Robot joint and robot

Abstract

The embodiment of the invention belongs to the technical field of robots, and relates to a joint of a robot, a second output end of a second rotation driving piece of the joint is fixedly connected with a second part, and a second center shaft of the second rotation driving piece is arranged in the direction of a pitching rotation center shaft of the second part; the second part is driven by the second rotary driving piece to do pitching motion; a first central axis of the first rotary driving piece is perpendicular to a second central axis of the second rotary driving piece, and the first central axis of the first rotary driving piece is arranged in the direction of a central axis of yaw rotation of the second part; the first output end of the first rotary driving part, the first connecting rod, the second connecting rod and the second fixing part of the second rotary driving part form a four-connecting-rod mechanism, and the four-connecting-rod mechanism is driven by the first rotary driving part so as to drive the second part to do yawing motion. According to the technical scheme, the size of the robot joint can be reduced, and the movement range of the joint is widened.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to a robot joint and a robot. Background Art

[0002] With the development of science and technology, humanoid robots are gradually becoming popular in all walks of life, so there are higher requirements for the performance of robots in all aspects.

[0003] At present, the driving structure of humanoid robots in joints such as wrists and necks usually adopts two motion joints arranged in series. This method often limits the flexibility of robot wrist movement and increases the length of the arm. Summary of the invention

[0004] Based on this, an embodiment of the present application provides a robot joint and a robot to reduce the volume of the robot joint and enhance the range of motion of the joint.

[0005] In a first aspect, the present application provides a robot joint and a robot, which adopts the following technical solution:

[0006] A robot joint, used to connect a first part and a second part of the robot, comprising: a first rotary drive member, a second rotary drive member, a first connecting rod and a second connecting rod; the first rotary drive member comprises: a first fixed part, a first output end and a first central axis; the second rotary drive member comprises: a second fixed part, a second output end and a second central axis;

[0007] The first fixing portion of the first rotary driving member is used for fixed connection with the first portion;

[0008] Both sides of the first output end of the first rotary driving member are hinged to the first end of the first connecting rod and the first end of the second connecting rod respectively;

[0009] The second end of the first connecting rod and the second end of the second connecting rod are respectively hinged to the second fixing portion of the second rotary driving member, and a connecting line between the second end of the first connecting rod and the second end of the second connecting rod corresponds to the second central axis;

[0010] The first central axis of the first rotary driving member is arranged along the direction of the central axis of the yaw rotation of the second part; the first output end of the first rotary driving member, the first connecting rod, the second connecting rod and the second fixed part of the second rotary driving member form a four-bar linkage, and the four-bar linkage is driven by the first rotary driving member to drive the yaw motion of the second part;

[0011] The second output end of the second rotary drive member is used to be fixedly connected to the second part, and the second central axis of the second rotary drive member is arranged along the direction of the central axis of the pitch rotation of the second part, and the pitch motion of the second part is driven by the second rotary drive member.

[0012] Further, it also includes: a fixing connecting rod;

[0013] The first end of the fixed connecting rod is hinged to the first fixed portion of the first rotary driving member;

[0014] The second end of the fixed link is hinged to the second fixed portion of the second rotary drive member to connect the first rotary drive member and the second rotary drive member.

[0015] Furthermore, it also includes: a wire harness; a central-hole wire harness lead-in hole is formed inside the first connecting rod and / or the second connecting rod;

[0016] The wire harness is led out through the first rotary drive member, and is introduced into the second rotary drive member through the wire harness lead-in hole of the first connecting rod and / or the second connecting rod.

[0017] Further, the second rotary driving member includes a housing and a driving body located inside the housing;

[0018] At least one wire harness accommodating cavity is formed between the housing and the driving body, and a portion of the wire harness located in the accommodating cavity forms a margin.

[0019] Furthermore, the wire harness accommodating cavity is located on a radial side wall and / or at least one axial end of the second rotary driving member.

[0020] Furthermore, the second output end of the second rotating driving member is fixedly connected to the second part through the following structure:

[0021] The joint also includes a connecting arm;

[0022] The second output end of the second rotary driving member is fixedly connected to the second part through the connecting arm;

[0023] The second portion is located outside the side wall of the second rotary drive member on a side radially away from the first rotary drive member; and / or,

[0024] The third central axis of the second portion is disposed perpendicularly to the second central axis of the second rotary drive member.

