Hollow spherical joint with posture detection device

Abstract

The invention relates to a hollow spherical joint with a posture detection device, and belongs to the technical field of robot joints. Comprising a spherical joint assembly, the spherical joint assembly comprises a universal ball head and a ball seat, and the universal ball head and the ball seat are connected with each other to form a spherical pair rotating around the X-axis direction, the Y-axis direction and the Z-axis direction; and the posture detection device comprises an X-axis rotation angle sensor, a Y-axis rotation angle sensor and a Z-axis rotation angle sensor which are respectively connected to the ball seat and are in rolling friction connection with the spherical surface of the universal ball head. When the universal ball head rotates around the X-axis direction, the Y-axis direction and the Z-axis direction relative to the ball seat, the X-axis rotation angle sensor, the Y-axis rotation angle sensor and the Z-axis rotation angle sensor are used for detecting angle information of the universal ball head around the X-axis direction, the Y-axis direction and the Z-axis direction relative to the ball seat correspondingly, and then posture changes of the spherical joint assembly are detected; therefore, closed-loop control of the spherical joint is realized.

Description

Technical Field

[0001] The present application relates to the technical field of robot joints, and in particular to a hollow spherical joint with a posture detection device. Background Art

[0002] A humanoid robot is a robot that is designed to imitate human appearance and behavior, especially one with a body similar to that of humans. With the development of robotics technology, there are more and more types of robots. Humanoid robots drive the movement of each joint through a driving mechanism, and achieve walking and other related movements by imitating the joint movements of real people.

[0003] The driving forms of humanoid robots include motor drive, pneumatic drive, hydraulic drive, etc. Electric drive joints usually use a multi-stage rotating structure in series to achieve multi-degree-of-freedom joints; hydraulic drive joints usually use spherical hinges as joint support structures, and distribute multiple hydraulic actuators around them for parallel drive.

[0004] In the related art, the robot's spherical joint has three degrees of freedom and can rotate in all directions. When driven by a hydraulic rod, the ball head posture can be indirectly calculated by detecting the length of the hydraulic rod. However, when hydraulic muscles are used as driving devices, since hydraulic muscles are flexible structures, the ball head posture can no longer be calculated by detecting the muscle length, so it is not easy to achieve a closed loop in control. Summary of the invention

[0005] The embodiment of the present application provides a hollow spherical joint with a posture detection device to solve the problem in the related art that it is difficult for the spherical joint to collect the posture of the ball head and difficult to achieve closed-loop control.

[0006] The embodiment of the present application provides a hollow spherical joint with a posture detection device, including:

[0007] A spherical joint assembly, the spherical joint assembly comprising a universal ball head and a ball seat, the universal ball head and the ball seat are connected to each other to form a spherical pair that rotates around the X-axis direction, around the Y-axis direction and around the Z-axis direction;

[0008] The posture detection device comprises an X-axis rotation angle sensor, a Y-axis rotation angle sensor and a Z-axis rotation angle sensor which are respectively connected to the ball seat and connected to the spherical surface of the universal ball head by rolling friction.

[0009] In some embodiments: the ball seat includes a base and an end cover that are connected to each other, the base and the end cover constitute the ball seat with a ball socket inside, the universal ball head is placed in the ball socket, the universal ball head is concentric with the ball socket, and the universal ball head can rotate concentrically relative to the ball socket.

[0010] In some embodiments: the universal ball head includes a ball head inserted in the ball socket and a mounting flange connected to the ball head and extending out of the ball socket, openings are formed on the end cover and the base, the ball head exposes a ball crown at the opening of the end cover, and the mounting flange is exposed at the opening of the base.

[0011] In some embodiments: the assembly flange and the ball head are both provided with internal cavities that are interconnected, the assembly flange is provided with a first opening that is connected to the internal cavity, and the spherical crown of the ball head is provided with a second opening that is connected to the internal cavity.

[0012] In some embodiments: the X-axis rotation angle sensor comprises a sensor bracket fixed on the ball seat, the sensor bracket is connected to a roller bearing seat, and the roller bearing seat is rotatably connected to a roller shaft extending along the X-axis direction;

[0013] One end of the roller shaft is connected to a roller wheel which is in rolling friction connection with the spherical surface of the universal ball head, and the other end of the roller shaft is connected to a magnetic ring encoder.

[0014] In some embodiments: the Y-axis rotation angle sensor and the Z-axis rotation angle sensor have the same structure as the X-axis rotation angle sensor, and the axes of the rollers of the X-axis rotation angle sensor, the Y-axis rotation angle sensor, and the Z-axis rotation angle sensor are perpendicular to each other.

