Connecting mechanism and robot

Abstract

The application discloses a connecting mechanism and a robot. The connecting mechanism comprises a first connecting body, a first fixing seat, a second fixing seat, a first electric push rod, a second electric push rod, a first spherical hinge, a second spherical hinge, a third spherical hinge, a fourth spherical hinge, a rotating frame and a rotating motor, the motor end of the rotating motor is used for connecting the second connecting body; the first electric push rod and the second electric push rod are arranged in parallel along a first direction, the output ends of the first electric push rod and the second electric push rod can be respectively telescopic along a second direction, the first fixing seat and the second fixing seat are respectively fixed on one side of the first connecting body, the other side of the first connecting body is hinged to the rotating frame, the rotating frame is fixed on the output end of the rotating motor, the first spherical hinge and the second spherical hinge are both convex head spherical hinges, and the first spherical hinge, the second spherical hinge, the third spherical hinge and the fourth spherical hinge can limit the freedom degree of the first electric push rod and the second electric push rod in the first direction, so that the activity noise of the connecting mechanism is reduced, and the overall performance is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent devices, and more particularly, to a connecting mechanism and a robot. BACKGROUND

[0002] With the continuous development of artificial intelligence and robot technology, humanoid robots have been widely used in industry, service industry and daily life. In practical applications, the joints and other connecting parts of humanoid robots are prone to produce noise during movement, affecting their overall performance. SUMMARY

[0003] An object of the present application is to provide a new technical solution for a connecting mechanism and a robot.

[0004] According to a first aspect of the present application, a connecting mechanism applied to a robot is provided, comprising:

[0005] A first connecting body, a first fixed seat, a second fixed seat, a first electric push rod, a second electric push rod, a first spherical hinge, a second spherical hinge, a third spherical hinge, a fourth spherical hinge, a rotating frame and a rotating motor, the motor end of the rotating motor being used to connect the second connecting body;

[0006] The first electric push rod and the second electric push rod are arranged in parallel along a first direction, and the output ends thereof can respectively extend and retract along a second direction, the first fixed seat and the second fixed seat are respectively fixed on one side of the first connecting body, and the other side of the first connecting body is hinged to the rotating frame, so that the first connecting body can rotate around the first direction and a third direction;

[0007] The rotating frame is fixed on the output end of the rotating motor, so that the first connecting body can rotate around the second direction relative to the second connecting body, the second direction being perpendicular to the first direction, and the third direction being perpendicular to the first direction and the second direction;

[0008] The motor end of the first electric push rod is hinged to the first fixed seat through the first spherical hinge, and the output end thereof is hinged to the rotating frame through the third spherical hinge, the motor end of the second electric push rod is hinged to the second fixed seat through the second spherical hinge, and the output end thereof is hinged to the rotating frame through the fourth spherical hinge;

[0009] The first spherical hinge, the second spherical hinge, the third spherical hinge and the fourth spherical hinge can limit the degrees of freedom of the first electric push rod and the second electric push rod in the first direction, and the first spherical hinge and the second spherical hinge are both convex head spherical hinges.

[0010] Optionally, it further comprises a first plug bolt, a second plug bolt, a third plug bolt and a fourth plug bolt.

[0011] The first and second jackscrews are respectively arranged on the first and second fixed bases along the first direction, and the third and fourth jackscrews are respectively arranged on the rotating frame along the first direction;

[0012] The first spherical hinge is hinged to the first fixed base through the first jackscrew, the second spherical hinge is hinged to the second fixed base through the second jackscrew, and the third and fourth spherical hinges are respectively hinged to the rotating frame through the third and fourth jackscrews.

[0013] Optionally, it further comprises a first pad and a second pad, the first pad is fixed on the first fixed base, and the second pad is fixed on the second fixed base;

[0014] The first pad extends to a position in contact with the convex head on both sides of the first spherical hinge, and the second pad extends to a position in contact with the convex head on both sides of the second spherical hinge, and the first and second pads are made of copper or copper alloy material.

[0015] Optionally, it further comprises two first gap compensation screws, two first nuts, two second gap compensation screws and two second nuts;

[0016] The two first gap compensation screws are respectively arranged on the first fixed base along the first direction, and one end of each is respectively arranged on the two first pads, and the two first nuts are respectively arranged at the other end of the two first gap compensation screws;

[0017] The two second gap compensation screws are respectively arranged on the second fixed base along the first direction, and one end of each is respectively arranged on the two second pads, and the two second nuts are respectively arranged at the other end of the two second gap compensation screws.

