Human-computer interaction safety protection device and robot

Abstract

The present invention discloses a human-machine interaction safety protection device and a robot, comprising a first connecting member and a second connecting member arranged coaxially, wherein the first connecting member is transmission-connected to the second connecting member via at least one assembly, wherein the assembly comprises an elastic member and a limit block, and an annular structure is provided at one end of the first connecting member facing the second connecting member, wherein a slot is provided on the annular structure that is adapted to the limit block. In the present invention, through the provision of the limit block and the slot, when the external impact force or torque does not exceed the force or torque that is harmful to the human body, the limit block can abut against the slot and cause the second connecting member to be transmission-connected to the first connecting member, and when the external impact force or torque exceeds the force or torque that is harmful to the human body, the limit block can escape from the slot and cause the second connecting member to move relative to the first connecting member, thereby avoiding injury to the human body when the external impact force or torque exceeds the force or torque that is harmful to the human body.

Description

Technical Field

[0001] The present invention relates to the technical field, and more particularly to a human-machine interaction safety protection device and a robot. Background Art

[0002] With technological advancements, humanoid robots are gradually becoming part of our lives. Some are already being used in scenarios such as business tours, performances, education, and scientific research. In the future, they will also be widely used in factory manufacturing and home services. However, the interaction and collaboration between humans and robots can lead to safety issues, such as injuries from robots. Ensuring human safety during human-robot interaction is a key issue facing humanoid robots.

[0003] Current research on human-robot interaction safety focuses on collision perception, motion and trajectory planning, contact perception, and compliant control based on force and visual sensor feedback. This requires extensive human-robot interaction information, demands high real-time performance, and is difficult to handle in emergencies, such as a collision with a child. Adding safety features to the design of humanoid robots is an important approach to addressing human-robot interaction safety.

[0004] Patent publication number CN117484539A discloses a robot joint compliance device that can buffer the impact force or torque generated by the robot's end effector contacting and colliding with a target in both plane-orthogonal and rotational directions. However, it cannot eliminate the impact force or torque during a human-robot collision or at a later time. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to avoid causing harm to the human body when the external impact force or torque exceeds the force or torque that is harmful to the human body.

[0006] The present invention solves the above-mentioned technical problems through the following technical means: a human-computer interaction safety protection device, comprising a first connecting member and a second connecting member arranged coaxially, the first connecting member being transmission-connected to the second connecting member through at least one assembly, the assembly comprising an elastic member and a limit block, the first connecting member being provided with an annular structure at one end facing the second connecting member, the annular structure being provided with a slot adapted to the limit block, one end of the elastic member being connected to the second connecting member, and the other end being abutted against the slot through the limit block, when the external impact force or torque does not exceed the force or torque that is harmful to the human body, the limit block can abut against the slot and cause the second connecting member to be transmission-connected to the first connecting member, when the external impact force or torque exceeds the force or torque that is harmful to the human body, the limit block can escape from the slot and cause the second connecting member and the first connecting member to move relative to each other.

[0007] As a preferred technical solution, one end portion of the elastic member is wrapped around the outside of the limit block, and a plurality of radial slots are opened in the circumference thereof.

[0008] As a preferred technical solution, the limit block includes a steel ball, the slot includes a ball socket adapted to the steel ball, and the force causing the steel ball to escape from the ball socket is the same as the force or torque causing harm to the human body.

[0009] As a preferred technical solution, an outer edge of one end of the second connecting member extends toward the first connecting member, and a plurality of mounting holes adapted to the elastic member are provided on the second connecting member, and the mounting holes can abut against the elastic member.

[0010] As a preferred technical solution, a pin hole is further provided in the mounting hole along the extending direction of the second connecting member, a pin shaft is provided in the pin hole, and a limiting groove adapted to the pin shaft is provided on the elastic member.

[0011] As a preferred technical solution, a terminating circular hole is provided at one end of the radial slit facing the second connecting member.

[0012] As a preferred technical solution, a connecting flange is fixed to one end of the first connecting member facing away from the second connecting member, and a plurality of external interfaces are provided on one end of the second connecting member facing away from the first connecting member.

[0013] As a preferred technical solution, the plurality of radial slits are distributed at equal angles along the axis of the elastic member.

[0014] As a preferred technical solution, the annular structure is further provided with a rolling track adapted to the limiting block.

[0015] A robot includes a shoulder joint, an elbow joint, and a wrist joint, wherein the shoulder joint is transmission-connected to the elbow joint, and the elbow joint is transmission-connected to the wrist joint. The robot also includes a human-machine interaction safety protection device, wherein the shoulder joint includes shoulder joint 1, shoulder joint 2, and shoulder joint 3, wherein shoulder joint 1 is fixedly connected to a second connecting member, shoulder joint 2 is fixedly connected to a first connecting member, and shoulder joint 2 is transmission-connected to the elbow joint via shoulder joint 3.

