Joint modules and robots

Abstract

The present invention provides a joint module and a robot, wherein the joint module comprises: a base assembly; a driving mechanism installed in the base assembly; a transmission mechanism, one end of which is connected to the driving mechanism; an output mechanism rotatably sleeved on the outside of the transmission mechanism, so that the driving mechanism drives the output mechanism to rotate relative to the base assembly through the transmission mechanism; a first damping unit, arranged in the transmission mechanism and configured to change the driving state of the transmission mechanism on the output mechanism; and an elastic damping mechanism, comprising: a second damping unit installed on the base assembly; and an elastic mechanism installed between the second damping unit and the output mechanism, wherein both the first damping unit and the second damping unit are configured to operate in a released state, a locked state, or a damped state under the drive of an external current, so that the output mechanism has a normal working mode, a jump output mode, an anti-impact buffer mode, or a load holding mode relative to the base assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of research on robot joint modules, and more specifically, to a joint module and a robot. Background Art

[0002] In the field of modern robotics and automation, joint modules are the core components for robots to achieve complex movements and high-precision control. Traditional joint modules are composed of components such as motors and reducers. However, with the continuous improvement of application requirements, traditional joint modules have gradually shown some shortcomings in performance and function.

[0003] At present, the traditional joint module integrates components such as motors, reducers, encoders, and drivers into a compact space with a compact structure. However, the existing motor-driven quadruped mobile robots lack high-performance obstacle crossing capabilities. When jumping from a height, they lack a landing buffer mechanism. Similarly, when carrying loads, the motor needs to continuously output, which will consume a lot of energy. Therefore, when dealing with jumping from a height and high loads, it is easy to cause equipment damage or performance degradation. Traditional joint modules are also difficult to achieve instantaneous large torque output, and a large amount of heat is instantly generated during instantaneous large torque output, which can easily cause motor damage, which affects the reliability of long-term operation of robots. When providing large torque output, traditional joint modules also require continuous high-energy power support, which increases the robot's energy consumption and operating costs. Summary of the invention

[0004] In order to solve at least one of the technical problems in the prior art, an embodiment of the present invention provides a joint module and a robot, wherein the output mechanism can realize multiple working modes relative to the base assembly, thereby reducing the energy consumption of the joint module.

[0005] The present invention provides a joint module, comprising: a base assembly; a driving mechanism installed in the above-mentioned base assembly; a transmission mechanism, one end of the above-mentioned transmission mechanism is connected to the above-mentioned driving mechanism; an output mechanism, rotatably mounted on the outside of the above-mentioned transmission mechanism, so that the above-mentioned driving mechanism drives the above-mentioned output mechanism to rotate relative to the above-mentioned base assembly through the above-mentioned transmission mechanism; a first damping unit, arranged in the above-mentioned transmission mechanism, and configured to change the driving state of the above-mentioned transmission mechanism on the above-mentioned output mechanism; and an elastic damping mechanism, comprising: a second damping unit, installed on the above-mentioned base assembly; and an elastic mechanism, installed between the above-mentioned second damping unit and the above-mentioned output mechanism; wherein the above-mentioned first damping unit and the above-mentioned second damping unit are both configured to operate in a released state, a locked state, or a damping state under the drive of an external current, so that the above-mentioned output mechanism has a normal working mode, a jump output mode, an anti-impact buffer mode, or a load holding mode relative to the above-mentioned base assembly.

[0006] Optionally, the transmission mechanism includes: a planetary carrier connected to the base assembly; a sun gear assembly rotatably mounted at the center of the planetary carrier under the drive of the driving mechanism; a plurality of first support shafts installed on the planetary carrier at intervals around the sun gear assembly, and a plurality of first damping units are respectively sleeved on the plurality of first support shafts; a plurality of planetary gears are respectively sleeved on the plurality of first damping units and respectively meshed with the sun gear assemblies, and the output mechanism is meshed on the outer sides of the plurality of planetary gears.

[0007] Optionally, each of the above-mentioned first damping units includes: a plurality of first magnetorheological fluid bearing groups, which are spaced apart and sleeved on each of the above-mentioned first support shafts; and at least one first coil, which is respectively arranged between two adjacent first magnetorheological fluid bearings, and the above-mentioned first coil is configured to generate a magnetic field when powered on to change the magnetorheological effect of the magnetorheological fluid in the above-mentioned first magnetorheological fluid bearing group.

[0008] Optionally, the second damping unit includes: an inner ring installed on the outside of the planetary carrier; a plurality of second magnetorheological fluid bearing groups, which are sleeved on the outside of the inner ring at intervals; at least one second coil, which is respectively arranged between two adjacent second magnetorheological fluid bearings, and the second coil is configured to generate a magnetic field when powered on to change the magnetorheological effect of the magnetorheological fluid in the second magnetorheological fluid bearing group; and an outer ring, which is sleeved on the outside of the plurality of second magnetorheological fluid bearing groups to limit the rotation of the output mechanism relative to the base assembly under the action of the second magnetorheological fluid bearing group.

[0009] Optionally, the elastic mechanism includes: a torsion spring, which is sleeved on the outside of the outer ring, one end of the torsion spring is connected to the outer ring, and the other end of the torsion spring is connected to the output mechanism, and the torsion spring is configured to elastically limit the rotation of the output mechanism relative to the base assembly when the first damping unit is in a released state or a damping state and the second damping unit is in a locked state or a damping state.

