A hollow spherical joint with a posture detection device

Abstract

The present application relates to a hollow spherical joint with a posture detection device, belonging to the field of robot joint technology. It comprises: a spherical joint assembly, the spherical joint assembly includes 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; a posture detection device, the posture detection device includes an X-axis angle sensor, a Y-axis angle sensor, and a Z-axis angle sensor that are respectively connected to the ball seat and connected to the spherical surface of the universal ball head by rolling friction. In the present application, when the universal ball head rotates around the X-axis direction, around the Y-axis direction, and around 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, around the Y-axis direction, and around the Z-axis direction, thereby detecting the posture change of the spherical joint assembly to achieve closed-loop control of the spherical joint.

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 designed to imitate human appearance and behavior, especially one with a body similar to that of a human. With the development of robotics technology, there are more and more types of robots. Humanoid robots use driving mechanisms to drive the movement of each joint, and achieve walking and other related movements by imitating the joint movements of real people.

[0003] Humanoid robots can be driven by motors, pneumatics, and hydraulics. Electric joints typically utilize a multi-stage rotating structure in series to achieve multiple degrees of freedom. Hydraulically driven joints typically use a spherical hinge as the joint support structure, with multiple hydraulic actuators distributed around the periphery for parallel drive.

[0004] In related technologies, a robot's spherical joint has three degrees of freedom and universal rotation. When driven by a hydraulic rod, the ball head's posture can be indirectly calculated by detecting the rod's length. However, when using a hydraulic muscle as a driving device, the flexible structure of the hydraulic muscle makes it impossible to calculate the ball head's posture by detecting the muscle's length, making closed-loop control difficult. Summary of the Invention

[0005] An 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, comprising:

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

[0008] The posture detection device includes 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 through 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 placed 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 spherical 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 includes 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 joint, 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 is provided with a flexible roller sleeve which is in rolling friction connection with the spherical surface of the universal ball joint.

[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 seat, and 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, the Y-axis direction and 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, which are respectively connected to the ball seat and connected to the spherical surface of the universal ball head by rolling friction.

[0021] Therefore, the hollow spherical joint with a 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 in rolling friction connection with the spherical surface of the universal ball head. When the universal ball head rotates around the X-axis, Y-axis, and Z-axis relative to the ball seat, the X-axis angle sensor, Y-axis angle sensor, and 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, Y-axis, and Z-axis directions, 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 following briefly introduces the drawings required for use in the description of the embodiments. 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 any creative work.

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

[0024] Figure 2 A schematic structural diagram 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 joint; 12. Ball seat; 13. End cap; 14. Base; 15. Ball joint; 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 member; 31. First lug; 32. Second lug; 33. Flexible roller sleeve; 34. Encoder acquisition board. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts 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 ball head posture 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 connected to each other to form a spherical pair that rotates around the X-axis, the Y-axis and the Z-axis.

[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 in rolling friction connection with the spherical surface of the universal ball head 11.

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

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

[0036] When the universal ball joint 11 rotates relative to the ball seat 12 around the Z axis, the Z axis angle sensor 23 located on the ball seat 12 and connected to the spherical surface of the universal ball joint 11 by rolling friction detects the rotation angle of the universal ball joint 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 through 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, Y-axis and Z-axis directions, 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, Y-axis and Z-axis directions, and then detect the posture changes 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, an embodiment of the present application provides a hollow spherical joint with a posture detection device. The ball seat 12 of the hollow spherical joint includes a base 14 and an end cap 13 that are connected to each other. The base 14 and the end cap 13 form the ball seat 12 with 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.

[0040] The universal ball joint 11 includes a ball head 15 that fits into a socket and a mounting flange 16 that connects to the ball head 15 and extends out of the socket. Both the end cap 13 and the base 14 have openings, with the ball head 15 exposing its crown through the end cap 13 opening and the mounting flange 16 through the base 14 opening. Both the base 14 and the end cap 13 feature spherical concave arc surfaces that slidably connect to the ball head 15. The base 14 and the end cap 13 are removably connected by bolts, which allow the ball head 15 to slide into the socket formed by the two.

[0041] Both the mounting flange 16 and the ball head 15 have interconnected internal cavities (not shown). The mounting flange 16 has a first opening 18 that communicates with the internal cavity, and the spherical cap of the ball head 15 has a second opening 17 that communicates with the internal cavity. The first opening 18 and the second opening 17 communicate with 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 the pipelines that control the drive of the spherical joint and the pipelines of the spherical joint posture detection device 20 being torn or damaged 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, thereby improving 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. The X-axis rotation angle sensor 21 of the hollow spherical joint includes a sensor bracket 24 fixed to the ball seat 12. The sensor bracket 24 is connected to a roller bearing seat 25, and the roller bearing seat 25 is rotatably connected to a roller shaft 26 extending along the X-axis direction.