[0015] In some embodiments: a fastening bolt for rotating the roller bearing seat is connected to the sensor bracket, and an elastic member for driving the roller to rotate toward the spherical direction close to the universal ball head is connected between the sensor bracket and the roller bearing seat.

[0016] In some embodiments: the elastic member is a torsion spring sleeved on the fastening bolt, the sensor bracket is provided with a first lug connected to one end of the torsion spring, and the roller bearing seat is provided with a second lug connected to the other end of the torsion spring.

[0017] In some embodiments: the outer peripheral sleeve of the roller wheel is provided with a flexible roller sleeve which is in rolling friction connection with the spherical surface of the universal ball head.

[0018] In some embodiments: the magnetic ring encoder is connected to an encoder acquisition board, and the encoder acquisition board acquires the rotation angle of the magnetic ring encoder.

[0019] The beneficial effects of the technical solution provided by this application include:

[0020] An embodiment of the present application provides a hollow spherical joint with a posture detection device. Since the hollow spherical joint with a posture detection device of the present application is provided with a spherical joint assembly, the spherical joint assembly includes a universal ball head and a ball socket, and the universal ball head and the ball socket are connected to each other to form a spherical pair that rotates around the X-axis direction, around the Y-axis direction and around the Z-axis direction; the posture detection device includes an X-axis angle sensor, a Y-axis angle sensor and a Z-axis angle sensor respectively connected to the ball socket and connected to the spherical surface of the universal ball head by rolling friction.

[0021] Therefore, the hollow spherical joint with the posture detection device of the present application has an X-axis angle sensor, a Y-axis angle sensor and a Z-axis angle sensor on the ball seat and connected to the spherical surface of the universal ball head by rolling friction. When the universal ball head rotates around the X-axis direction, the Y-axis direction and the Z-axis direction relative to the ball seat, the X-axis angle sensor, the Y-axis angle sensor and the Z-axis angle sensor are used to respectively detect the angle information of the universal ball head relative to the ball seat around the X-axis direction, the Y-axis direction and the Z-axis direction, and then detect the posture change of the spherical joint assembly to achieve closed-loop control of the spherical joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a schematic diagram of the structure of the first perspective of an embodiment of the present application;

[0024] Figure 2 A schematic diagram of the structure of a second viewing angle of an embodiment of the present application;

[0025] Figure 3 for Figure 1 A partial enlarged view of the center X-axis angle sensor.

[0026] Reference numerals:

[0027] 10. spherical joint assembly; 11. universal ball head; 12. ball seat; 13. end cover; 14. base; 15. ball head; 16. mounting flange; 17. second opening; 18. first opening;

[0028] 20. Posture detection device; 21. X-axis rotation angle sensor; 22. Y-axis rotation angle sensor; 23. Z-axis rotation angle sensor; 24. Sensor bracket; 25. Roller bearing seat; 26. Roller shaft; 27. Roller; 28. Magnetic ring encoder; 29. ​​Fastening bolt; 30. Elastic part; 31. First ear; 32. Second ear; 33. Flexible roller sleeve; 34. Encoder acquisition board. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0030] The embodiment of the present application provides a hollow spherical joint with a posture detection device, which can solve the problem in the related art that the spherical joint is difficult to collect the posture of the ball head and difficult to achieve closed-loop control.

[0031] See also Figure 1 and Figure 2 As shown, the embodiment of the present application provides a hollow spherical joint with a posture detection device, including:

[0032] The spherical joint assembly 10 includes a universal ball head 11 and a ball seat 12. The universal ball head 11 is located in the ball seat 12 and is interconnected to form a spherical pair that rotates around the X-axis direction, the Y-axis direction and the Z-axis direction.

[0033] The posture detection device 20 includes an X-axis rotation angle sensor 21, a Y-axis rotation angle sensor 22 and a Z-axis rotation angle sensor 23 which are respectively connected to the ball seat 12 and are rollingly frictionally connected to the spherical surface of the universal ball head 11.

[0034] When the universal ball head 11 rotates relative to the ball seat 12 around the X-axis direction, the X-axis rotation angle sensor 21 located on the ball seat 12 and connected to the spherical surface of the universal ball head 11 by rolling friction detects the rotation angle of the universal ball head 11 around the X-axis direction.