[0010] Optionally, the first magnetorheological fluid bearing group and the second magnetorheological fluid bearing group adjust their respective damping in response to the magnitude of the current passed through the first coil and the second coil, respectively, so that the rotation angle of the output mechanism relative to the base assembly is greater than the rotation angle of the outer ring relative to the base assembly, so that the torsion spring absorbs energy from different external impacts, and the output mechanism realizes an anti-impact buffering mode relative to the base assembly.

[0011] Optionally, when the first magnetorheological fluid bearing group is in a released state and the second magnetorheological fluid bearing group is in a locked state, the output mechanism drives one end of the torsion spring to be compressed, and when the torsion spring is compressed to a threshold value, the driving mechanism changes the current rotation direction, and the output mechanism realizes the jump output mode relative to the base assembly.

[0012] Optionally, when the first magnetorheological fluid bearing group is in a locked state, the output mechanism implements the load holding mode relative to the base assembly.

[0013] Optionally, the output mechanism includes: an output disc, the inner ring of which is meshed with the outer sides of the plurality of planetary gears; an end cover, including a cylindrical portion and a flange protruding outward from the end of the cylindrical portion, the cylindrical portion being mounted on the planetary carrier of the transmission mechanism; a first bearing, arranged between the top of the inner ring of the output disc and the outer side of the cylindrical portion to support the rotation of the output disc relative to the end cover, the flange being configured to cooperate with the inner ring to limit the movement of the output disc in the axial direction; and a second bearing, arranged between the second support shaft of the sun gear assembly and the inner side of the cylindrical portion to support the rotation of the sun gear assembly relative to the planetary carrier.

[0014] According to the inventive concept of another aspect of the present invention, a robot is also provided, comprising: the above-mentioned joint module; and a first joint and a second joint, which are respectively installed on the base assembly and the output mechanism of the above-mentioned joint module, so that the above-mentioned second joint rotates relative to the above-mentioned first joint under the drive of the above-mentioned joint module.

[0015] According to a joint module and robot of an embodiment of the present invention, a first damping unit changes the driving state of the transmission mechanism to the output mechanism, the elastic damping mechanism includes a second damping unit and an elastic mechanism, the second damping unit is installed on the base assembly, the elastic mechanism is installed between the second damping unit and the output mechanism, and both the first damping unit and the second damping unit are configured to work in a release state, a locking state, or a damping state under the drive of an external current, so that the output mechanism has a normal working mode, a jump output mode, an anti-impact buffer mode, or a load holding mode relative to the base assembly. When the output mechanism realizes the jump output mode relative to the base assembly, it can realize instantaneous large torque output; when the output mechanism realizes the anti-impact buffer mode relative to the base assembly, it can improve the overall reliability and durability of the joint module; when the output mechanism realizes the load holding mode relative to the base assembly, it can realize long-term torque retention and reduce the energy consumption of the joint module. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional diagram of a joint module according to an embodiment of the present invention;

[0017] Figure 2 is a top view of a joint module according to an embodiment of the present invention;

[0018] Figure 3 is a cross-sectional view of a joint module in the AA direction according to an embodiment of the present invention;

[0019] Figure 4 is a partial enlarged view of part A in the cross-sectional view of a joint module according to an embodiment of the present invention;

[0020] Figure 5 is a partial enlarged view of part B in the cross-sectional view of a joint module according to an embodiment of the present invention;

[0021] Figure 6 is an exploded view of parts of a joint module according to an embodiment of the present invention;

[0022] Figure 7 is a partial enlarged view of part C in the exploded view of the parts of a joint module according to an embodiment of the present invention;

[0023] Figure 8 is a partial enlarged view of part D in the exploded view of the parts of a joint module according to an embodiment of the present invention;

[0024] Fig. 9 is a three-dimensional diagram of a robot according to an embodiment of the present invention.

[0025] In the drawings, the meanings of the reference numerals are as follows:

[0026] 100. Joint module;

[0027] 1. Shell;

[0028] 101, a first threaded hole;

[0029] 2. Driving mechanism;

[0030] 3. Connecting shaft;

[0031] 4. Base;

[0032] 400, second threaded hole;

[0033] 5. First coil;

[0034] 6. The first magnetorheological fluid bearing;

[0035] 7. Output disk;

[0036] 71. a first barrel body;

[0037] 72. second barrel body;

[0038] 73. The disk;

[0039] 8. The first support shaft;

[0040] 9. End cap;

[0041] 91, cylinder body;

[0042] 92. flange;

[0043] 93. a third receiving hole;

[0044] 10. Planetary gear;

[0045] 11. Sun gear;

[0046] 110. A second supporting shaft;

[0047] 12. First bearing;

[0048] 13. Planet carrier;

[0049] 131, first receiving hole;

[0050] 132, protrusion;

[0051] 133. A second receiving hole;

[0052] 134, third threaded hole;

[0053] 14. Second bearing;

[0054] 15. A second magnetorheological fluid bearing;

[0055] 16. Outer ring;

[0056] 17. Second coil;

[0057] 18. Torsion spring;

[0058] 19. Inner ring;

[0059] 190, fourth threaded hole;

[0060] 20. First joint;

