installed at an eccentric position on the rotating disk 421. The rotating disk 421 drives the first end of the connecting rod 422 to rotate circumferentially along the rotating disk 421, and the second end of the connecting rod 422 drives the slider 41 to reciprocate along the length direction of the support frame 1.

[0061] The output shaft of the first driving component 2 drives the rotating disk 421 to rotate. After the rotating disk 421 rotates, it drives the connecting rod 422 connected to the rotating disk 421 to make a circular motion along the circumference of the disk. Since the connecting rod 422 is set at the eccentric position of the rotating disk 421, the rotation of the rotating disk 421 will cause the position of the connecting rod 422 in the length direction of the support frame 1 to change, which in turn causes the position of the other end of the connecting rod 422 to change, so that the slider 41 can slide in the elongated hole 65.

[0062] Furthermore, a protrusion 4211 is provided on the outer peripheral surface of the rotating disk 421, and the connecting rod 422 is rotatably connected to the protrusion 4211. The rotating disk 421 drives the connecting rod 422 to rotate through the protrusion 4211.

[0063] In this embodiment, the connecting rod 422 is connected to the protrusion 4211 fixed on the outer circumferential surface of the rotating disk 421. Thus, when the rotating disk 421 rotates one revolution, the displacement length of the connecting rod 422 at the connection position with the rotating disk 421 along the length direction of the support frame 1 is relatively large. This allows the connecting rod 422 to move a large amplitude of displacement along the length direction of the support frame 1, which in turn makes the slider 41 slide a large length within the elongated hole 65, ultimately resulting in a large amplitude of rotation of the connecting sleeve 6.

[0064] Example 2

[0065] This embodiment provides a robot, including the joints described in Embodiment 1.

[0066] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0067] 1. By converging the first and second rotating shafts to a single point, when the first driving component 2 and the second driving component 3 are driven to move, the connecting component 5 will rotate with this converged point as the center of the ball, thereby simulating the human wrist joint and making the movement of the simulated joint closer to the movement of a real person.

[0068] 2. The second drive component 3 cannot be directly installed on the support frame 1. The second drive component 3 is installed through the connecting sleeve 6, which facilitates the placement of the second drive component 3.

[0069] 3. By setting the connection between the connecting rod 422 and the rotating disk 421 on the outer periphery of the rotating disk 421, the connecting rod 422 moves a longer distance after the rotating disk 421 rotates one revolution. This allows the slider 41 to move a longer distance, which in turn allows the connecting sleeve 6 to swing at a larger angle, increasing the rotation range of the simulated joint.

[0070] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0071] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0072] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0073] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A joint, characterized in that, include: Support frame (1); The first driving component (2) is fixed on the support frame (1); The second driving component (3) is movably mounted on the support frame (1); The transmission assembly (4) is used to drive the second drive member (3) to rotate around the first axis via the transmission assembly (4); The connector (5) is driven to the second drive member (3), which provides a driving force for the connector (5) to rotate around the second axis. The connector (5) is used to connect with the component to be connected. The first axis and the second axis have an intersection point. Connecting sleeve (6), the connecting sleeve (6) has an elongated hole (65) extending along the length direction of the second axis; The transmission assembly (4) includes a slider (41) and a connecting assembly (42). A portion of the slider (41) is slidably disposed in the elongated hole (65), and at least another portion of the slider (41) is disposed outside the elongated hole (65). The first driving member (2) is drivenly connected to the first end of the connecting assembly (42), and the second end of the connecting assembly (42) is rotatably connected to the slider (41). The first driving member (2) drives the slider (41) to reciprocate along the length direction of the support frame (1) through the connecting assembly (42).

2. The joint according to claim 1, characterized in that, The length direction of the support frame (1) is perpendicular to the length direction of the first axis. The first driving member (2) and the second driving member (3) are respectively disposed at both ends of the support frame (1) along the length direction of the support frame (1).

3. The joint according to claim 1, characterized in that, The length direction of the support frame (1) is perpendicular to the length direction of the first axis. The first drive member (2) is fixed on the support frame (1). The extension direction of the output shaft of the first drive member (2) is perpendicular to both the length direction of the support frame (1) and the first axis.

4. The joint according to claim 1, characterized in that, The connecting sleeve (6) has a receiving cavity (63), at least a portion of the second driving member (3) is housed inside the receiving cavity (63), the second driving member (3) is rotatably connected to the support frame (1) through the connecting sleeve (6), and the connecting member (5) is disposed on one side of the connecting sleeve (6) along the length direction of the second axis.

5. The joint according to claim 4, characterized in that, The connecting sleeve (6) includes: Sleeve (61), the axis of the sleeve (61) is collinear with the second axis, and the outer peripheral wall of the sleeve (61) is rotatably connected to the support frame (1); A fixing plate (62) is provided, which covers one of the openings of the sleeve (61). The fixing plate (62) and the sleeve (61) form the receiving cavity (63). A through hole (621) is provided on the fixing plate (62) for the output shaft of the second driving member (3) to pass through.

6. The joint according to claim 5, characterized in that, The connector (5) is located outside the fixed plate (62) along the length of the second axis and is driven to connect with the output shaft of the second drive (3).

7. The joint according to claim 6, characterized in that, The connector (5) includes a first plate segment and a second plate segment set at an angle, and the output shaft of the second drive member (3) is drivenly connected to the first plate segment. The distance from the connection point between the first plate segment and the second driving member (3) to the second plate segment is greater than the radius of the sleeve (61); and / or The extension length of the second plate segment along the length direction of the second axis is greater than the extension length of the sleeve (61).

8. The joint according to claim 6, characterized in that, The support frame (1) includes two support arms (11) spaced apart along the length of the first axis, and at least a portion of the sleeve (61) is located between the two support arms (11).

9. The joint according to claim 8, characterized in that, The sleeve (61) has a first rotating structure (611) extending along the length direction of the first axis, and the support arm (11) has a second rotating structure (12) extending along the length direction of the first axis. The first rotating structure (611) and the second rotating structure (12) cooperate and are rotatably connected about the first axis.

10. The joint according to claim 4, characterized in that, The connecting sleeve (6) has a protrusion (64) that protrudes toward the side of the first driving member (2), and the protrusion (64) has the elongated hole (65), and at least a portion of the transmission assembly (4) is slidably disposed inside the elongated hole (65).

11. The joint according to claim 1, characterized in that, The connection component (42) includes: Rotating disk (421), the rotating disk (421) is drivenly connected to the first driving member (2); The connecting rod (422) has its first end rotatably connected to the rotating disk (421) and its second end rotatably connected to the slider (41). The connecting rod (422) is installed at an eccentric position on the rotating disk (421). The rotating disk (421) drives the first end of the connecting rod (422) to rotate circumferentially along the rotating disk (421), and the second end of the connecting rod (422) drives the slider (41) to reciprocate along the length direction of the support frame (1).

12. The joint according to claim 11, characterized in that, The outer circumferential surface of the rotating disk (421) is provided with a protrusion (4211), and the connecting rod (422) is rotatably connected to the protrusion (4211). The rotating disk (421) drives the connecting rod (422) to rotate through the protrusion (4211).

13. A robot, characterized in that, Includes the joint described in any one of claims 1-12.

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