[0035] When the universal ball head 11 rotates relative to the ball seat 12 around the Y-axis direction, the Y-axis rotation angle sensor 22 located on the ball seat 12 and connected to the spherical surface of the universal ball head 11 by rolling friction detects the rotation angle of the universal ball head 11 around the Y-axis direction.

[0036] When the universal ball head 11 rotates relative to the ball seat 12 around the Z axis, the Z axis rotation angle sensor 23 located on the ball seat 12 and connected to the spherical surface of the universal ball head 11 by rolling friction detects the rotation angle of the universal ball head 11 around the Z axis.

[0037] The hollow spherical joint with the posture detection device in the embodiment of the present application is on the ball seat 12 and is connected to the spherical surface of the universal ball head 11 by rolling friction with the X-axis angle sensor 21, the Y-axis angle sensor 22 and the Z-axis angle sensor 23.

[0038] When the universal ball head 11 rotates relative to the ball socket 12 around the X-axis direction, the Y-axis direction and the Z-axis direction, the X-axis angle sensor 21, the Y-axis angle sensor 22 and the Z-axis angle sensor 23 are used to respectively detect the angle information of the universal ball head 11 relative to the ball socket 12 around the X-axis direction, the Y-axis direction and the Z-axis direction, and then detect the posture change of the spherical joint assembly to achieve closed-loop control of the spherical joint.

[0039] In some alternative embodiments: See Figure 1 and Figure 2 As shown, the embodiment of the present application provides a hollow spherical joint with a posture detection device, and the ball seat 12 of the hollow spherical joint includes a base 14 and an end cover 13 connected to each other. The base 14 and the end cover 13 constitute the ball seat 12 with a ball socket inside, and the universal ball head 11 is placed in the ball socket, the universal ball head 11 is concentric with the ball socket, and the universal ball head 11 can rotate concentrically relative to the ball socket.

[0040] The universal ball head 11 includes a ball head 15 placed in the ball socket and a mounting flange 16 connected to the ball head 15 and extending out of the ball socket. Openings are formed on the end cover 13 and the base 14. The ball head 15 exposes the ball crown at the opening of the end cover 13, and the mounting flange 16 is exposed at the opening of the base 14. The base 14 and the end cover 13 are both provided with a spherical concave arc surface that is slidably connected to the ball head 15. The base 14 and the end cover 13 are detachably connected by bolts, and then the ball head 15 is slidably connected to the ball socket formed by the base 14 and the end cover 13.

[0041] The mounting flange 16 and the ball head 15 are both provided with internal cavities (not shown) that are interconnected. The mounting flange 16 is provided with a first opening 18 that is connected to the internal cavity, and the ball cap of the ball head 15 is provided with a second opening 17 that is connected to the internal cavity. The first opening 18 and the second opening 17 are connected to each other through the internal cavity.

[0042] The first opening 18, the second opening 17 and the internal cavity can be used to lay various pipelines, which can reduce the risk of torturing or damage to the pipelines that control the drive of the spherical joint and the pipelines of the spherical joint posture detection device 20 when the spherical joint rotates. In addition, the above-mentioned pipelines are hidden in the first opening 18, the second opening 17 and the internal cavity to improve the cleanliness of the spherical joint surface.

[0043] In some alternative embodiments: See Figures 1 to 3 As shown, the embodiment of the present application provides a hollow spherical joint with a posture detection device, and the X-axis rotation angle sensor 21 of the hollow spherical joint includes a sensor bracket 24 fixed on the ball seat 12. A roller bearing seat 25 is connected to the sensor bracket 24, and a roller shaft 26 extending along the X-axis direction is rotatably connected to the roller bearing seat 25.

[0044] A roller 27 is connected to one end of the roller shaft 26 in rolling friction connection with the spherical surface of the universal ball joint 11, and a magnetic ring encoder 28 is connected to the other end of the roller shaft 26. The roller 27 and the magnetic ring encoder 28 rotate synchronously on the roller shaft 26. Since the roller 27 and the spherical surface of the universal ball joint 11 are in friction contact with each other, when the universal ball joint 11 rotates, the roller 27 rotates synchronously with the universal ball joint 11.

[0045] When the universal ball head 11 rotates around the X-axis relative to the ball socket 12, the universal ball head 11 drives the roller 27 to roll on the spherical surface of the universal ball head 11, and the roller 27 drives the roller shaft 26 and the magnetic ring encoder 28 to rotate synchronously. The magnetic ring encoder 28 then counts the rotation angle of the roller 27, and then can detect the specific angle information of the universal ball head 11 rotating around the X-axis relative to the ball socket 12.