[0061] 21. The second joint. DETAILED DESCRIPTION

[0062] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0063] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0064] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0065] In the case of using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). In the case of using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, or C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0066] In order to solve the problem that traditional joint modules are prone to equipment damage or performance degradation when dealing with jumping from a height and high loads, and it is difficult to achieve instantaneous large torque output, and continuous high-energy consumption power support is also required when the instantaneous large torque is output, according to the inventive concept of one aspect of the present invention, the driving mechanism is installed in the base assembly, one end of the transmission mechanism is connected to the driving mechanism, and the output mechanism is rotatably mounted on the outside of the transmission mechanism, so that the driving mechanism drives the output mechanism to rotate relative to the base assembly through the transmission mechanism, the first damping unit is arranged in the transmission mechanism, and is configured to change the driving state of the transmission mechanism on the output mechanism, and the elastic damping mechanism includes a second damping unit and an elastic mechanism, and the second damping unit is installed on the base assembly On the component, the elastic mechanism is installed between the second damping unit and the output mechanism. The first damping unit and the second damping unit are both constructed to operate in a released state, a locked state, or a damping state under the drive of an external current, so that the output mechanism has a normal working mode, a jump output mode, an anti-impact buffer mode, or a load holding mode relative to the base assembly. When the output mechanism realizes the jump output mode relative to the base assembly, it can realize instantaneous large torque output. When the output mechanism realizes the anti-impact buffer mode relative to the base assembly, it can improve the overall reliability and durability of the joint module. When the output mechanism realizes the load holding mode relative to the base assembly, it can realize long-term torque maintenance and reduce the energy consumption of the joint module.

[0067] Figure 1 is a three-dimensional diagram of a joint module 100 according to an embodiment of the present invention. Figure 2 is a top view of a joint module 100 according to an embodiment of the present invention, Figure 3 It is a cross-sectional view of a joint module 100 along the AA direction according to an embodiment of the present invention.

[0068] According to an embodiment of the present invention, a joint module 100 is provided, such as Figures 1 to 3 As shown, the joint module 100 includes a base assembly, a driving mechanism 2, a transmission mechanism, an output mechanism, a first damping unit and an elastic damping mechanism. The driving mechanism 2 is installed in the base assembly. One end of the transmission mechanism is connected to the driving mechanism 2. The output mechanism is rotatably sleeved on the outside of the transmission mechanism, so that the driving mechanism 2 drives the output mechanism to rotate relative to the base assembly through the transmission mechanism. The first damping unit is arranged in the transmission mechanism and is configured to change the driving state of the transmission mechanism to the output mechanism. The elastic damping mechanism includes a second damping unit and an elastic mechanism. The second damping unit is installed on the base assembly. The elastic mechanism is installed between the second damping unit and the output mechanism. Both the first damping unit and the second damping unit are configured to work in a released state, a locked state, or a damped state under the drive of an external current, so that the output mechanism has a normal working mode, a jump output mode, an anti-impact buffer mode, or a load holding mode relative to the base assembly.

[0069] According to an embodiment of the present invention, the transmission mechanism, the output mechanism and the first damping unit are connected in series with the driving mechanism 2, and the transmission mechanism and the elastic damping mechanism are connected in parallel, so that the driving mechanism 2, the transmission mechanism, the output mechanism, the first damping unit and the elastic damping mechanism are organically combined together, with a compact design, thereby improving the integration and performance of the joint module 100.

[0070] Figure 6 is an exploded view of the parts of a joint module 100 according to an embodiment of the present invention. Figure 7 It is a partial enlarged view of part C in the parts explosion diagram of the joint module 100 according to an embodiment of the present invention.

[0071] According to an embodiment of the present invention, Figure 6 and Figure 7 As shown, the base assembly includes a shell 1 and a base 4. The surface of the shell 1 is provided with a plurality of first threaded holes 101 spaced apart in the circumferential direction, and the base 4 is provided with a plurality of second threaded holes 400. The plurality of first threaded holes 101 are aligned with the plurality of second threaded holes 400 respectively, and screws are passed through each group of aligned first threaded holes 101 and second threaded holes 400, and nuts and screws cooperate to fix the base 4 on the shell 1.

[0072] According to an embodiment of the present invention, the driving mechanism 2 is a motor, which can be, for example, a permanent magnet synchronous motor. The motor is installed in the housing 1, and the motor is connected to one end of the transmission mechanism through a connecting shaft 3. The motor drives the transmission mechanism to maintain synchronous rotation through the connecting shaft 3.

[0073] According to an embodiment of the present invention, when the external current is not energized to the first damping unit and the second damping unit, that is, when the first damping unit and the second damping unit are both in a released state, the output mechanism realizes a normal working mode relative to the base assembly, and under the drive of the transmission mechanism, the output mechanism rotates freely relative to the base assembly.

[0074] According to an embodiment of the present invention, the driving mechanism 2 is installed in the base assembly, one end of the transmission mechanism is connected to the driving mechanism 2, and the output mechanism is rotatably mounted on the outside of the transmission mechanism, so that the driving mechanism 2 drives the output mechanism to rotate relative to the base assembly through the transmission mechanism. The first damping unit is arranged in the transmission mechanism and is configured to change the driving state of the transmission mechanism on the output mechanism. The elastic damping mechanism includes a second damping unit and an elastic mechanism. The second damping unit is installed on the base assembly, and the elastic mechanism is installed between the second damping unit and the output mechanism. The first damping unit and the second damping unit are both configured to operate in a released state, a locked state, or a damping state under the drive of an external current, so that the output mechanism has a normal working mode, a jumping output mode, an anti-impact buffer mode, or a load holding mode relative to the base assembly. When the output mechanism realizes the jumping output mode relative to the base assembly, it can realize instantaneous large torque output. When the output mechanism realizes the anti-impact buffer mode relative to the base assembly, it can improve the overall reliability and durability of the joint module. When the output mechanism realizes the load holding mode relative to the base assembly, it can realize long-term torque retention and reduce the energy consumption of the joint module 100.