[0018] Optionally, it further comprises a third pad and a fourth pad, the third and fourth pads are both silica gel pads and are respectively fixed on the rotating frame;

[0019] The third pad extends to at least both sides of the third spherical hinge, and the fourth pad extends to at least both sides of the fourth spherical hinge, so as to limit the freedom of the third and fourth spherical hinges in the first direction.

[0020] Optionally, it further comprises a cross shaft, the other side of the first connecting body is hinged to the rotating frame through the cross shaft;

[0021] The cross shaft comprises a first rotating shaft extending in the first direction and a second rotating shaft extending in the third direction.

[0022] Optionally, it further comprises four tapered roller bearings, two ends of the first rotating shaft are respectively hinged to the rotating frame through one of the tapered roller bearings, and two ends of the second rotating shaft are respectively hinged to the first connecting body through one of the tapered roller bearings.

[0023] Optionally, the first connecting body is provided with a first limiting part, a second limiting part and a third limiting part.

[0024] The first limiting part is used to limit the rotation angle of the first rotating shaft, the second limiting part is used to limit the rotation angle of the second rotating shaft, and the third limiting part is used to limit the rotation angle of the output end of the rotating motor.

[0025] Optionally, it further comprises a quick release seat, a plurality of cylindrical pins and a plurality of fasteners, the quick release seat is fixed to the end face of the output end of the rotating motor.

[0026] The plurality of cylindrical pins are interference-fitted to the circumferential side of the rotating frame, the circumferential side of the quick release seat is provided with a plurality of limiting grooves corresponding to the plurality of cylindrical pins, and the plurality of cylindrical pins are one-to-one corresponding to the plurality of limiting grooves, so that the rotating frame can be detachably assembled on the quick release seat.

[0027] The limiting grooves can limit the movement of the rotating frame in the rotation direction of the rotating motor through the cylindrical pins, and the rotating frame and the quick release seat are fastened and connected in the second direction through the plurality of fasteners.

[0028] According to a second aspect of the present application, a robot is provided, comprising the connecting mechanism of the first aspect.

[0029] According to an embodiment of the present application, the two electric push rods and the rotating motor arranged in parallel can realize the rotation freedom of the first connecting body relative to the second connecting body in the first direction, the second direction and the third direction. The arrangement of the first spherical hinge, the second spherical hinge, the third spherical hinge and the fourth spherical hinge can limit the freedom of the two electric push rods when the first connecting body rotates in the first direction and the third direction. In addition, the first spherical hinge and the second spherical hinge are arranged as convex head spherical hinges, which greatly limits the self-rotation of the first electric push rod and the second electric push rod at the motor end, avoids the vibration impact caused by self-rotation, improves the stability of the connecting mechanism and reduces the activity noise.

[0030] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, which description should be taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0032] Figure 1 is one of the structural schematic diagrams of a connecting mechanism provided by the present application (without a rotary motor).

[0033] Figure 2 is another of the structural schematic diagrams of a connecting mechanism provided by the present application (without a rotary motor).

[0034] Figure 3 is an assembly schematic diagram of a rotary frame and a rotary motor provided by the present application.

[0035] Figure 4 is one of the connection schematic diagrams of a first spherical hinge and a first fixed seat provided by the present application.

[0036] Figure 5 is another of the connection schematic diagrams of a first spherical hinge and a first fixed seat provided by the present application.

[0037] Figure 6 is a sectional view of the connection of a first spherical hinge and a first fixed seat provided by the present application.

[0038] Figure 7 is a connection schematic diagram of a third spherical hinge and a third fixed seat provided by the present application.

[0039] Figure 8 is a structural schematic diagram of a convex head spherical hinge provided by the present application.

[0040] Figure 9 is an assembly schematic diagram of a rotary frame provided by the present application.

[0041] Figure 10 is an assembly top view of a cross shaft and a rotary frame provided by the present application.

[0042] Figure 11 is a structural schematic diagram of a cross shaft provided by the present application.

[0043] Figure 12 is an assembly schematic diagram of a rotary frame and a quick release seat provided by the present application.

