Robot

Abstract

The invention discloses a robot, and relates to the technical field of robots, and the robot comprises a body which is provided with a plurality of first connecting parts; each joint actuator comprises a transmission assembly, the transmission assembly comprises a first output part, a second output part and a third output part, and the joint actuators are rotatably arranged on the first connecting part through the third output parts; each mechanical arm is rotationally connected with the first output piece and the second output piece of one joint actuator; the technical scheme provided by the invention has the technical effects that the joint actuators with three degrees of freedom adopt modular design and are matched with modules such as the mechanical arms and the body, so that the multi-degree-of-freedom joint robot can be quickly formed, the number of the joint actuators and the mechanical arms is increased, and the production cost is reduced. And complex robots with multiple forms and more degrees of freedom can be formed, and the construction difficulty of the joint robot is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot. Background Art

[0002] In the existing field of robotics, robots are usually configured such that the fuselage is driven by joint actuators to connect multiple actuators. The robot drives the actuator to rotate through a driving device, thereby driving the fuselage or controlling the actuator to move, thereby facilitating the robot to complete multiple tasks. However, the joint actuators in existing robots can only provide single-degree-of-freedom control for the actuators. When the actuators need to achieve multiple degrees of freedom, they need to use multiple joint actuators at the same time. This complex installation method between the joint actuators and the actuators requires designers to perform complex calculations when designing complex robots with multiple forms and multiple degrees of freedom, which significantly increases the difficulty of building joint robots. Summary of the invention

[0003] The main purpose of the present invention is to propose a robot, aiming to improve the problem that it is difficult to construct a robot with multiple degrees of freedom.

[0004] To achieve the above-mentioned purpose, the robot proposed in the present invention includes a body, a power supply component and a controller component, the power supply component and the controller component are electrically connected, the body has a plurality of first connection parts, the body has a first end, and at least two of the first connection parts are arranged on opposite sides of the first end; a plurality of joint actuators, the joint actuators are electrically connected to the controller component, each of the joint actuators includes a transmission component; the transmission component includes a first output member, a second output member and a third output member, the joint actuator is rotatably arranged on the first connection part through the third output member; and a plurality of robotic arms, each of the robotic arms is rotatably connected to the first output member and the second output member of one of the joint actuators.

[0005] In one embodiment, the rotation axes of the first output member and the second output member are arranged to coincide with each other, and the rotation axis of the first output member and the rotation axis of the third output member intersect with each other.

[0006] In one embodiment, the rotation axis of the first output member and the rotation axis of the third output member are arranged perpendicular to each other.

[0007] In one embodiment, the first output member and the second output member are disposed on the same side of the joint actuator.

[0008] In one embodiment, the robotic arm includes a first driving link, a second driving link and a driven link assembly, the first driving link and the second driving link are respectively rotatably connected to the driven link assembly, the first output member is drivingly connected to the first driving link, and the second output member is drivingly connected to the second driving link.

[0009] In one embodiment, the joint actuator also includes a rotating shaft, and the first output member and the second output member are respectively arranged on opposite sides of the joint actuator, the rotating shaft is extended along the rotation axis direction of the first output member, one end of the rotating shaft is fixedly connected to the second output member, and the other end of the rotating shaft is passed through the first output member.

[0010] In one embodiment, the body also includes a first connecting seat and a second connecting seat, the body has a second end opposite to the first end, the first connecting seat is located at the first end, the second connecting seat is located at the second end, at least two of the first connecting parts are arranged on opposite sides of the second connecting seat, and the first connecting seat is movably connected to the second connecting seat.

[0011] In one embodiment, the robot further comprises at least two posture control devices, wherein the posture control device has at least two second connection parts, wherein one of the second connection parts is rotatably connected to the first connection seat, and another of the second connection parts is connected to the second connection seat, so that the first connection seat is movably connected to the second connection seat;

[0012] And / or, the robot further comprises a head assembly, and the head assembly is movably connected to the first connecting seat via another posture control device.

[0013] In one embodiment, the posture control device includes a first base, a second base, a connecting assembly and the joint actuator, the first base and the second base are both provided with the second connecting portion, the joint actuator is arranged on the first base, the connecting assembly is respectively connected to the first output member and the second output member and is rotatably connected to the second base to adjust the posture of the second base relative to the first base.

[0014] In one embodiment, the connecting assembly includes a first connecting member, a second connecting member and a supporting member, wherein the supporting member is disposed on the joint actuator, and the supporting member can be movably disposed on the second base, the first output member is drivingly connected to the first connecting member, the second output member is drivingly connected to the second connecting member, and the third output member is drivingly connected to the first base, so that the joint actuator can be rotatably arranged relative to the first base.