[0075] Figure 4 It is a partial enlarged view of part A in the cross-sectional view of the joint module 100 according to an embodiment of the present invention.

[0076] According to an embodiment of the present invention, Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, the transmission mechanism includes a planet carrier 13, a sun gear assembly, a plurality of first support shafts 8 and a plurality of planetary gears 10. The planet carrier 13 is connected to the base assembly and cannot rotate relative to the base assembly. The sun gear assembly is rotatably mounted at the center of the planet carrier 13 under the drive of the driving mechanism 2. A plurality of first support shafts 8 are mounted on the planet carrier 13 at equal intervals around the sun gear assembly, and a plurality of first damping units are respectively sleeved on the plurality of first support shafts 8. A plurality of planetary gears 10 are respectively sleeved on the plurality of first damping units, and are respectively meshed with the sun gear assembly, and the output mechanism is meshed on the outer sides of the plurality of planetary gears 10.

[0077] According to an embodiment of the present invention, the planet carrier 13 is fixedly connected to the base 4 of the base assembly.

[0078] According to the embodiment of the present invention, the middle portion of the planet carrier 13 is configured to have a first receiving hole 131 and protrusions 132 arranged at equal intervals in the circumferential direction of the first receiving hole 131 , and a second receiving hole 133 is formed at the top of each protrusion 132 .

[0079] According to an embodiment of the present invention, the sun gear assembly includes a sun gear 11 and a second support shaft 110. The sun gear 11 is rotatably mounted in the first accommodating hole 131 through the second support shaft 110. One end of the second support shaft 110 is connected to the connecting shaft 3. The sun gear 11 rotates synchronously with the connecting shaft 3 through the second support shaft 110, that is, the sun gear 11 rotates synchronously with the motor.

[0080] According to the embodiment of the present invention, one end of each first support shaft 8 is disposed in each second receiving hole 133, a plurality of first damping units are respectively sleeved on the plurality of first support shafts 8, a plurality of planetary gears 10 are respectively sleeved on the plurality of first damping units, and are respectively gear-engaged with the outer surface of the sun gear 11. The plurality of planetary gears 10 rotate around their respective first support shafts 8, and can transmit the rotation of the sun gear 11 to the output mechanism.

[0081] According to an embodiment of the present invention, each first damping unit includes a plurality of first magnetorheological fluid bearing groups and at least one first coil 5. The plurality of first magnetorheological fluid bearing groups are sleeved on each first support shaft 8 at intervals. At least one first coil 5 is respectively arranged between two adjacent first magnetorheological fluid bearings 6, and the first coil 5 is configured to generate a magnetic field in an energized state to change the magnetorheological effect of the magnetorheological fluid in the first magnetorheological fluid bearing group.

[0082] According to an embodiment of the present invention, each first magnetorheological fluid bearing group includes two first magnetorheological fluid bearings 6 arranged at intervals, and the magnetorheological fluid in each magnetorheological fluid bearing is a damping intelligent liquid material whose shear modulus is continuously controllable with the magnetic field, and the magnetorheological fluid includes magnetic particles, base fluid and additives. The magnetorheological fluid exhibits low-viscosity Newtonian fluid characteristics when the first coil 5 is powered off, i.e., when there is no magnetic field, and exhibits high-viscosity, low-fluidity Bingham fluid characteristics when the first coil 5 is powered on to generate a magnetic field. There is a certain corresponding relationship between the viscosity of the liquid and the magnetic flux, and its shear yield stress in the shear mode can be used to transmit torque. The magnetorheological fluid is the working medium of each first magnetorheological fluid bearing 6, which evenly fills the cavity of the ball bearing, the inner ring of the cavity is in contact with the first support shaft 8, and the outer ring of the cavity is in contact with the planetary gear 10. When no current is passed through the first coil 5, the torque between the inner and outer rings is transmitted only by the viscous shear force of the liquid, and this value is generally very small, so that the inner and outer rings can maintain free rotation, that is, the inner and outer rings are in a released state; when current is passed through the first coil 5, the existence of the magnetic field causes the magnetorheological fluid to undergo a "solidification" reaction, the shear yield stress increases significantly, and the torque transmitted between the inner and outer rings increases, that is, the inner and outer rings are in a damping state; when the torque transmitted between the inner and outer rings increases to a certain value, the inner and outer rings cannot rotate relative to each other, that is, the inner and outer rings are in a locked state. When the current passed through the first coil 5 is cut off, the magnetic field acting on the magnetorheological fluid disappears, the magnetorheological fluid quickly returns to a liquid state, and the inner and outer rings separate, that is, the inner and outer rings return to a released state again and can rotate relatively freely. The magnetorheological effect of the magnetorheological fluid using smart liquid materials has the advantages of millisecond-level rapid response and high power density. Herein, under the action of the first damping unit, corresponding to the release state, locking state and damping state of the first damping unit, the rotation mode between the planetary gear 10 and the first support shaft 8 includes a release mode in which the planetary gear 10 can rotate relatively freely, a locking mode in which the planetary gear 10 cannot rotate relatively, and an intermediate mode between the release mode and the locking mode, namely, the damping mode.