[0025] Furthermore, the first connecting rod, the second connecting rod and the fixed connecting rod are located on the same side of the first rotary driving member.

[0026] Further, the first central axis is arranged perpendicular to the second central axis; and / or,

[0027] The first central axis is arranged at a middle position corresponding to the second central axis.

[0028] In a second aspect, an embodiment of the present application provides a robot, comprising the joints of the robot described in any one of the above items.

[0029] Further, the first part is a robot arm; the second part is a robot hand; and / or,

[0030] The first part is the robot body; the second part is the robot head.

[0031] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0032] In the embodiment of the present application, a four-bar linkage is used to transfer the rotational motion of the first rotating drive member to the yaw motion of the second part; the pitch motion of the second part is realized by the second rotating drive member, and the rotation centers of the yaw motion and the pitch motion intersect at one point or approximately one point, thereby realizing the compounding of the two degrees of freedom of the second part and making the overall structure more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the scheme of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of the overall structure of an embodiment of a joint of a robot provided in the present application;

[0035] Figure 2 for Figure 1 A schematic diagram of the overall structure of an embodiment of a robot joint at a first yaw angle is provided;

[0036] Figure 3 for Figure 1 A schematic diagram of the overall structure of an embodiment of a robot joint at a first pitch angle is provided;

[0037] Figure 4 for Figure 1 A schematic plan view of the structure of an embodiment of a first rotary drive member of a joint of a robot connecting a robot arm and a robot hand;

[0038] Figure 5 for Figure 1A schematic plan view of the structure of an embodiment of a second rotary drive member of a robot joint connecting a robot arm and a robot hand;

[0039] Figure 6 for Figure 1 A schematic diagram of the partial exploded structure of the robot's joints is provided.

[0040] Figure numerals: 10 joints of the robot, 20 first part, 30 second part, 11 first rotating driving member, 12 second rotating driving member, 13 first connecting rod, 14 second connecting rod, 15 fixed connecting rod, 16 wiring harness, 17 connecting arm, 18 connecting head, 121 housing, 122 driving body, 123 wiring harness accommodating cavity, 161 surplus, 01 first center axis, 02 second center axis, 03 third center axis. DETAILED DESCRIPTION

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0042] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0043] Unless otherwise defined, references herein to a certain structural member being "fixed to", "fixedly connected to" another structural member and other similar descriptions include fixing methods such as the two structural members being prefabricated as one piece or being fixedly connected via a centering member.

[0044] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0045] like Figure 1 As shown, Figure 1 A schematic diagram of the overall structure of an embodiment of the joints of the robot provided in this application.

[0046] The embodiment of the present application provides a robot joint 10, which is used to connect the first part 20 and the second part 30 of the robot. The joint 10 includes: a first rotary drive member 11, a second rotary drive member 12, a first connecting rod 13 and a second connecting rod 14. The first rotary drive member 11 includes: a first fixed part, a first output end 111 and a first central axis 01; the second rotary drive member 12 includes: a second fixed part, a second output end 121 and a second central axis 02.

[0047] The first fixing portion of the first rotary driving member 11 is used for fixed connection with the first portion 20 (only a partial structure of the first portion is shown in the figure).

[0048] In the embodiment of the present application, the joint of the robot can connect any adjacent first and second parts of the robot that need to move relative to each other as needed. For example, the first part can be a robot arm, and the second part can be a robot hand. Then the robot hand and the robot arm can be connected through the joint 10; or, the first part can be a robot body, and the second part can be a robot head. Then the joint 10 can connect the robot body and the robot head. For ease of understanding, Figure 4 and 5 As shown, the embodiment of the present application is described in detail by taking the robot joint 10 connecting the robot arm (ie, the first part) and the robot hand (ie, the second part) as an example.

[0049] Specifically, the first rotary drive member 11 and the second rotary drive member 12 may adopt various existing or future developed structural members capable of achieving rotary drive as required, such as a driving member including a rotary motor.

[0050] It should be noted that the first fixed portion of the first rotary drive member 11 described in the embodiment of the present application may refer to the stator of the rotary motor or any part or structure relatively fixedly connected to the stator of the motor. For example, the opposite end of the first output end 111 of the first rotary drive member 11 (i.e., the first fixed portion) may be fixedly connected to the stator of the motor, and then fixedly connected to the end of the robot arm through a central structure, such as by screws.