[0015] The technical solution of the present invention adopts a modular design for a joint actuator with three degrees of freedom, the robotic arm is rotatably connected to the first output member and the second output member, and the joint actuator is rotatably provided on the first connection part through the third output member, thereby quickly forming a multi-degree-of-freedom joint robot, thereby reducing the difficulty of building a multi-degree-of-freedom joint robot, and the number of joint actuators can be additionally increased according to user needs. By assembling multiple joint actuators with multiple first connection parts on the body, complex robots with more degrees of freedom in various forms can be formed, which greatly reduces the difficulty of building a joint robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 A schematic structural diagram of an embodiment of a robot provided by the present invention;

[0018] Figure 2 A schematic structural diagram of another angle of an embodiment of a robot provided by the present invention;

[0019] Figure 3 A schematic diagram of the structure of a posture control device, a joint actuator, a mechanical arm and the connections therebetween in an embodiment of a robot provided by the present invention;

[0020] Figure 4 A schematic diagram of the exploded structure of another embodiment of the robot provided by the present invention;

[0021] Figure 5 A schematic diagram of the structure of a mechanical arm and a joint actuator in an embodiment of a robot provided by the present invention;

[0022] Figure 6 A structural side view of a mechanical arm and a joint actuator in an embodiment of a robot provided by the present invention;

[0023] Figure 7 for Figure 6 Structural cross-section view at AA in the middle;

[0024] Figure 8 A schematic structural diagram of a joint actuator in an embodiment of a robot provided by the present invention;

[0025] Fig. 9 A schematic diagram of the structure of a posture control device in an embodiment of a robot provided by the present invention;

[0026] Fig.10 A schematic structural diagram of a posture control device in another embodiment of a robot provided by the present invention from another angle;

[0027] Fig.11 This is a schematic structural diagram of a posture control device in one embodiment of a robot provided by the present invention.

[0028] Description of Figure Numbers:

[0029] 100. Robot; 1. Body; 11. First connection part; 12. First end; 13. First connection seat; 14. Second connection seat; 15. Second end; 2. Joint actuator; 21. Transmission assembly; 211. First output member; 2111. First output gear; 212. Second output member; 2121. Second output gear; 213. Third output member; 2131. Third output gear; 214. First gear set; 215. Second gear set; 216. Third gear set; 22. Rotating shaft; 23. Housing; 231. Mounting cavity; 24. First motor; 241. Second motor; 242. Third motor; 3. Robot arm; 31. First driving connecting rod; 311. Fifth rotation fulcrum; 32. Second driving connecting rod Rod; 321, first pivot point; 33, driven connecting rod assembly; 331, driving end; 332, first driven connecting rod; 3321, second pivot point; 333, second driven connecting rod; 3331, third pivot point; 3332, fourth pivot point; 3333, seventh pivot point; 334, third driven connecting rod; 335, fourth driven connecting rod; 3351, sixth pivot point; 4, posture control device; 41, second connecting part; 42, first base; 43, second base; 44, connecting assembly; 441, first connecting member; 4411, first rotating member; 4412, first connecting rod; 442, second connecting member; 443, supporting member; 4431, second rotating member; 4432, third rotating member.

[0030] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0033] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0034] The present invention provides a robot 100 .

[0035] See also Figures 1 to 4 In one embodiment of the present invention, the robot 100 includes a body 1, a plurality of joint actuators 2 and a plurality of mechanical arms 3; the body 1 includes a power supply component and a controller component, the power supply component and the controller component are electrically connected, the body 1 has a plurality of first connection parts 11, the body 1 has a first end 12, at least two of the first connection parts 11 are arranged on opposite sides of the first end 12; the joint actuator 2 is electrically connected to the controller component, each of the joint actuators 2 includes a housing 23, a transmission component 21 and a drive component, the housing 23 has an installation cavity 231 and a first opening (not marked) and a second opening connected to the installation cavity 231. Opening (unmarked); the transmission assembly 21 and the drive assembly are both arranged in the installation cavity 231, the transmission assembly 21 includes a first output member 211, a second output member 212 and a third output member 213 which are respectively driven and connected to the drive assembly, a joint actuator 2 is rotatably arranged on the first connecting portion 11 through the third output member 213, the first output member 211 and the second output member 212 are arranged at the first opening, and the third output member 213 is arranged at the second opening; and each of the robotic arms 3 is rotatably connected to the first output member 211 and the second output member 212 of one of the joint actuators 2.