[0083] According to an embodiment of the present invention, the inner ring of each first magnetorheological fluid bearing 6 is connected to the first support shaft 8 by a flat key, and the outer ring of each first magnetorheological fluid bearing 6 is connected to the inner wall of each planetary gear 10 by a flat key.

[0084] Figure 5 It is a partial enlarged view of part B in the cross-sectional view of the joint module 100 according to an embodiment of the present invention.

[0085] According to an embodiment of the present invention, Figure 3 and Figure 5As shown, the second damping unit includes an inner ring 19, a plurality of second magnetorheological fluid bearing groups, at least one second coil 17 and an outer ring 16. The inner ring 19 is mounted on the outside of the planetary carrier 13 and cannot rotate relative to the planetary carrier 13. A plurality of second magnetorheological fluid bearing groups are sleeved on the outside of the inner ring 19 at intervals. At least one second coil 17 is respectively arranged between two adjacent second magnetorheological fluid bearings 15, and the second coil 17 is configured to generate a magnetic field when powered on to change the magnetorheological effect of the magnetorheological fluid in the second magnetorheological fluid bearing group. The outer ring 16 is sleeved on the outside of the plurality of second magnetorheological fluid bearing groups to limit the rotation of the output mechanism relative to the base assembly under the action of the second magnetorheological fluid bearing groups.

[0086] According to an embodiment of the present invention, each second magnetorheological fluid bearing group includes two second magnetorheological fluid bearings 15 arranged at intervals. The magnetorheological fluid exhibits low-viscosity Newtonian fluid characteristics when the second coil 17 is powered off, i.e., when there is no magnetic field, and exhibits high-viscosity, low-fluidity Bingham fluid characteristics when the second coil 17 is powered on to generate a magnetic field. The magnetorheological fluid is the working medium of each second magnetorheological fluid bearing 15, and it evenly fills the cavity of the ball bearing, the inner ring of the cavity is in contact with the inner ring 19, and the outer ring of the cavity is in contact with the outer ring 16. When no current is passed through the second coil 17, the torque between the inner and outer rings is transmitted only by the viscous shear force of the liquid, and this value is generally very small, so that the inner and outer rings can maintain free rotation, that is, the inner and outer rings are in a released state; when current is passed through the second coil 17, the presence of the magnetic field causes the magnetorheological fluid to undergo a "solidification" reaction, the shear yield stress increases significantly, and the torque transmitted between the inner and outer rings increases, that is, the inner and outer rings are in a damping state; when the torque transmitted between the inner and outer rings increases to a certain value, the inner and outer rings cannot rotate relative to each other, that is, the inner and outer rings are in a locked state. When the current passed through the second coil 17 is cut off, the magnetic field acting on the magnetorheological fluid disappears, the magnetorheological fluid quickly returns to a liquid state, and the inner and outer rings separate, that is, the inner and outer rings return to a released state again and can rotate relatively freely. The magnetorheological effect of the magnetorheological fluid using smart liquid materials has the advantages of millisecond-level rapid response and high power density. Herein, under the action of the second damping unit, corresponding to the release state, locking state and damping state of the second damping unit, the rotation mode between the outer ring 16 and the inner ring 19 includes a release mode in which relative free rotation is possible, a locking mode in which relative rotation is impossible, and an intermediate mode between the release mode and the locking mode, namely, the damping mode.

[0087] According to an embodiment of the present invention, Figure 6As shown, a plurality of third threaded holes 134 are arranged at intervals on the side surface of the planet carrier 13 in the circumferential direction, and a plurality of fourth threaded holes 190 are arranged on the side wall of the inner ring 19 with the same spacing distance as the plurality of third threaded holes 134. The plurality of third threaded holes 134 are respectively aligned with the plurality of fourth threaded holes 190, and screws are passed through each group of aligned third threaded holes 134 and fourth threaded holes 190. The nuts and screws cooperate to fix the inner ring 19 to the outside of the planet carrier 13.

[0088] According to an embodiment of the present invention, Figure 5 As shown, the inner ring of each second magnetorheological fluid bearing 15 is connected to the inner ring 19 by a flat key, and the outer ring of each second magnetorheological fluid bearing 15 is connected to the outer ring 16 by a flat key.

[0089] According to an embodiment of the present invention, Figure 3 and Figure 5 As shown, the elastic mechanism includes a torsion spring 18, which is sleeved on the outside of the outer ring 16, one end of the torsion spring 18 is connected to the outer ring 16, and the other end of the torsion spring 18 is connected to the output mechanism. The torsion spring 18 is configured to elastically limit the rotation of the output mechanism relative to the base assembly when the first damping unit is in a released state or a damping state and the second damping unit is in a locked state or a damping state.

[0090] According to an embodiment of the present invention, the torsion spring 18 may be, for example, a helical torsion spring.

[0091] According to an embodiment of the present invention, the first magnetorheological fluid bearing group and the second magnetorheological fluid bearing group adjust their respective damping in response to the magnitude of the current passed through the first coil 5 and the second coil 17, so that the rotation angle of the output mechanism relative to the base assembly is greater than the rotation angle of the outer ring 16 relative to the base assembly, so that the torsion spring 18 absorbs energy from different external impacts, and the output mechanism realizes an anti-impact buffering mode relative to the base assembly.