[0044] BRIEF DESCRIPTION OF DRAWINGS

[0045] 1, first connecting body; 2, first fixing seat; 3, second fixing seat; 4, first electric push rod; 5, second electric push rod; 6, first spherical hinge; 601, convex head; 7, second spherical hinge; 8, third spherical hinge; 9, fourth spherical hinge; 10, rotating frame; 11, rotating motor; 12, first jam bolt; 13, second jam bolt; 14, third jam bolt; 15, fourth jam bolt; 16, first pad; 17, second pad; 18, first gap compensation screw; 19, first nut; 20, second gap compensation screw; 21, second nut; 22, third pad; 23, fourth pad; 24, cross shaft; 241, first rotating shaft; 242, second rotating shaft; 25, tapered roller bearing; 26, quick release seat; 27, cylindrical pin; 28, limiting groove; 29, fastener. DETAILED DESCRIPTION

[0046] Various exemplary embodiments of the present application will now be described in detail with reference to the figures. It should be noted that the relative arrangements, numerical expressions, and values of the components and steps set forth in these embodiments are not limiting to the scope of the present application unless otherwise specifically stated.

[0047] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application or its application or uses.

[0048] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and devices can be considered part of the specification.

[0049] In all of the examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0050] It should be noted that like numbers and letters refer to like items throughout the drawings, and once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0051] According to a first aspect of the present application, as Figures 1 to 12As shown, a connecting mechanism is provided for a robot, comprising: a first connecting body 1, a first fixed seat 2, a second fixed seat 3, a first electric push rod 4, a second electric push rod 5, a first spherical hinge 6, a second spherical hinge 7, a third spherical hinge 8, a fourth spherical hinge 9, a rotating frame 10 and a rotating motor 11, the motor end of the rotating motor 11 is used to connect a second connecting body. The first electric push rod 4 and the second electric push rod 5 are arranged in parallel along a first direction X, and the output ends thereof can respectively extend and retract along a second direction. The first fixed seat 2 and the second fixed seat 3 are respectively fixed on one side of the first connecting body 1, and the other side of the first connecting body 1 is hinged to the rotating frame 10, so that the first connecting body 1 can rotate around the first direction X and a third direction Y. The rotating frame 10 is fixed on the output end of the rotating motor 11, so that the first connecting body 1 can rotate around a second direction Z relative to the second connecting body, and the second direction Z is perpendicular to the first direction X, and the third direction Y is perpendicular to the first direction X and the second direction Z.

[0052] In the above structure, when the two electric push rods arranged in parallel along the first direction X are synchronously elongated or retracted along the second direction Z, for example, the first connecting body 1 can rotate around the first direction X relative to the rotating frame 10 (the second connecting body) to realize the pitching action of the robot, and when the two electric push rods are asynchronously retracted along the second direction Z, for example, the first electric push rod 4 is elongated and the second electric push rod 5 is retracted, or the first electric push rod 4 is retracted and the second electric push rod 5 is elongated, the first connecting body 1 can rotate around the third direction Y relative to the rotating frame 10 (the second connecting body) to realize the roll action of the robot. When the rotating shaft of the rotating motor 11 rotates around the second direction Z, the first connecting body 1 can rotate around the second direction Z relative to the second body to realize the yaw action of the robot. The first connecting body 1 can be the body of the robot, and the second connecting body can be the leg of the robot.

[0053] Further, the motor end of the first electric push rod 4 is hinged to the first fixed seat 2 through the first spherical hinge 6, and the output end thereof is hinged to the rotating frame 10 through the third spherical hinge 8. The motor end of the second electric push rod 5 is hinged to the second fixed seat 3 through the second spherical hinge 7, and the output end thereof is hinged to the rotating frame 10 through the fourth spherical hinge 9. The first spherical hinge 6, the second spherical hinge 7, the third spherical hinge 8 and the fourth spherical hinge 9 can limit the degrees of freedom of the first electric push rod 4 and the second electric push rod 5 in the first direction X, and the first spherical hinge 6 and the second spherical hinge 7 are both convex spherical hinges.

