Joint of a robot and robot

Abstract

The embodiment of the application belongs to the technical field of robots, and relates to a joint of a robot. A second output end of a second rotary driving part is fixedly connected with a second part, and a second central shaft of the second rotary driving part is arranged along the direction of the central shaft of the pitch rotation of the second part, and the pitch movement of the second part is driven by the second rotary driving part. A first central shaft of a first rotary driving part is arranged perpendicularly to the second central shaft of the second rotary driving part, and the first central shaft of the first rotary driving part is arranged along the direction of the central shaft of the yaw rotation of the second part. A first output end of the first rotary driving part, a first connecting rod, a second connecting rod and a second fixed part of the second rotary driving part form a four-bar linkage mechanism, the four-bar linkage mechanism is driven by the first rotary driving part, and the yaw movement of the second part is further driven. The technical scheme provided by the application can reduce the volume of the joint of the robot and enhance the movement range of the joint.

Description

Technical Field

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

[0002] With the development of technology, humanoid robots are gradually being used in various industries, which has led to higher requirements for the performance of robots in all aspects.

[0003] Currently, humanoid robots typically use two motion joints connected in series in the drive structure of joints such as the wrist and neck. This method often limits the flexibility of the robot's wrist movement and increases the length of the arm. Summary of the Invention

[0004] Based on this, embodiments of this application provide a robot joint and a robot, so as to reduce the volume of the robot joint and enhance the range of motion of the joint.

[0005] In a first aspect, embodiments of this application provide a robot joint and a robot, employing the technical solutions described below:

[0006] A robot joint for connecting a first part and a second part of the robot includes: a first rotary drive, a second rotary drive, a first link, and a second link; the first rotary drive includes: a first fixed part, a first output end, and a first central axis; the second rotary drive includes: a second fixed part, a second output end, and a second central axis.

[0007] The first fixing part of the first rotary drive member is used to be fixedly connected to the first part;

[0008] The two sides of the first output end of the first rotary drive are respectively hinged to the first end of the first connecting rod and the first end of the second connecting rod.

[0009] The second end of the first connecting rod and the second end of the second connecting rod are respectively hinged to the second fixed part of the second rotary drive member, and the line connecting 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 drive 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 drive, the first connecting rod, the second connecting rod and the second fixed part of the second rotary drive form a four-bar linkage mechanism, and the first rotary drive drives the four-bar linkage mechanism to drive the yaw motion of the second part.

[0011] The second output end of the second rotary drive is fixedly connected to the second part, and the second central axis of the second rotary drive is set along the direction of the pitch rotation central axis of the second part, so that the second part can be driven to pitch by the second rotary drive.

[0012] Furthermore, it also includes: fixed linkages;

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

[0014] The second end of the fixed connecting rod is hinged to the second fixed part 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 wire harness through-hole is formed inside the first link and / or the second link;

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

[0017] Furthermore, the second rotary drive includes a housing and a drive body located inside the housing;

[0018] At least one wire harness accommodating cavity is formed between the housing and the drive body, and the portion of the wire harness located within the accommodating cavity is provided as a margin.

[0019] Furthermore, the wire harness accommodating cavity is located at at least one end of the radial sidewall and / or axial direction of the second rotary drive member.

[0020] Furthermore, the second output end of the second rotary drive 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 drive is fixedly connected to the second part via the connecting arm;

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

[0024] The third central axis of the second part is set perpendicular to the second central axis of the second rotary drive.

[0025] Furthermore, the first link, the second link, and the fixed link are located on the same side of the first rotary drive member.

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

[0027] The first central axis is positioned at the midpoint of the second central axis.

[0028] Secondly, embodiments of this application provide a robot, the robot comprising the joints of any of the robots described above.