[0016] The advantages of the present invention are:

[0017] (1) In the present invention, by setting the limit block and the slot, when the external impact force or torque does not exceed the force or torque that is harmful to the human body, the limit block can abut against the slot and cause the second connecting member to be transmission-connected with the first connecting member. When the external impact force or torque exceeds the force or torque that is harmful to the human body, the limit block can escape from the slot and cause the second connecting member to move relative to the first connecting member, thereby avoiding injury to the human body when the external impact force or torque exceeds the force or torque that is harmful to the human body.

[0018] (2) In the present invention, by providing a radial slit in the circumferential direction of the elastic member, one end of the elastic member can be opened to release the steel ball and remove it from the ball socket, thereby improving the protection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a partial cross-sectional structure of a protection device provided in Example 1 of the present invention;

[0020] Figure 2 A schematic diagram of a cross-sectional front view of the protective device provided in Example 1 of the present invention;

[0021] Figure 3 This is a schematic diagram of the inner ring structure provided in Example 1 of the present invention;

[0022] Figure 4 A schematic diagram of the elastic member structure provided in Example 1 of the present invention;

[0023] Figure 5 This is a schematic diagram of the outer ring structure provided in Example 1 of the present invention;

[0024] Figure 6 A schematic diagram of the shoulder joint structure provided in Example 2 of the present invention;

[0025] Figure 7 A schematic diagram of the robot structure provided in Example 2 of the present invention;

[0026] Figure numbers: 1. Protective device; 11. Inner ring; 111. Connecting flange; 112. Raceway; 113. Ball socket; 12. Outer ring; 121. Mounting hole; 122. Pin hole; 123. External interface; 13. Elastic member; 131. Limiting groove; 132. Radial gap; 133. Termination circular hole; 14. Steel ball; 15. Pin shaft; 2. Shoulder joint 1; 3. Shoulder joint 2; 4. Shoulder joint 3; 5. Elbow joint; 6. Wrist joint. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0028] Example 1

[0029] See Figure 1 、 Figure 2, a human-computer interaction safety protection device includes a protection device 1, which includes a first connecting member and a second connecting member arranged coaxially, the first connecting member being transmission-connected to the second connecting member through at least one assembly, the assembly including an elastic member 13 and a limit block, the first connecting member is provided with an annular structure at one end facing the second connecting member, the annular structure is provided with a slot adapted to the limit block, one end of the elastic member 13 is connected to the second connecting member, and the other end is abutted against the slot through the limit block, when the external impact force or torque does not exceed the force or torque that causes harm to the human body, the limit block can abut against the slot and cause the second connecting member to be transmission-connected to the first connecting member, when the external impact force or torque exceeds the force or torque that causes harm to the human body, the limit block can escape from the slot and cause the second connecting member and the first connecting member to move relative to each other.

[0030] It should be noted that, in this embodiment, four assemblies are provided, and the assemblies are distributed at equal angles along the circumference of the annular structure. The first connecting member includes an inner ring 11, the second connecting member includes an outer ring 12, the limit block includes a steel ball 14, and the slot includes a ball socket 113 adapted to the steel ball 14. The force or torque when the steel ball 14 is separated from the elastic member 13 or the steel ball 14 falls out of the ball socket 113 is a force or torque that causes harm to the human body.

[0031] See Figure 4 One end of the elastic member 13 is partially wrapped around the outside of the steel ball 14, and a plurality of radial slots 132 with equal angles are opened in the circumference thereof. A terminating circular hole 133 is provided at one end of the radial slot 132 facing the outer ring 12. The opening of the radial slot 132 can facilitate the opening of one end of the elastic member 13, thereby releasing the steel ball 14 and escaping from the ball socket 113, and the setting of the terminating circular hole 133 can prevent the partial cracks from breaking and falling off.

[0032] See Figure 3 、 Figure 5The inner ring 11 is fixedly connected to the end away from the outer ring 12 with a connecting flange 111, which can be connected to the external motion mechanism through the connecting flange 111. The inner ring 11 is provided with an annular structure at the end facing the outer ring 12. Four ball sockets 113 are provided on the annular structure. The annular structure is provided with a raceway 112 in the circumferential direction. The raceway 112 is located between adjacent ball sockets 113. The outer edge of one end of the outer ring 12 extends toward the inner ring 11. The assembly is located between the outer edge and the annular structure. A plurality of mounting holes 121 are provided on the outer ring 12 to match the elastic member 13. The hole 121 can be offset against the elastic member 13. A pin hole 122 is further provided in the mounting hole 121 along the extension direction of the outer edge of the outer ring 12. A pin shaft 15 is provided in the pin hole 122. A limiting groove 131 adapted to the pin shaft 15 is provided on the elastic member 13. There are four pin holes 122, which are equidistant along the circumference of the outer ring 12 and correspond one to one to the four elastic members 13. A plurality of external interfaces 123 distributed at equal angles are provided at one end of the outer ring 12 away from the inner ring 11, which can be connected to a drive source or other external equipment through the external interface 123.