[0054] In the above structure, the arrangement of the first spherical hinge 6 and the second spherical hinge 7 can limit the freedom of the motor end of the first electric push rod and the second electric push rod 5 in the first direction X, and the arrangement of the third spherical hinge 8 and the fourth spherical hinge 9 is used to limit the freedom of the output end of the first electric push rod and the second electric push rod 5 in the first direction X, so that the motor end and the output end of the first electric push rod 4 and the second electric push rod 5 are limited in self-rotation (i.e. yaw torque) when realizing the roll action or the pitch action, avoiding excessive vibration impact, and the connection mode of the spherical hinge can improve the load capacity of the entire connection mechanism, and when applied to the waist connection of the robot, it can ensure high load capacity while maintaining lightweight.

[0055] Meanwhile, in the above structure, the convex head spherical hinge refers to that the first spherical hinge 6 and the second spherical hinge 7 are both provided with a circular protrusion. When the electric push rod works to generate torque, it will cause the spherical hinge to move in the self-rotation direction, and when the motor reverses each time (such as when the output end of the electric push rod changes from the extension action to the retraction action), the spherical hinge of the motor end will turn to the other direction, which will bring huge noise and vibration when the actual application needs to be frequently reversed. The first spherical hinge 6 and the second spherical hinge 7 in the present application can limit the self-rotation of the motor end generated by the two electric push rods during action or reversal through the circular protrusion of the convex head spherical hinge, reduce the vibration impact, improve the stability of the connection mechanism, and reduce the system noise.

[0056] Optionally, as shown in Figures 1 to 7 It further includes a first jam bolt 12, a second jam bolt 13, a third jam bolt 14 and a fourth jam bolt 15; the first jam bolt 12 and the second jam bolt 13 are respectively arranged on the first fixed seat 2 and the second fixed seat 3 along the first direction X, and the third jam bolt 14 and the fourth jam bolt 15 are respectively arranged on the rotating frame 10 along the first direction X; the first spherical hinge 6 is hinged to the first fixed seat 2 through the first jam bolt 12, the second spherical hinge 7 is hinged to the second fixed seat 3 through the second jam bolt 13, and the third spherical hinge 8 and the fourth spherical hinge 9 are respectively hinged to the rotating frame 10 through the third jam bolt 14 and the fourth jam bolt 15.

[0057] Specifically, in actual application, the jam bolt has many advantages such as high strength, large fastening force, convenient installation and disassembly, good anti-loosening performance, strong durability, strong adaptability and the like. When applied to the hinge shaft between the spherical hinge and the fixed seat or the rotating frame 10, it can withstand the torque generated by the first electric push rod 4 and the second electric push rod 5, further improving the load capacity and connection reliability of the entire connection mechanism.

[0058] Optionally, as shown in Figures 1 to 8As shown, it further comprises a first pad 26 and a second pad 17, the first pad 26 is fixed on the first fixed seat 2, and the second pad 17 is fixed on the second fixed seat 3; the first pad 26 extends to the position in contact with the convex head part 601 on both sides of the first spherical hinge 6, and the second pad 17 extends to the position in contact with the convex head part 601 on both sides of the second spherical hinge 7; both the first pad 26 and the second pad 17 are made of copper or copper alloy material.

[0059] Specifically, in actual application, by arranging the first pad 26 and the second pad 17 on both sides of the first spherical hinge 6 and the second spherical hinge 7 respectively, when the first electric push rod 4 and the second electric push rod 5 realize the pitching movement of the first connecting body 1 relative to the second connecting body (or the rotating frame 10), the first pad 26 and the second pad 17 made of copper or copper alloy material can avoid the friction and wear caused by the sliding of the contact surface on both sides of the first spherical hinge 6 and the second spherical hinge 7. Among them, the first pad 26 and the second pad 17 can be an integral structure or a split structure, which can be selected according to the process difficulty. In addition, the first pad 26 and the second pad 17 can be made of tin bronze pad to improve the sliding performance of the pad.

[0060] In an embodiment, the first spherical hinge 6 and the second spherical hinge 7 both adopt the combination of convex head spherical hinge and tin bronze pad, which limits the self-rotation freedom of the three-degree-of-freedom spherical hinge to become a two-degree-of-freedom spherical hinge, which is equivalent to a hooke joint. When the convex head spherical hinge performs pitching movement around the pitching axis, the convex head spherical hinge slides on the tin bronze pads on both sides; when the convex head spherical hinge performs roll movement around the roll axis, the convex head spherical hinge rotates on the tin bronze pad along its axis, which is also sliding friction; when the convex head spherical hinge has self-rotation, that is, yaw torque, the tin bronze pads on both sides will limit this movement, thereby realizing the reduction of noise, friction and wear and other defects. While limiting the self-rotation of the convex head spherical hinge, it avoids affecting the swing freedom of the convex head spherical hinge, further reducing noise.