[0092] According to an embodiment of the present invention, current is respectively supplied to the first coil 5 and the second coil 17. By respectively controlling the magnitude of the current supplied to the first coil 5 and the magnitude of the current supplied to the second coil 17, the damping magnitudes of the first magnetorheological fluid bearing group and the second magnetorheological fluid bearing group can be freely controlled, and thus the working states (release state, locked state or damping state) of the first damping unit and the second damping unit can be controlled. For example, the first damping unit is in the released state and the second damping unit is in the damping state, or the first damping unit is in the damping state and the second damping unit is in the locked state, or the first damping unit is in the released state and the second damping unit is in the damping state. The unit and the second damping unit are both in a damping state, but the damping degree of the first damping unit is smaller than that of the second damping unit, so that the rotation angle of the output mechanism relative to the base assembly is greater than the rotation angle of the outer ring 16 relative to the base assembly, that is, the rotation speed of the base assembly is smaller than the rotation speed of the output mechanism, and the torsion spring 18 will be twisted from a free state, so that the torsion spring 18 can absorb the energy from different external impacts, and the output mechanism realizes an anti-impact buffering mode relative to the base assembly, thereby protecting the internal components of the joint module 100 from damage caused by external large load impacts, thereby improving the durability of the joint module 100.

[0093] According to an embodiment of the present invention, when the first magnetorheological fluid bearing group is in a released state and the second magnetorheological fluid bearing group is in a locked state, the output mechanism drives one end of the torsion spring 18 to be compressed, and when the torsion spring 18 is compressed to a threshold value, the driving mechanism 2 changes the current rotation direction, and the output mechanism realizes a jumping output mode relative to the base assembly.

[0094] According to an embodiment of the present invention, the current supplied to the first coil 5 is cut off, and the current is supplied to the second coil 17. At this time, the first magnetorheological fluid bearing group is in a released state, and the second magnetorheological fluid bearing group is in a locked state. The driving mechanism 2 drives the sun gear assembly to rotate synchronously through the connecting shaft 3. The outer surface of the sun gear assembly is meshed with the plurality of planetary gears 10. Since the first magnetorheological fluid bearing group is currently in a released state, the plurality of planetary gears 10 are driven by the sun gear assembly to rotate on their respective first support shafts 8. The diameter of the sun gear 11 is relatively small, while the diameter of the circle formed by the plurality of planetary gears 10 around the sun gear 11 is relatively large. At this time, the torque can be amplified in the process of the torque being transmitted from the sun gear 11 of the sun gear assembly to the plurality of planetary gears 10. For example, according to the gear ratio between the sun gear 11 and the plurality of planetary gears 10, the torque can be amplified by 4 times. Based on the transmission ratio between the sun gear 11 and the plurality of planetary gears 10, the sun gear 11 rotates faster, while the plurality of planetary gears 10 rotate slower, thereby achieving deceleration in the process of the sun gear assembly driving the plurality of planetary gears 10 to rotate. For example, according to the transmission ratio between the sun gear 11 and the plurality of planetary gears 10, 4 times deceleration can be achieved. The output mechanism is meshed on the outside of the plurality of planetary gears 10, and the plurality of planetary gears 10 rotate on their respective first support shafts 8 to drive the rotation of the output mechanism. At this time, the torque is transmitted from the plurality of planetary gears 10 to the output mechanism, and the output mechanism and the other end of the torsion spring 18 connected to the output mechanism rotate relative to the base assembly. At present, the second magnetorheological fluid bearing group is in a locked state, the outer ring 16 and one end of the torsion spring 18 connected to the outer ring 16 are in a locked state, and the torsion spring 18 is compressed to realize the energy storage of the torsion spring 18, and when the torsion spring 18 is compressed to a threshold value, the driving mechanism 2 changes the current rotation direction (the motor changes from reverse rotation to forward rotation), and at this time, the output mechanism realizes a jump output mode relative to the base assembly, and the energy storage of the output torsion spring 18 is released.

[0095] According to an embodiment of the present invention, the threshold value of the torsion spring 18 is when the torsion spring 18 is compressed to 60°.

[0096] According to an embodiment of the present invention, when the first magnetorheological fluid bearing group is in a locked state, the output mechanism implements a load holding mode relative to the base assembly.

[0097] According to an embodiment of the present invention, current is supplied to the first coil 5, and the current supplied to the second coil 17 is cut off. At this time, the first magnetorheological fluid bearing group is in a locked state, and the second magnetorheological fluid bearing group is in a released state. The output mechanism and the other end of the torsion spring 18 connected to the output mechanism are in a locked state, and the multiple planetary gears 10 are in a locked state. The joint module 100 can achieve a large torque retention. The outer ring 16 and one end of the torsion spring 18 connected to the outer ring 16 are in a released state, so that the output mechanism realizes a load holding mode relative to the base assembly. At this time, only current needs to be supplied to the first coil 5, the drive mechanism 2 (motor) does not work, and the energy consumption is only the power consumption of the first coil 5, which reduces the energy consumption of the joint module 100 and improves the endurance of the joint module 100.

[0098] According to an embodiment of the present invention, current is respectively supplied to the first coil 5 and the second coil 17, at which time the first magnetorheological fluid bearing group is in a locked state, and the second magnetorheological fluid bearing group is in a locked state. The output mechanism and the other end of the torsion spring 18 connected to the output mechanism are in a locked state, the plurality of planetary gears 10 are in a locked state, the outer ring 16 and one end of the torsion spring 18 connected to the outer ring 16 are also in a locked state, and compared with the situation where the first magnetorheological fluid bearing group is in a locked state and the second magnetorheological fluid bearing group is in a released state, the joint module 100 can achieve greater torque retention, so that the output mechanism realizes a load retention mode relative to the base assembly.