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

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

[0031] Compared with the prior art, the embodiments of this application have the following main advantages:

[0032] In this embodiment, a four-bar linkage is used to transfer the rotational motion of the first rotary drive to the yaw motion of the second part; the second rotary drive realizes the pitch motion of the second part, and the rotation centers of the yaw motion and the pitch motion intersect at a point or approximately a point, thereby realizing the combination of the two degrees of freedom of the second part and making the overall structure more compact. Attached Figure Description

[0033] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A schematic diagram of the overall structure of one embodiment of the joint of the robot provided in this application;

[0035] Figure 2 for Figure 1 A schematic diagram of the overall structure of one embodiment of the robot's joints at a first yaw angle;

[0036] Figure 3 for Figure 1 A schematic diagram of the overall structure of one embodiment of the robot's joints at a first pitch angle;

[0037] Figure 4 for Figure 1 A schematic planar structure diagram of an embodiment of the connection between the first rotational actuator of the robot's joint and the robot hand;

[0038] Figure 5 for Figure 1A schematic planar structure diagram of an embodiment of the connection between the robot arm and the robot hand by the second rotational drive of the robot joint;

[0039] Figure 6 for Figure 1 A schematic diagram of the localized explosion structure of the robot's joints.

[0040] Reference numerals: 10 Robot joint, 20 First part, 30 Second part, 11 First rotary drive, 12 Second rotary drive, 13 First link, 14 Second link, 15 Fixed link, 16 Wire harness, 17 Connecting arm, 18 Connector, 121 Housing, 122 Drive body, 123 Wire harness accommodating cavity, 161 Remaining space, 01 First central axis, 02 Second central axis, 03 Third central axis. Detailed Implementation

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0042] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0043] Unless otherwise defined, any description in this document of a structural component being "fixed to" or "fixedly connected to" another structural component includes methods of fixing such as prefabricating two structural components as a single unit or fixing them together via a centering member.

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

[0045] like Figure 1 As shown, Figure 1 This is a schematic diagram of the overall structure of one embodiment of the joint of the robot provided in this application.

[0046] This application provides a robot joint 10 for connecting a first part 20 and a second part 30 of the robot. The joint 10 includes a first rotary drive 11, a second rotary drive 12, a first link 13, and a second link 14. The first rotary drive 11 includes a first fixed part, a first output end 111, and a first central axis 01; the second rotary drive 12 includes a second fixed part, a second output end 121, and a second central axis 02.

[0047] The first fixing part of the first rotary drive member 11 is used to fixally connect with the first part 20 (only part of the structure of the first part is shown in the figure).

[0048] In this embodiment, the robot's joints can connect any adjacent first and second parts of the robot that require relative movement, as needed. For example, if the first part is a robot arm and the second part is a robot hand, then joint 10 can connect the robot hand and the robot arm; or, if the first part is a robot body and the second part is a robot head, then joint 10 can connect the robot body and the robot head. For ease of understanding, as follows... Figure 4 and 5 As shown, this application embodiment uses the robot's joint 10 connecting the robot arm (i.e., the first part) and the robot hand (i.e., the second part) as an example for detailed explanation.

[0049] Specifically, the first rotary drive component 11 and the second rotary drive component 12 may adopt various existing or future-developed structural components that can realize rotary drive, such as drive components including rotary motors.

[0050] It should be noted that the first fixing part of the first rotary drive member 11 described in the embodiments of this application can refer to the stator of the rotary motor or any part or structural component that is fixedly connected to the stator of the motor. For example, the opposite end (i.e., the first fixing part) of the first output end 111 of the first rotary drive member 11 can be fixedly connected to the stator of the motor, and then fixedly connected to the end of the robot arm through a central structural component, such as by screws.

[0051] The first output end 111 of the first rotary drive 11 is hinged to the first end of the first connecting rod 13 and the first end of the second connecting rod 14 on both sides.

[0052] The first output terminal 111 of the first rotary drive 11 can be the output terminal of the mover of the rotary motor of the first rotary drive 11.

[0053] In an optional embodiment, the first end of the first link 13 and the first end of the second link 14 can be symmetrically hinged to both sides of the central axis of the first mover. In this way, when the first mover rotates, the first end of the first link 13 and the first end of the second link 14 can be driven to rotate around the first central axis O1, respectively.

[0054] The second end of the first link 13 and the second end of the second link 14 are respectively hinged to the second fixed part of the second rotary drive member 12, and the line connecting the second end of the first link 13 and the second end of the second link 14 corresponds to the second central axis 02.

[0055] In this embodiment of the application, by aligning the line connecting the second end of the first link and the second end of the second link with the second central axis (for example, the line connecting the second end of the first link 13 and the second end of the second link 14 passes through the second central axis 02 or near the second central axis 02), the transmission of the four-bar linkage mentioned in the following implementation can be such that the rotation center driven by the first rotary drive member and the rotation center driven by the second rotary drive member intersect at a point or approximately a point.