[0044] A roller 27 is connected to one end of the roller shaft 26 in rolling frictional contact with the spherical surface of the universal ball joint 11. 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. Because the roller 27 and the spherical surface of the universal ball joint 11 are in frictional 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 relative to the ball seat 12 around the X-axis, 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 can then detect the specific angle information of the universal ball head 11 rotating relative to the ball seat 12 around the X-axis.

[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. 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 rollers 26 of the X-axis rotational angle sensor 21, Y-axis rotational angle sensor 22, and Z-axis rotational angle sensor 23 are perpendicular to each other. The rollers 27 and magnetic ring encoders 28 at both ends of the roller 26 of the X-axis rotational angle sensor 21 are used to detect the specific angle information of the universal joint ball head 11 rotating relative to the ball seat 12 about the X-axis direction.

[0048] The rollers 27 and 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 joint ball head 11 rotating relative to the ball seat 12 around the Y-axis. The rollers 27 and 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 joint ball head 11 rotating relative to the ball seat 12 around the Z-axis.

[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. The sensor bracket 24 of the hollow spherical joint is connected to a fastening bolt 29 that rotates 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 joint 11. The elastic member 30 rotates around the fastening bolt 29, driving the roller bearing seat 25, roller shaft 26, and roller 27 toward the spherical surface of the universal ball joint 11. This causes the roller 27 to contact the spherical surface of the universal ball joint 11, achieving a rolling friction floating connection.

[0051] The elastic member 30 is preferably, but not limited to, a torsion spring mounted 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. Both the first lug 31 and the second lug 32 have fixing holes for inserting the spring wire at the end of the torsion spring.

[0052] The outer periphery of roller 27 is provided with a flexible roller sleeve 33 that is in rolling frictional contact with the spherical surface of universal ball joint 11. Flexible roller sleeve 33 is preferably, but not limited to, made of a soft, frictionally resistant rubber or tendon material. This flexible roller sleeve 33, placed around the outer periphery of roller 27 and in rolling frictional contact with the spherical surface of universal ball joint 11, improves the detection accuracy of magnetic ring encoder 28.

[0053] The magnetic ring encoder 28 is connected to an encoder acquisition board 34, which collects the rotation angle of the magnetic ring encoder 28 and uploads it to the control system for processing. The angle information collected by the X-axis angle sensor 21, the Y-axis angle sensor 22, and the Z-axis angle sensor 23 is uploaded to the control system via the encoder acquisition board 34. The control system controls the spherical joint to a set position based on the current angle information, achieving 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. Since the hollow spherical joint with a posture detection device of the present application is provided with a spherical joint assembly 10, the spherical joint assembly 10 includes a universal ball head 11 and a ball seat 12, and the universal ball head 11 and the ball seat 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 seat 12 and connected to the spherical surface of the universal ball head 11 by rolling friction.

[0056] Therefore, the hollow spherical joint with a 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 relative to the ball seat 12 about 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 seat 12 about the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively, and then detect the posture change of the spherical joint assembly to achieve closed-loop control of the spherical joint.

[0057] In the description of this application, it should be noted that the terms "upper" and "lower" and the like 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 this application and simplifying the description, and do not indicate or imply 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 this 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 an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this 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 used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any 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 comprising 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, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0059] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

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 rotates around the X-axis direction, around the Y-axis direction, and around the 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), each of which is connected to the ball seat (12) and is connected to the spherical surface of the universal ball head (11) by rolling friction; The X-axis rotation angle sensor (21) comprises a sensor bracket (24) fixed on the ball seat (12), a roller bearing seat (25) being connected to the sensor bracket (24), and a roller shaft (26) extending along the X-axis direction being rotatably connected to the roller bearing seat (25); One end of the roller shaft (26) is connected to a roller wheel (27) that is in rolling friction connection with the spherical surface of the universal ball joint (11), and the other end of the roller shaft (26) is connected to a magnetic ring encoder (28); A fastening bolt (29) for rotating the roller bearing seat (25) is connected to the sensor bracket (24), and an elastic member (30) for driving the roller (27) to rotate toward the spherical surface of the universal ball head (11) is connected between the sensor bracket (24) and the roller bearing seat (25).

2. A hollow spherical joint with a posture detection device according to claim 1, characterized in that: The ball seat (12) comprises a base (14) and an end cover (13) connected to each other, wherein the base (14) and the end cover (13) constitute the ball seat (12) having 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.

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 spherical 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 according to claim 3, characterized in that: The assembly flange (16) and the ball head (15) are both provided with internal cavities that are in communication with each other. The assembly flange (16) is provided with a first opening (18) in communication with the internal cavity, and the spherical crown of the ball head (15) is provided with a second opening (17) in communication with the internal cavity.

5. The hollow spherical joint with a posture detection device according to claim 1, 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 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.

6. The hollow spherical joint with a posture detection device according to claim 1, 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.

7. The hollow spherical joint with a posture detection device according to claim 1, characterized in that: The outer peripheral sleeve 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).

8. The hollow spherical joint with a posture detection device according to claim 1, 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).

Images