[0046] In some alternative embodiments: See Figures 1 to 3 As shown, an embodiment of the present application provides a hollow spherical joint with a posture detection device, wherein the Y-axis angle sensor 22 and the Z-axis angle sensor 23 of the hollow spherical joint have the same structure as the X-axis angle sensor 21 except for the different installation positions or installation angles on the ball seat 12.

[0047] The axes of the roller shafts 26 of the X-axis rotation angle sensor 21, the Y-axis rotation angle sensor 22 and the Z-axis rotation angle sensor 23 are perpendicular to each other. The roller wheels 27 and the magnetic ring encoder 28 at both ends of the roller shaft 26 of the X-axis rotation angle sensor 21 are used to detect the specific angle information of the universal ball head 11 rotating relative to the ball seat 12 around the X-axis direction.

[0048] The rollers 27 and the magnetic ring encoder 28 at both ends of the roller shaft 26 of the Y-axis rotation angle sensor 22 are used to detect the specific angle information of the universal ball head 11 rotating relative to the ball seat 12 around the Y-axis direction. The rollers 27 and the magnetic ring encoder 28 at both ends of the roller shaft 26 of the Z-axis rotation angle sensor 23 are used to detect the specific angle information of the universal ball head 11 rotating relative to the ball seat 12 around the Z-axis direction.

[0049] In some alternative embodiments: See Figure 3 As shown, the embodiment of the present application provides a hollow spherical joint with a posture detection device, and the sensor bracket 24 of the hollow spherical joint is connected with a fastening bolt 29 for rotating the roller bearing seat 25. The fastening bolt 29 mounts the roller bearing seat 25 on the sensor bracket 24, and allows the roller bearing seat 25 to rotate relative to the sensor bracket 24.

[0050] An elastic member 30 is connected between the sensor bracket 24 and the roller bearing seat 25 to drive the roller 27 to rotate toward the spherical surface of the universal ball head 11. The elastic member 30 uses the fastening bolt 29 as a rotation axis to drive the roller bearing seat 25, the roller shaft 26 and the roller 27 to rotate toward the spherical surface of the universal ball head 11, so that the roller 27 and the spherical surface of the universal ball head 11 contact each other to achieve rolling friction floating connection.

[0051] The elastic member 30 is preferably, but not limited to, a torsion spring sleeved on the fastening bolt 29. The sensor bracket 24 is provided with a first lug 31 connected to one end of the torsion spring, and the roller bearing seat 25 is provided with a second lug 32 connected to the other end of the torsion spring. The first lug 31 and the second lug 32 are both provided with fixing holes for inserting the spring wire at the end of the torsion spring.

[0052] The outer periphery of the roller 27 is provided with a flexible roller sleeve 33 that is in rolling friction connection with the spherical surface of the universal ball head 11. The flexible roller sleeve 33 is preferably, but not limited to, a rubber material or a tendon material that is soft and has a large friction resistance. The flexible roller sleeve 33 is sleeved on the outer periphery of the roller 27 and is in rolling friction contact with the spherical surface of the universal ball head 11, thereby improving the accuracy of the detection of the magnetic ring encoder 28.

[0053] The magnetic ring encoder 28 is connected to an encoder acquisition board 34, which acquires the rotation angle of the magnetic ring encoder 28 and uploads it to the control system for processing. The angle information acquired by the X-axis angle sensor 21, the Y-axis angle sensor 22, and the Z-axis angle sensor 23 are all uploaded to the control system through the encoder acquisition board 34. The control system can control the spherical joint to move to a set posture according to the current angle information to achieve closed-loop control of the spherical joint.

[0054] How it works

[0055] An embodiment of the present application provides a hollow spherical joint with a posture detection device. The hollow spherical joint with a posture detection device of the present application is provided with a spherical joint assembly 10, which includes a universal ball head 11 and a ball socket 12, and the universal ball head 11 and the ball socket 12 are interconnected to form a spherical pair that rotates around the X-axis direction, the Y-axis direction and the Z-axis direction; the posture detection device 20, the posture detection device 20 includes an X-axis angle sensor 21, a Y-axis angle sensor 22 and a Z-axis angle sensor 23, which are respectively connected to the ball socket 12 and connected to the spherical surface of the universal ball head 11 by rolling friction.