[0061] Optionally, as shown, Figures 1 to 8 It further comprises two first gap compensation screws 18, two first nuts 19, two second gap compensation screws 20 and two second nuts 21; the two first gap compensation screws 18 are respectively arranged on the first fixed seat 2 along the first direction X, and one end of each is respectively arranged on the two first pads 26, and the two first nuts 19 are respectively arranged at the other end of the two first gap compensation screws 18; the two second gap compensation screws 20 are respectively arranged on the second fixed seat 3 along the first direction X, and one end of each is respectively arranged on the two second pads 17, and the two second nuts 21 are respectively arranged at the other end of the two second gap compensation screws 20.

[0062] Specifically, in the embodiment, first gap compensation screws 18 are arranged outside the first pads 26 on both sides of the first spherical hinge 6, and second gap compensation screws 20 are arranged outside the second pads 17 on both sides of the second spherical hinge 7. When the gap compensation screws are screwed inward, the pads are pushed out by a certain distance, the size of the contact surface between the pads and the protruding spherical hinge is increased, the gap is compensated, and after adjustment, the nuts are tightened to lock the gap compensation screws.

[0063] Optionally, as shown in Figures 1 to 8 It further includes a third pad 22 and a fourth pad 23, both of which are silica gel pads and are fixed on the rotating frame 10. The third pad 22 extends to at least both sides of the third spherical hinge 8, and the fourth pad 23 extends to at least both sides of the fourth spherical hinge 9, so as to limit the freedom of the third spherical hinge 8 and the fourth spherical hinge 9 in the first direction X.

[0064] Specifically, the spin of the third spherical hinge 8 and the fourth spherical hinge 9 is fixed to the end of the output rod, which in turn drives the spin of the screw rod of the electric push rod, thereby generating axial displacement. In actual situations, the third spherical hinge 8 and the fourth spherical hinge 9 will follow the internal friction resistance of the electric push rod itself. Although the friction torque is small, it is enough to cause angular displacement of the output rod spherical hinge. Once angular displacement occurs, unpredictable displacement occurs, which results in poor displacement accuracy and noise.

[0065] In the embodiment, by arranging silica gel pads (third pad 22 and fourth pad 23) on both sides of the third spherical hinge 8 and the fourth spherical hinge 9, the spin freedom of the third spherical hinge 8 and the fourth spherical hinge 9 with three degrees of freedom is weakly limited, and the third spherical hinge 8 and the fourth spherical hinge 9 become almost two degrees of freedom Hooke hinges. That is, when the third spherical hinge 8 and the fourth spherical hinge 9 have a tendency to spin due to the internal friction of each corresponding electric push rod, the silica gel pads (third pad 22 and fourth pad 23) will be elastically deformed to limit the large-angle spin movement to a small angle range.

[0066] At the same time, when performing roll movement, the silica gel pads have elasticity and do not affect the movement of the third spherical hinge 8 and the fourth spherical hinge 9; when performing pitch movement, the silica gel pads do not interfere with the movement of the third spherical hinge 8 and the fourth spherical hinge 9, which not only reduces noise but also ensures the position accuracy of the connecting mechanism.

[0067] Optionally, as shown in Figures 9 to 11 It further includes a cross shaft 24, and the other side of the first connecting body 1 is hingedly connected to the rotating frame 10 through the cross shaft 24. The cross shaft 24 includes a first rotating shaft 241 and a second rotating shaft 242. The first rotating shaft 241 extends along the first direction X, and the second rotating shaft 242 extends along the third direction Y.

[0068] Specifically, in the embodiment, the first connecting body 1 is hinged on the rotating frame 10 by the cross shaft 24 to realize the roll motion or the pitch motion of the first connecting body 1. The cross shaft 24 can bear relatively large torque and impact load, can improve the stability of the structure of the connecting mechanism during operation and the high transmission efficiency, and has simple structure, small space occupation and high adaptability.