[0056] Similarly, based on the previous embodiments, the second fixing part 12 of the second rotary drive member 12 can refer to the stator of the rotary motor of the second rotary drive member 12 or any part or structural component that is fixedly connected to the stator of the motor.

[0057] The second output end of the second rotary drive 12 is fixedly connected to the second part 30 (only part of the structure of the second part is shown in the figure), and the second central axis 02 of the second rotary drive 12 is set along the direction of the central axis of pitch rotation of the second part 30, so that the second part 30 can be driven to pitch by the second rotary drive 12.

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

[0059] The first central axis O1 of the first rotary drive 11 is set along the direction of the central axis of the yaw rotation of the second part 30.

[0060] like Figure 3 and4 As shown, Figure 3 for Figure 1 A schematic diagram of the overall structure of one embodiment of the robot in a yaw rotation state of its joints; Figure 4 for Figure 1 A schematic planar structure diagram of an embodiment of the first rotational actuator of the robot joint connecting the robot arm and the robot hand. Exemplarily, the first central axis O1 of the first rotational actuator 11 is arranged along the direction of the central axis of the robot hand's yaw rotation (e.g., as shown in the diagram). Figure 4 As shown, the first rotary drive 11 is positioned on one side of the robot hand's wrist along a direction perpendicular to the palm of the robot hand 30, so as to drive the robot hand 30 to yaw motion.

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

[0062] Typically, the first central axis is perpendicular to the second central axis, but in some cases, they may not be perpendicular, and both fall within the scope of protection of this application.

[0063] In one optional embodiment, the first central axis is positioned at the midpoint of the second central axis. This results in a symmetrical distribution of the entire joint, which is beneficial for the overall joint drive control. Alternatively, the first central axis may not be positioned at the midpoint of the second central axis, both of which fall within the scope of this application.

[0064] In this embodiment, the first output end of the first rotary drive 11, the first link 13, the second link 14, and the second fixed part of the second rotary drive 12 form a four-bar linkage mechanism. The first rotary drive 11 drives the four-bar linkage mechanism, thereby driving the robot hand to yaw.

[0065] In this embodiment, a four-bar linkage is used to transfer the rotational motion of the first rotary drive to the yaw motion of the robot hand (i.e., the second part), and a 1:1 motion transmission is achieved. The second rotary drive realizes the pitch motion of the robot hand, and the rotation centers of the yaw motion and the pitch motion intersect at a point or approximately a point, thereby realizing the combination of two degrees of freedom of the robot hand (i.e., the second part), making the overall structure more compact.

[0066] In an alternative embodiment, the robot's joint 10 may further include a fixed link 15.

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

[0068] The second end of the fixed link 15 is hinged to the second fixed part of the second rotary drive 12 to connect the first rotary drive 11 and the second rotary drive 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 drive member 11 as the first link 13 and the second link 14.

[0071] The embodiments of this application effectively ensure the rigidity and stability of the entire transmission structure by using fixed connecting rods to connect the first rotary drive component and the second rotary drive component respectively.

[0072] like Figure 4 The diagram shown is a partial exploded view of the joint harness routing of the robot of this application.

[0073] In an alternative embodiment, the robot's joint 10 may further include a wiring harness 16.

[0074] The first link 13 and / or the second link 14 form wire harness through holes. The wire harness is led out through the first rotary drive member 11, and then introduced into the second rotary drive member 12 through the wire harness through holes of the first link 13 and / or the second link 14.

[0075] In this embodiment, the wire harness is introduced into the second rotary drive member through the first link 13 and / or the second link 14. Since the four-bar linkage does not rotate relative to the first rotary drive member, the wire harness does not rotate relative to the first rotary drive member in the part passing through the four-bar linkage. Therefore, the damage to the wire harness caused by twisting and stretching due to the rotation of the first rotary drive member is reduced.

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

[0077] At least one wire harness receiving cavity 123 is formed between the housing 121 and the drive body 122. The wire harness 16 is provided with a margin 161 and housed in the wire harness receiving cavity 123. The wire harness margin 161 housed in the wire harness receiving cavity 123 reduces damage such as torsion caused to the wire harness 16 by the rotation of the second rotating drive member.