[0056] Therefore, the hollow spherical joint with the posture detection device of the present application is provided with an X-axis angle sensor 21, a Y-axis angle sensor 22 and a Z-axis angle sensor 23 on the ball seat 12 and connected to the spherical surface of the universal ball head 11 by rolling friction. When the universal ball head 11 rotates around the X-axis direction, the Y-axis direction and the Z-axis direction relative to the ball seat 12, the X-axis angle sensor 21, the Y-axis angle sensor 22 and the Z-axis angle sensor 23 are used to respectively detect the angle information of the universal ball head 11 relative to the ball seat 12 around the X-axis direction, the Y-axis direction and the Z-axis direction, and then detect the posture change of the spherical joint assembly to realize the closed-loop control of the spherical joint.

[0057] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0058] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0059] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A hollow spherical joint with a posture detection device, characterized in that: include: A spherical joint assembly (10), the spherical joint assembly (10) comprising a universal ball head (11) and a ball seat (12), the universal ball head (11) and the ball seat (12) being connected to each other to form a spherical pair that can rotate around an X-axis direction, around a Y-axis direction and around a Z-axis direction; A posture detection device (20), the posture detection device (20) comprising an X-axis rotation angle sensor (21), a Y-axis rotation angle sensor (22) and a Z-axis rotation angle sensor (23) respectively connected to the ball seat (12) and connected to the spherical surface of the universal ball head (11) by rolling friction.

2. A hollow spherical joint with a posture detection device as claimed in claim 1, characterized in that: The ball seat (12) comprises a base (14) and an end cover (13) which are connected to each other. The base (14) and the end cover (13) constitute the ball seat (12) having a ball socket inside. The universal ball head (11) is placed in the ball socket. The universal ball head (11) is concentric with the ball socket and can rotate concentrically relative to the ball socket.

3. A hollow spherical joint with a posture detection device as claimed in claim 2, characterized in that: The universal ball head (11) comprises a ball head (15) placed in the ball socket and a mounting flange (16) connected to the ball head (15) and extending out of the ball socket. The end cover (13) and the base (14) are both formed with openings. The ball head (15) exposes a ball crown at the opening of the end cover (13), and the mounting flange (16) is exposed at the opening of the base (14).

4. A hollow spherical joint with a posture detection device as claimed in claim 3, characterized in that: The assembly flange (16) and the ball head (15) are both provided with internal cavities that are interconnected, the assembly flange (16) is provided with a first opening (18) that is connected to the internal cavity, and the ball crown of the ball head (15) is provided with a second opening (17) that is connected to the internal cavity.

5. A hollow spherical joint with a posture detection device as claimed in claim 1, characterized in that: The X-axis rotation angle sensor (21) comprises a sensor bracket (24) fixed on the ball seat (12), the sensor bracket (24) being connected to a roller bearing seat (25), and the roller bearing seat (25) being rotatably connected to a roller shaft (26) extending along the X-axis direction; One end of the roller shaft (26) is connected to a roller wheel (27) that is connected to the spherical surface of the universal ball head (11) by rolling friction, and the other end of the roller shaft (26) is connected to a magnetic ring encoder (28).

6. A hollow spherical joint with a posture detection device as claimed in claim 5, characterized in that: The Y-axis rotation angle sensor (22) and the Z-axis rotation angle sensor (23) have the same structure as the X-axis rotation angle sensor (21), and the axes of the rollers (26) of the X-axis rotation angle sensor (21), the Y-axis rotation angle sensor (22), and the Z-axis rotation angle sensor (23) are perpendicular to each other.

7. A hollow spherical joint with a posture detection device as claimed in claim 5, characterized in that: The sensor bracket (24) is connected to a fastening bolt (29) for rotating the roller bearing seat (25), and an elastic member (30) is connected between the sensor bracket (24) and the roller bearing seat (25) for driving the roller (27) to rotate in a direction close to the spherical surface of the universal ball head (11).

8. A hollow spherical joint with a posture detection device as claimed in claim 7, characterized in that: The elastic member (30) is a torsion spring sleeved on the fastening bolt (29), the sensor bracket (24) is provided with a first lug (31) connected to one end of the torsion spring, and the roller bearing seat (25) is provided with a second lug (32) connected to the other end of the torsion spring.

9. A hollow spherical joint with a posture detection device as claimed in claim 5, characterized in that: The outer circumference of the roller (27) is provided with a flexible roller sleeve (33) which is in rolling friction connection with the spherical surface of the universal ball head (11).

10. A hollow spherical joint with a posture detection device as claimed in claim 5, characterized in that: The magnetic ring encoder (28) is connected to an encoder acquisition board (34), and the encoder acquisition board (34) acquires the rotation angle of the magnetic ring encoder (28).

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