[0069] Optionally, as shown in Figures 9 to 11 the first rotating shaft 241 and the second rotating shaft 242 are respectively hinged on the rotating frame 10 and the first connecting body 1 by a conical roller bearing 25.

[0070] Specifically, in the embodiment, the conical roller bearing 25 has the ability to bear large load due to its unique structural design. The conical roller bearing 25 is installed at both ends of the first rotating shaft 241 and the second rotating shaft 242, which can significantly improve the carrying capacity of the entire system, ensure stable operation under heavy load working conditions, and improve the transmission efficiency and compactness of the equipment.

[0071] Optionally, the first connecting body 1 is provided with a first limiting part, a second limiting part and a third limiting part; the first limiting part is used to limit the rotation angle of the first rotating shaft 241, the second limiting part is used to limit the rotation angle of the second rotating shaft 242, and the third limiting part is used to limit the rotation angle of the output end of the rotating motor 11.

[0072] Specifically, in the embodiment, by setting the first limiting part, the second limiting part and the third limiting part, when the first connecting body 1 makes roll motion, pitch motion or yaw motion relative to the second connecting body, it can be limited within a certain motion amplitude, so as to protect the connecting wire harness in the connecting mechanism from being torn off and improve the safety of the equipment. In actual application, an encoder can be arranged at the end of the cross shaft 24 to detect the rotation angle of the first rotating shaft 241, the second rotating shaft 242 and the output end of the rotating motor 11 in real time.

[0073] Optionally, as shown in Figure 12As shown, it further comprises a quick-release seat 26 fixed on the end face of the output end of the rotary motor 11, a plurality of cylindrical pins 27 interference-fitted on the circumferential side of the rotary frame 10, and a plurality of fasteners 29. The circumferential side of the quick-release seat 26 is provided with a plurality of limiting grooves 28 corresponding to the plurality of cylindrical pins 27, and the plurality of cylindrical pins 27 are one-to-one located in each limiting groove 28, so that the rotary frame 10 is detachably assembled on the quick-release seat 26. The limiting groove 28 can limit the movement of the rotary frame 10 in the rotation direction of the rotary motor 11 through the cylindrical pin 27, and the rotary frame 10 and the quick-release seat 26 are fastened and connected in the second direction Z through the plurality of fasteners 29.

[0074] Specifically, in the present embodiment, the quick-release seat 26 is provided, so that the first connecting body 1 can be quickly installed on the rotary motor 11 through the rotary frame 10, to realize the quick assembly and disassembly of the first connecting body 1 and the second connecting body, and improve the assembly efficiency. Wherein, the rotary frame 10 can be quickly connected with the quick-release seat 26 through a rotating connection structure such as a thread, and is fixed in the second direction Z through the plurality of fasteners 29, to improve the reliability of the connection between the two.

[0075] In an embodiment, the plurality of fixing pins on the circumferential side of the rotating shaft can be moved into or out of the limiting groove 28, so that the quick-release seat 26 and the rotary frame 10 realize quick release. Wherein, the load of the first connecting body 1 is borne by the shearing capacity of the cylindrical pin 27, and the limiting groove 28 can be provided in an L-shaped structure to facilitate the introduction and export of the cylindrical pin 27, and further improve the assembly efficiency.

[0076] According to a second aspect of the present application, referring to Figures 1 to 12 , a robot is provided, comprising the connecting mechanism of the first aspect.

[0077] Specifically, in the present embodiment, when the connecting mechanism of the first aspect is applied to a robot, it can be used for waist parallel, ankle joint parallel or wrist parallel, which has less noise during activity, high applicability, and can improve the overall use experience of the robot.

[0078] In the above embodiments, the differences between the various embodiments are mainly described, and the optimization features different between the various embodiments can be combined to form a better embodiment as long as they are not contradictory. Considering the brevity of the writing, it will not be repeated here.