[0051] Two sides of the first output end 111 of the first rotary driving member 11 are hinged to the first end of the first connecting rod 13 and the first end of the second connecting rod 14 respectively.

[0052] The first output end 111 of the first rotation driving member 11 may be an output end of a mover of a rotation motor of the first rotation driving member 11 .

[0053] In an optional embodiment, the first end of the first connecting rod 13 and the first end of the second connecting rod 14 can be symmetrically hinged on both sides of the central axis of the first mover, so that when the first mover rotates, the first end of the first connecting rod 13 and the first end of the second connecting rod 14 can be driven to rotate around the first central axis 01 respectively.

[0054] The second end of the first connecting rod 13 and the second end of the second connecting rod 14 are respectively hinged to the second fixing portion of the second rotary driving member 12 , and a connecting line of the second end of the first connecting rod 13 and the second end of the second connecting rod 14 corresponds to the second central axis 02 .

[0055] The embodiment of the present application makes the second end of the first connecting rod and the line connecting the second end of the second connecting rod correspond to the second center axis (for example, the line connecting the second end of the first connecting rod 13 and the second end of the second connecting rod 14 passes through the second center axis 02 or near the second center axis 02), so that the transmission based on the four-bar linkage mentioned later can be made so that the rotation center driven by the first rotating drive member and the rotation center driven by the second rotating drive member intersect at one point or approximately one point.

[0056] Similarly, based on the foregoing embodiments, the second fixed portion 12 of the second rotary drive member 12 may refer to the stator of the rotary motor of the second rotary drive member 12 or any part or structure relatively fixedly connected to the stator of the motor.

[0057] The second output end of the second rotating driving member 12 is used to be fixedly connected to the second part 30 (only a partial structure of the second part is shown in the figure), and the second central axis 02 of the second rotating driving member 12 is arranged along the direction of the central axis of the pitch rotation of the second part 30, so that the second part 30 can be driven to pitch by the second rotating driving member 12.

[0058] like Figure 2 and Figure 5 As shown, Figure 2 for Figure 1 A schematic diagram of the overall structure of an embodiment of a robot joint in a pitch rotation state is provided; Figure 5 for Figure 1 A schematic diagram of a planar structure of an embodiment of a second rotary drive member of a robot joint connecting a robot arm and a robot hand is provided. Exemplarily, the output end (i.e., the second output end) of the mover of the second rotary drive member 12 is fixedly connected to the wrist of the robot hand (i.e., the second part 30), so that the second rotary drive member 12 can drive the robot hand 30 to pitch.

[0059] The first central axis O1 of the first rotation driving member 11 is disposed along the direction of the central axis of the yaw rotation of the second portion 30 .

[0060] like Figure 3 and4 As shown, Figure 3 for Figure 1 A schematic diagram of the overall structure of an embodiment of a robot joint in a yaw rotation state is provided; Figure 4 for Figure 1 A schematic diagram of a planar structure of an embodiment of a first rotary drive member of a robot joint connecting a robot arm and a robot hand is provided. For example, the first central axis O1 of the first rotary drive member 11 is arranged along the direction of the central axis of the yaw rotation of the robot hand (for example: Figure 4 As shown, the first rotary drive member 11 is arranged on one side of the wrist of the robot hand in a direction perpendicular to the center of the palm of the robot hand 30 to achieve yaw motion of the robot hand 30.

[0061] In an optional embodiment, the first central axis O1 of the first rotation driving member 11 and the second central axis O2 of the second rotation driving member 12 are arranged perpendicular to each other.

[0062] Typically, the first central axis is perpendicular to the second central axis, but in some cases, it may not be perpendicular, which all falls within the scope of protection of this application.

[0063] In an optional embodiment, the first central axis is set at a middle position corresponding to the second central axis. This makes the entire joint symmetrically distributed, which is beneficial to the drive control of the entire joint. In addition, the first central axis may not be set at a middle position corresponding to the second central axis as required, which falls within the scope of protection of this application.