[0099] Figure 8 It is a partial enlarged view of portion D in the parts explosion diagram of the joint module 100 according to an embodiment of the present invention.

[0100] According to an embodiment of the present invention, Figure 3 , Figure 4 , Figure 6 and Figure 8 As shown, the output mechanism includes an output disc 7, an end cover 9, a first bearing 12 and a second bearing 14. The inner ring of the output disc 7 is meshed with the outer sides of the plurality of planetary gears 10. The end cover 9 includes a cylindrical portion 91 and a flange 92 protruding outward from the end of the cylindrical portion 91, and the cylindrical portion 91 is mounted on the planetary carrier 13 of the transmission mechanism. The first bearing 12 is arranged between the top of the inner ring of the output disc 7 and the outer side of the cylindrical portion 91 to support the rotation of the output disc 7 relative to the end cover 9, and the flange 92 is configured to cooperate with the inner ring 19 to limit the movement of the output disc 7 in the axial direction. The second bearing 14 is arranged between the second support shaft 110 of the sun gear assembly and the inner side of the cylindrical portion 91 to support the rotation of the sun gear assembly relative to the planetary carrier 13.

[0101] According to an embodiment of the present invention, the output disc 7 includes a first barrel body portion 71, a second barrel body portion 72 and a disc surface 73, the first barrel body portion 71 and the second barrel body portion 72 are connected by a step, the disc surface 73 is connected to the second barrel body portion 72, and the inner ring of the first barrel body portion 71 is meshed with the outer sides of the plurality of planetary gears 10. The first bearing 12 is disposed at the top of the inner ring of the first barrel body portion 71 and is located between the inner ring of the second barrel body portion 72 and the outer side of the cylindrical portion 91 of the end cover 9, and the first bearing 12 can support the output disc 7 to rotate smoothly relative to the end cover 9.

[0102] According to an embodiment of the present invention, the other end of the second support shaft 110 of the sun gear assembly is connected to the barrel portion 91, and the flange 92 is configured to cooperate with the inner ring 19 to limit the movement of the output disc 7 in the axial direction. At the same time, the flange 92 can abut against the top of the first bearing 12, and the step between the first barrel portion 71 and the second barrel portion 72 can abut against the bottom of the first bearing 12, thereby limiting the movement of the first bearing 12 in the axial direction. The second bearing 14 is disposed between the second support shaft 110 of the sun gear assembly and the inner side of the barrel portion 91, and can support the sun gear assembly to rotate smoothly relative to the planet carrier 13.

[0103] According to an embodiment of the present invention, the flange 92 has a plurality of third accommodating holes 93 that are spaced apart from each other, and the plurality of third accommodating holes 93 are respectively connected to the other ends of the plurality of first supporting shafts 8 .

[0104] Fig. 9 is a three-dimensional diagram of a robot according to an embodiment of the present invention.

[0105] According to another embodiment of the present invention, Fig. 9 As shown, a robot is provided, including a joint module 100, a first joint 20 and a second joint 21. The first joint 20 and the second joint 21 are respectively mounted on a base assembly and an output mechanism of the joint module 100, so that the second joint 21 rotates relative to the first joint 20 under the drive of the joint module 100.

[0106] According to an embodiment of the present invention, the joint module 100 can be applied to a detection robot with four-legged movement. The first joint 20 and the second joint 21 of the detection robot are respectively installed on the base assembly and the output mechanism of the joint module 100. When the output mechanism realizes the normal working mode relative to the base assembly, the second joint 21 of the robot rotates normally relative to the first joint 20, and the detection robot can realize normal walking. When the output mechanism realizes the jumping output mode relative to the base assembly, the energy storage of the burst output torsion spring 18 can enhance the ability of the detection robot to jump and cross obstacles. When the output mechanism realizes the anti-impact buffering mode relative to the base assembly, the joint module 100 can absorb and buffer the energy from the external impact when the detection robot jumps from a high place, protect the internal components of the joint module 100 from being damaged by the external large load impact, and improve the overall reliability and durability of the detection robot. When the output mechanism realizes the load holding mode relative to the base assembly, the joint module 100 can realize the large torque holding, reduce the energy consumption of the detection robot, and improve the endurance of the detection robot.

[0107] According to the embodiment of the present invention, the joint module 100 can be applied not only to a quadrupedal mobile detection robot, but also can be widely applied to various types of robots such as an exoskeleton robot, a bipedal robot, and a humanoid robot.

[0108] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present invention may be combined or coupled in various ways, even if such combinations or couplings are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention may be combined or coupled in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or couplings fall within the scope of the present invention.

[0109] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present invention. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present invention, and the shapes and sizes of the components in the drawings do not reflect the actual size and proportion, but only illustrate the contents of the embodiments of the present invention.

[0110] Unless otherwise indicated, the numerical parameters in this specification and the appended claims are approximate values ​​and can be changed according to the desired characteristics obtained by the content of the present invention. Specifically, all numbers used in the specification and claims to express the content of the composition, reaction conditions, etc., should be understood to be modified by the term "about" in all cases. In general, the meaning of the expression is to include changes in some embodiments of ±10%, in some embodiments of ±5%, in some embodiments of ±1%, and in some embodiments of ±0.5% by a specific number.