[0079] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, but not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A connection mechanism applied to a robot, characterized by, Comprise: The first connecting body, the first fixed seat, the second fixed seat, the first electric push rod, the second electric push rod, the first ball hinge, the second ball hinge, the third ball hinge, the fourth ball hinge, the rotating frame and the rotating motor, the motor end of the rotating motor is used for connecting the second connecting body; The first electric push rod and the second electric push rod are arranged in parallel along the first direction, the output ends thereof can be respectively telescopic along the second direction, the first fixed seat and the second fixed seat are respectively fixed on one side of the first connecting body, the other side of the first connecting body is hinged on the rotating frame, so that the first connecting body can rotate around the first direction and the third direction; The rotating frame is fixed on the output end of the rotating motor, so that the first connecting body can rotate around the second direction relative to the second connecting body, the second direction is perpendicular to the first direction, and the third direction is perpendicular to the first direction and the second direction; The motor end of the first electric push rod is hinged on the first fixed seat through the first ball hinge, the output end thereof is hinged on the rotating frame through the third ball hinge, the motor end of the second electric push rod is hinged on the second fixed seat through the second ball hinge, and the output end thereof is hinged on the rotating frame through the fourth ball hinge; The first ball hinge, the second ball hinge, the third ball hinge and the fourth ball hinge can limit the degrees of freedom of the first electric push rod and the second electric push rod in the first direction, and the first ball hinge and the second ball hinge are both convex head ball hinges.

2. A coupling mechanism according to claim 1, wherein It further comprises a first plug bolt, a second plug bolt, a third plug bolt and a fourth plug bolt; The first plug bolt and the second plug bolt are respectively arranged on the first fixed seat and the second fixed seat along the first direction, and the third plug bolt and the fourth plug bolt are respectively arranged on the rotating frame along the first direction; The first ball hinge is hinged with the first fixed seat through the first plug bolt, the second ball hinge is hinged with the second fixed seat through the second plug bolt, and the third ball hinge and the fourth ball hinge are respectively hinged with the rotating frame through the third plug bolt and the fourth plug bolt.

3. A coupling mechanism according to claim 1 or 2, characterised in that, It further comprises a first pad and a second pad, the first pad is fixed on the first fixed seat, and the second pad is fixed on the second fixed seat; The first pad extends to a position in contact with the convex head on both sides of the first ball hinge, the second pad extends to a position in contact with the convex head on both sides of the second ball hinge, and the first pad and the second pad are both made of copper or copper alloy material.

4. A coupling mechanism according to claim 3, wherein It further comprises two first gap compensation screws, two first nuts, two second gap compensation screws and two second nuts; Two first gap compensation screws are respectively arranged on the first fixed seat along the first direction, and one end of each of the two first gap compensation screws abuts against one of the two first pads, and the other end of each of the two first gap compensation screws is assembled with one of the two first nuts; Two second gap compensation screws are arranged on the second fixing base along the first direction, and one end of each of the two second gap compensation screws is arranged on the two second pads.

5. A coupling mechanism according to claim 1 or 2, wherein The third pad and the fourth pad are both silica gel pads, and are fixed on the rotating frame. The third pad extends to both sides of the third spherical hinge, and the fourth pad extends to both sides of the fourth spherical hinge, so as to limit the freedom of the third spherical hinge and the fourth spherical hinge in the first direction.

6. A coupling mechanism according to claim 1, wherein The other side of the first connecting body is hinged to the rotating frame through a cross shaft. The cross shaft includes a first rotating shaft and a second rotating shaft, the first rotating shaft extends along the first direction, and the second rotating shaft extends along the third direction.

7. A coupling mechanism according to claim 6, wherein The two ends of the first rotating shaft are hinged to the rotating frame through a conical roller bearing, and the two ends of the second rotating shaft are hinged to the first connecting body through a conical roller bearing.

8. A coupling mechanism according to claim 6, wherein The first connecting body is provided with a first limiting portion, a second limiting portion and a third limiting portion. The first limiting portion is used to limit the rotation angle of the first rotating shaft, the second limiting portion is used to limit the rotation angle of the second rotating shaft, and the third limiting portion is used to limit the rotation angle of the output end of the rotating motor.

9. A coupling mechanism according to claim 1, wherein The fast release seat is fixed on the end face of the output end of the rotating motor. The plurality of cylindrical pins are interference fitted on the circumferential side of the rotating frame, and the circumferential side of the fast release seat is provided with a plurality of limiting grooves corresponding to the plurality of cylindrical pins. The limiting grooves can limit the movement of the rotating frame in the rotating direction of the rotating motor through the cylindrical pins, and the rotating frame and the fast release seat are fastened and connected in the second direction through the plurality of fasteners.

10. A robot, characterized in that The connecting mechanism of any one of claims 1-9. The connecting mechanism of any one of claims 1-9.

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