[0064] In the embodiment of the present application, the first output end of the first rotary drive member 11, the first connecting rod 13, the second connecting rod 14 and the second fixed portion of the second rotary drive member 12 form a four-bar linkage. The first rotary drive member 11 drives the four-bar linkage, thereby driving the yaw motion of the robot hand.

[0065] The embodiment of the present application uses a four-bar linkage mechanism to transfer the rotational motion of the first rotary drive member to the yaw motion of the robot hand (i.e., the second part), and realizes 1:1 motion transmission; the pitch motion of the robot hand is realized by the second rotary drive member, and the rotation centers of the yaw motion and the pitch motion intersect at one point or approximately one point, thereby realizing the compounding of the two degrees of freedom of the robot hand (i.e., the second part), making the overall structure more compact.

[0066] In an optional embodiment, the joint 10 of the robot may further include: a fixed link 15 .

[0067] The first end of the fixed connecting rod 15 is hinged to the first fixed portion of the first rotary driving member 11;

[0068] The second end of the fixed link 15 is hinged to the second fixed portion of the second rotary drive member 12 to connect the first rotary drive member 11 and the second rotary drive member 12 .

[0069] Specifically, the first end of the fixed link 15 can be hinged to any desired position of the first fixed part of the first rotary drive member 11 as needed; the second end of the fixed link 15 can be hinged to any desired position of the second fixed part of the second rotary drive member 12 as needed.

[0070] In one embodiment, the fixed link 15 may be located on the same side of the first rotary driving member 11 as the first link 13 and the second link 14 .

[0071] The embodiment of the present application uses a fixed connecting rod to respectively connect the first rotation driving member and the second rotation driving member, thereby effectively ensuring the rigidity and stability of the entire transmission structure.

[0072] like Figure 4 Shown is a schematic diagram of a partial exploded structure of the joint wiring harness routing of the robot of the present application.

[0073] In an optional embodiment, the joint 10 of the robot may further include: a wiring harness 16 .

[0074] A wire harness lead-in hole is formed inside the first connecting rod 13 and / or the second connecting rod 14 . The wire harness is led out through the first rotary drive member 11 , and is introduced into the second rotary drive member 12 through the wire harness lead-in hole of the first connecting rod 13 and / or the second connecting rod 14 .

[0075] The embodiment of the present application introduces the wiring harness into the second rotating drive member through the first connecting rod 13 and / or the second connecting rod 14. Since the four-bar linkage does not rotate relative to the first rotating drive member, the wiring harness does not rotate relative to the portion passing through the four-bar linkage either. This reduces the possibility of the wiring harness being damaged by twisting and stretching due to the rotation of the first rotating drive member.

[0076] In an optional embodiment, the second rotary driving member 12 includes a housing 121 and a driving body 122 located inside the housing 121 .

[0077] At least one wiring harness accommodating cavity 123 is formed between the housing 121 and the driving body 122, and the wiring harness 16 is formed into a surplus 161 and accommodated in the wiring harness accommodating cavity 123. By accommodating the wiring harness surplus 161 in the wiring harness accommodating cavity 123, the torsion and other damages caused to the wiring harness 16 by the rotation of the second rotating driving member are reduced.

[0078] Further, in an optional embodiment, the wire harness accommodating cavity is located on a radial side wall and / or at least one axial end of the second rotary driving member.

[0079] The embodiment of the present application forms a wiring harness accommodating cavity on the radial side wall and / or at least one axial end of the second rotary drive member, thereby reducing the chance of the wiring harness contacting the motor mover in the second rotary drive member, thereby reducing the interference of the mover rotation on the wiring harness.

[0080] Continue as Figure 1 As shown, in an optional embodiment, the above-mentioned “the second output end of the second rotating driving member is fixedly connected to the second part” can be realized by the following structure:

[0081] The joint 10 also includes a connecting arm 17;

[0082] The output end of the second rotary driving member 12 is fixedly connected to the second portion 30 via a connecting arm 17;

[0083] The second portion 30 is located outside the side wall of the second rotary driving member 12 on a side radially away from the first rotary driving member 11 .

[0084] Typically, the third central axis O3 of the second portion 30 is disposed perpendicular to the second central axis O2 of the second rotary drive member 12 ; in addition, the two may not be perpendicular to each other, and all of these fall within the scope of protection of the present application.