[0111] The ordinal numbers used in the specification and claims, such as "first", "second", "third", etc., to modify the corresponding elements, do not themselves mean that the elements have any ordinal numbers, nor do they represent the order of one element and another element, or the order in the manufacturing method. The use of these ordinal numbers is only used to clearly distinguish a component with a certain name from another component with the same name.

[0112] In addition, unless the steps are specifically described or must occur in sequence, the order of the above steps is not limited to the above list, and can be changed or rearranged according to the required design. And the above embodiments can be mixed and matched with each other or with other embodiments based on design and reliability considerations, that is, the technical features in different embodiments can be freely combined to form more embodiments.

[0113] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination. The scope of the present invention is defined by the attached claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A joint module, characterized in that: include: Base assembly; A driving mechanism installed in the base assembly; A transmission mechanism, one end of which is connected to the driving mechanism; An output mechanism is rotatably sleeved on the outer side of the transmission mechanism, so that the driving mechanism drives the output mechanism to rotate relative to the base assembly through the transmission mechanism; A first damping unit, disposed in the transmission mechanism and configured to change a driving state of the transmission mechanism on the output mechanism; as well as The elastic damping mechanism comprises: A second damping unit mounted on the base assembly; and an elastic mechanism, installed between the second damping unit and the output mechanism; Wherein, the first damping unit and the second damping unit are both configured to operate in a released state, a locked state, or a damping state under the drive of an external current, so that the output mechanism has a normal working mode, a jump output mode, an anti-impact buffer mode, or a load holding mode relative to the base assembly.

2. The joint module according to claim 1, characterized in that: The transmission mechanism comprises: A planet carrier connected to the base assembly; A sun gear assembly, driven by the driving mechanism, is rotatably mounted at the center of the planet carrier; A plurality of first support shafts are installed on the planet carrier at intervals around the sun gear assembly, and a plurality of the first damping units are respectively sleeved on the plurality of the first support shafts; A plurality of planetary gears are respectively sleeved on the plurality of the first damping units and respectively meshed with the sun gear assemblies, and the output mechanism is meshed on the outer sides of the plurality of planetary gears.

3. The joint module according to claim 2, characterized in that: Each of the first damping units comprises: A plurality of first magnetorheological fluid bearing groups are sleeved on each of the first support shafts at intervals; At least one first coil is disposed between two adjacent first magnetorheological fluid bearings, and the first coil is configured to generate a magnetic field when powered on to change the magnetorheological effect of the magnetorheological fluid in the first magnetorheological fluid bearing group.

4. The joint module according to claim 3, characterized in that: The second damping unit comprises: An inner ring, mounted on the outer side of the planet carrier; A plurality of second magnetorheological fluid bearing groups are sleeved at intervals on the outer side of the inner ring; at least one second coil, respectively disposed between two adjacent second magnetorheological fluid bearings, the second coil being configured to generate a magnetic field when powered on to change the magnetorheological effect of the magnetorheological fluid in the second magnetorheological fluid bearing group; and The outer ring is sleeved on the outer sides of the plurality of the second magnetorheological fluid bearing groups to limit the rotation of the output mechanism relative to the base assembly under the action of the second magnetorheological fluid bearing groups.

5. The joint module according to claim 4, characterized in that: The elastic mechanism comprises: A torsion spring is sleeved on the outside of the outer ring, one end of the torsion spring is connected to the outer ring, and the other end of the torsion spring is connected to the output mechanism, and the torsion spring is configured to elastically limit the rotation of the output mechanism relative to the base assembly when the first damping unit is in a released state or a damping state and the second damping unit is in a locked state or a damping state.

6. The joint module according to claim 5, characterized in that: The first magnetorheological fluid bearing group and the second magnetorheological fluid bearing group adjust their respective damping in response to the magnitude of the current passed through the first coil and the second coil, respectively, so that the rotation angle of the output mechanism relative to the base assembly is greater than the rotation angle of the outer ring relative to the base assembly, so that the torsion spring absorbs energy from different external impacts, and the output mechanism realizes an anti-impact buffering mode relative to the base assembly.

7. The joint module according to claim 5, characterized in that: When the first magnetorheological fluid bearing group is in a released state and the second magnetorheological fluid bearing group is in a locked state, the output mechanism drives one end of the torsion spring to be compressed, and when the torsion spring is compressed to a threshold value, the driving mechanism changes the current rotation direction, and the output mechanism realizes the jumping output mode relative to the base assembly.

8. The joint module according to claim 5, characterized in that: When the first magnetorheological fluid bearing group is in a locked state, the output mechanism implements the load holding mode relative to the base assembly.

9. The joint module according to claim 5, characterized in that: The output mechanism comprises: an output disc, the inner ring of which is meshed with the outer sides of the plurality of planetary gears; An end cover, comprising a barrel portion and a flange protruding outward from an end of the barrel portion, wherein the barrel portion is mounted on a planet carrier of the transmission mechanism; a first bearing disposed between the top of the inner ring of the output disc and the outer side of the cylindrical portion to support the rotation of the output disc relative to the end cover, the flange being configured to cooperate with the inner ring to limit the movement of the output disc in the axial direction; and The second bearing is disposed between the second support shaft of the sun gear assembly and the inner side of the cylindrical portion to support the sun gear assembly to rotate relative to the planet carrier.

10. A robot, characterized in that: include: The joint module as claimed in any one of claims 1 to 9; as well as The first joint and the second joint are respectively mounted on the base assembly and the output mechanism of the joint module, so that the second joint rotates relative to the first joint under the drive of the joint module.

Images