[0033] Directions:

[0034] Example 2

[0035] See Figure 6 、 Figure 7 The difference between this embodiment and embodiment 1 is that this embodiment also provides a robot including a protection device 1, especially a humanoid robot, including a shoulder joint, an elbow joint 5, and a wrist joint 6. The shoulder joint includes shoulder joint 1 2, shoulder joint 2 3, and shoulder joint 3 4. The wrist joint 6 includes wrist joint 1, wrist joint 2, and wrist joint 3. Shoulder joint 1 2 is fixedly connected to the outer ring 12, shoulder joint 2 3 is fixedly connected to the inner ring 11, shoulder joint 2 3 is transmission-connected to the elbow joint 5 through shoulder joint 3 4, elbow joint 5 is transmission-connected to wrist joint 1, wrist joint 1 is transmission-connected to wrist joint 2, and wrist joint 2 is transmission-connected to wrist joint 3.

[0036] Of course, the protection device 1 in this embodiment can also be set between the shoulder joint and the elbow joint 5, or between the elbow joint 5 and the wrist joint 6, and can also be set between any joint groups that use transmission, without being limited thereto.

[0037] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A human-computer interaction safety protection device, characterized in that: The invention comprises a first connecting member and a second connecting member arranged coaxially, wherein the first connecting member is transmission-connected to the second connecting member through at least one assembly, the assembly comprising an elastic member and a limit block, an annular structure is provided at one end of the first connecting member facing the second connecting member, a slot adapted to the limit block is provided on the annular structure, one end of the elastic member is connected to the second connecting member, and the other end is abutted against the slot through the limit block, when the external impact force or torque does not exceed the force or torque that is harmful to the human body, the limit block can abut against the slot, and cause the second connecting member to It is transmission-connected to the first connecting member. When the external impact force or torque exceeds the force or torque that is harmful to the human body, the limit block can escape from the slot and cause the second connecting member and the first connecting member to move relative to each other; one end of the elastic member is partially wrapped around the outside of the limit block, and a plurality of radial slits are opened in the circumference thereof, and the plurality of radial slits are distributed at equal angles along the axis of the elastic member. The first connecting member includes an inner ring, and the second connecting member includes an outer ring. An annular structure is provided at one end of the inner ring toward the outer ring, and an outer edge of one end of the outer ring extends toward the inner ring, and the assembly is located between the outer edge and the annular structure.

2. A human-computer interaction safety protection device according to claim 1, characterized in that: The limiting block includes a steel ball, and the clamping slot includes a ball socket adapted to the steel ball. The force of the steel ball falling out of the ball socket is the same as the force or torque that causes harm to the human body.

3. The human-computer interaction safety protection device according to claim 1, characterized in that: The second connecting member is provided with a plurality of mounting holes adapted to the elastic member, and the mounting holes can abut against the elastic member.

4. The human-computer interaction safety protection device according to claim 3, characterized in that: A pin hole is further provided in the mounting hole along the extending direction of the second connecting member, a pin shaft is provided in the pin hole, and a limiting groove adapted to the pin shaft is provided on the elastic member.

5. The human-computer interaction safety protection device according to claim 1, characterized in that: A terminating circular hole is provided at one end of the radial slot facing the second connecting member.

6. The human-computer interaction safety protection device according to claim 1, characterized in that: A connecting flange is fixed to one end of the first connecting member facing away from the second connecting member, and a plurality of external interfaces are provided on one end of the second connecting member facing away from the first connecting member.

7. The human-computer interaction safety protection device according to claim 1, characterized in that: The annular structure is also provided with a rolling track adapted to the limiting block.

8. A robot comprising a shoulder joint, an elbow joint, and a wrist joint, wherein the shoulder joint is connected to the elbow joint in a transmission manner, and the elbow joint is connected to the wrist joint in a transmission manner, characterized in that: It also includes the human-computer interaction safety protection device as described in any one of claims 1 to 7, wherein the shoulder joint includes shoulder joint 1, shoulder joint 2, and shoulder joint 3, the shoulder joint 1 is fixedly connected to the second connecting member, the shoulder joint 2 is fixedly connected to the first connecting member, and the shoulder joint 2 is transmission-connected to the elbow joint through shoulder joint 3.

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