[0085] The embodiment of the present application is achieved by fixedly connecting the output end of the second rotating drive member to the connecting head through a connecting arm, and then setting the third center axis of the connecting head perpendicular to the second center axis of the second rotating drive member; the connecting head is fixedly connected to the second part along the direction of the third center axis, so that the first rotating drive member corresponds to the yaw movement of the robot hand, and the second rotating drive member corresponds to the pitch movement of the robot hand.

[0086] Based on the motion joints of the robot's body described in the above embodiments, an embodiment of the present application provides a robot (drawings omitted).

[0087] The robot includes the joint 10 , the first part 20 and the second part 30 of the robot described in the above embodiment.

[0088] It should be noted that the above-mentioned robot can be any robot that exists now or will be developed in the future, such as a humanoid robot or an industrial manipulator, and this application does not limit this.

[0089] For the relevant description of the robot hand, please refer to the above embodiments, which will not be repeated here.

[0090] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A robot joint, used to connect a first part and a second part of the robot, characterized in that: include: a first rotary drive member, a second rotary drive member, a first connecting rod and a second connecting rod; The first rotating driving member includes: a first fixing portion, a first output end and a first central axis; the second rotating driving member includes: a second fixing portion, a second output end and a second central axis; The first fixing portion of the first rotary driving member is used for fixed connection with the first portion; Both sides of the first output end of the first rotary driving member are hinged to the first end of the first connecting rod and the first end of the second connecting rod respectively; The second end of the first connecting rod and the second end of the second connecting rod are respectively hinged to the second fixing portion of the second rotary driving member, and a connecting line between the second end of the first connecting rod and the second end of the second connecting rod corresponds to the second central axis; The first central axis of the first rotary driving member is arranged along the direction of the central axis of the yaw rotation of the second part; the first output end of the first rotary driving member, the first connecting rod, the second connecting rod and the second fixed part of the second rotary driving member form a four-bar linkage, and the four-bar linkage is driven by the first rotary driving member to drive the yaw motion of the second part; The second output end of the second rotary drive member is used to be fixedly connected to the second part, and the second central axis of the second rotary drive member is arranged along the direction of the central axis of the pitch rotation of the second part, and the pitch motion of the second part is driven by the second rotary drive member.

2. The robot joint according to claim 1, characterized in that: Also included: a fixed connecting rod; The first end of the fixed connecting rod is hinged to the first fixed portion of the first rotary driving member; The second end of the fixed link is hinged to the second fixed portion of the second rotary drive member to connect the first rotary drive member and the second rotary drive member.

3. The robot joint according to claim 1 or 2, characterized in that: Also includes: Wiring harness; A central wire harness lead-in hole is formed inside the first connecting rod and / or the second connecting rod; The wire harness is led out through the first rotary drive member, and is introduced into the second rotary drive member through the wire harness lead-in hole of the first connecting rod and / or the second connecting rod.

4. The robot joint according to claim 3, characterized in that: The second rotary driving member comprises a housing and a driving body located inside the housing; At least one wire harness accommodating cavity is formed between the housing and the driving body, and a portion of the wire harness located in the accommodating cavity forms a margin.

5. The robot joint according to claim 4, characterized in that: The wire harness accommodating cavity is located on a radial side wall and / or at least one axial end of the second rotary driving member.

6. The robot joint according to claim 1 or 2, characterized in that: The second output end of the second rotating driving member is fixedly connected to the second part through the following structure: The joint also includes a connecting arm; The second output end of the second rotary driving member is fixedly connected to the second part through the connecting arm; The second portion is located outside the side wall of the second rotary drive member on a side radially away from the first rotary drive member; and / or, The third central axis of the second portion is disposed perpendicularly to the second central axis of the second rotary drive member.

7. The robot joint according to claim 2, characterized in that: The first connecting rod, the second connecting rod and the fixed connecting rod are located on the same side of the first rotary driving member.

8. The robot joint according to claim 1 or 2, characterized in that: The first central axis is arranged perpendicular to the second central axis; and / or, The first central axis is arranged at a middle position corresponding to the second central axis.

9. A robot, characterized in that: The robot comprises the joint of the robot according to any one of claims 1 to 9.

10. The robot joint according to claim 9, characterized in that: The first part is a robot arm; the second part is a robot hand; and / or, The first part is the robot body; the second part is the robot head.

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