[0078] Furthermore, in an optional embodiment, the wire harness accommodating cavity is located at at least one end of the radial sidewall and / or axial direction of the second rotary drive.

[0079] The embodiments of this application reduce the chance of the wire harness coming into contact with the motor mover in the second rotary drive by forming a wire harness accommodating cavity at least one end of the radial sidewall and / or axial direction of the second rotary drive, thereby reducing the interference of the mover rotation on the wire harness.

[0080] Continue as Figure 1 As shown, in an optional embodiment, the above-mentioned "fixed connection between the second output end of the second rotary drive and the second part" can be achieved by the following structure:

[0081] Joint 10 also includes connecting arm 17;

[0082] The output end of the second rotary drive 12 is fixedly connected to the second part 30 via the connecting arm 17;

[0083] The second part 30 is located outside the sidewall of the second rotary drive 12 on the side radially away from the first rotary drive 11.

[0084] Typically, the third central axis O3 of the second part 30 is set perpendicular to the second central axis O2 of the second rotary drive member 12; otherwise, the two may not be perpendicular, which is also within the scope of protection of this application.

[0085] In this embodiment, the output end of the second rotary drive is fixedly connected to the connector via a connecting arm, and the third central axis of the connector is set perpendicular to the second central axis of the second rotary drive. The connector is fixedly connected to the second part along the direction of the third central axis, so that the first rotary drive corresponds to the yaw motion of the robot hand, and the second rotary drive corresponds to the pitch motion of the robot hand.

[0086] Based on the motion joints of the robot body described in the above embodiments, this application provides a robot (figures 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 aforementioned robot can be any robot that is currently in use or will be developed in the future, such as a humanoid robot or an industrial robotic arm; this application does not impose any limitations.

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

[0090] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A joint for connecting a first part and a second part of a robot, characterized in that, include: First rotary drive component, second rotary drive component, first connecting rod and second connecting rod; The first rotary drive component includes: a first fixed part, a first output end, and a first central shaft; the second rotary drive component includes: a second fixed part, a second output end, and a second central shaft; The first fixing part of the first rotary drive member is used to be fixedly connected to the first part; The two sides of the first output end of the first rotary drive are respectively hinged to the first end of the first connecting rod and the first end of the second connecting rod. The second end of the first connecting rod and the second end of the second connecting rod are respectively hinged to the second fixed part of the second rotary drive member, and the line connecting 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 drive 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 drive, the first connecting rod, the second connecting rod and the second fixed part of the second rotary drive form a four-bar linkage mechanism, and the first rotary drive drives the four-bar linkage mechanism to drive the yaw motion of the second part. The second output end of the second rotary drive is fixedly connected to the second part, and the second central axis of the second rotary drive is set along the direction of the pitch rotation central axis of the second part, so that the second part can be driven to pitch by the second rotary drive.

2. The joint of the robot according to claim 1, characterized in that, It also includes: fixed connecting rods; The first end of the fixed connecting rod is hinged to the first fixed part of the first rotary drive member; The second end of the fixed connecting rod is hinged to the second fixed part of the second rotary drive member to connect the first rotary drive member and the second rotary drive member.

3. The joint of the robot according to claim 1 or 2, characterized in that, Also includes: wire harness; A central hole for wire harness insertion 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 then introduced into the second rotary drive member through the wire harness through-hole of the first connecting rod and / or the second connecting rod.

4. The joint of the robot according to claim 3, characterized in that, The second rotary drive includes a housing and a drive body located inside the housing; At least one wire harness accommodating cavity is formed between the housing and the drive body, and the portion of the wire harness located within the accommodating cavity is provided as a margin.

5. The joint of the robot according to claim 4, characterized in that, The wire harness accommodating cavity is located on the radial sidewall and / or at least one end of the axial direction of the second rotary drive.

6. The joint of the robot according to claim 1 or 2, characterized in that, The second output end of the second rotary drive 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 drive is fixedly connected to the second part via the connecting arm; The second part is located outside the sidewall of the second rotary drive member on the side radially away from the first rotary drive member; And / or, The third central axis of the second part is set perpendicular to the second central axis of the second rotary drive.

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

8. The joint of the robot 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 positioned at the midpoint of the second central axis.

9. A robot, characterized in that, The robot includes the joints of the robot according to any one of claims 1 to 8.

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

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