[0036] The technical solution of the present invention adopts a modular design for the joint actuator 2 with three degrees of freedom, the robot arm 3 is rotatably connected to the first output member 211 and the second output member 212, and the joint actuator 2 is rotatably arranged on the first connection part 11 through the third output member 213, so as to quickly form a multi-degree-of-freedom joint robot, thereby reducing the difficulty of building a multi-degree-of-freedom joint robot, and the number of joint actuators 2 can be additionally increased according to user needs. By assembling multiple joint actuators 2 with multiple first connection parts 11 on the body 1, complex robots with more degrees of freedom in various forms can be formed, which greatly reduces the difficulty of building a joint robot.

[0037] In this embodiment, the power supply component (unmarked) can be used to provide power to the drive component and the controller component (unmarked) to make the drive component and the controller component operate more stably. The controller component is used to receive the command signal issued by the user to control the drive component to drive the transmission component 21 to rotate, thereby controlling the movement of multiple mechanical arms 3. By adopting that the first output member 211 and the second output member 212 are both arranged at the first opening, it is convenient for the mechanical arm 3 to be rotatably connected to the first output member 211 and the second output member 212 at the first opening, respectively, avoiding the need to design two additional connection points of the mechanical arm 3 due to the design of the two output members. The axial center line of the first opening intersects with the axial center line of the second opening, and the third output member 213 is arranged at the second opening. The second opening of the joint actuator 2 is rotatably connected to the first connection part 11 on the body 1 through the third output member 213, thereby making it more convenient for the joint actuator 2 to be assembled on the body 1 of the robot 100. The present application adopts a modular design through the joint actuator 2 and the mechanical arm 3, so that the assembly of the joint actuator 2 and the mechanical arm 3 or the first connection part 11 on the body 1 does not affect each other, thereby making it easier to disassemble and assemble the mechanical arm 3 and the joint actuator 2, thereby making it easier to disassemble and assemble the joint actuator 2 and the first connection part 11, thereby reducing the subsequent maintenance cost of the robot 100. The present application can also assemble the mechanical arm 3 through the first connection part 11 at different positions of the body 1 according to different needs of users, thereby assembling different types of robots 100, thereby improving the flexibility and scalability of the robot 100.

[0038] like Figure 1 and Figure 7 As shown, the rotation axes of the first output member 211 and the second output member 212 are arranged to coincide with each other, and the rotation axis of the first output member 211 and the rotation axis of the third output member 213 intersect with each other.

[0039] In this embodiment, the rotation axis of the first output member 211 and the rotation axis of the second output member 212 are arranged to coincide with each other, so that the mathematical model of the joint actuator 2 is simpler and the structural analysis and design are easier, thereby greatly reducing the computational difficulty of kinematic simulation and motion control. A simple mathematical model is used to reduce the load of the joint actuator 2, thereby reducing the energy consumption of the robot 100. This application adopts the method of intersecting the rotation axis of the first output member 211 and the rotation axis of the third output member 213, so that the assembly of the joint actuator 2 with the first connecting part 11 and the robot arm 3 is staggered, so that the joint actuator 2 can provide multi-degree-of-freedom motion control for the robot arm 3, and it is more convenient to assemble the joint actuator 2 with the robot arm 3 and the first connecting part 11.

[0040] In one embodiment of the present invention, the rotation axis of the first output member 211 and the rotation axis of the third output member 213 are arranged perpendicular to each other.

[0041] In this embodiment, the rotation axes of the first output member 211 and the third output member 213 are arranged perpendicular to each other. Specifically, the angle between the rotation axis of the first output member 211 and the rotation axis of the third output member 213 is α, and the value of α is 90° in an ideal state. Considering factors such as actual processing and assembly errors, in one embodiment, α satisfies: 89°≤α≤91°, that is, the value of α can be 89°, 90° or 91°, or any value within the aforementioned range, and when the value of the angle α is within the range, the rotation axes of the first output member 211 and the third output member 213 are considered to be arranged vertically. In some other embodiments of the present invention, α can also be less than 89° or greater than 91°, which is subject to the actual product and is not specifically limited here. The axis is vertical so that the physical model of the joint actuator 2100 is further simplified and the structure is more reasonable.

[0042] like Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the first output member 211 and the second output member 212 are arranged on the same side of the joint actuator 2, thereby making it easier to install and disassemble the robot arm 3 with the first output member 211 and the second output member 212 respectively.

[0043] like Figure 5 and Figure 6As shown, in one embodiment of the present invention, the robotic arm 3 includes a first driving link 31, a second driving link 32 and a driven link assembly 33, the first driving link 31 and the second driving link 32 are respectively rotatably connected to the driven link assembly 33, the first output member 211 and the first driving link 31 are drivingly connected, the second output member 212 and the second driving link 32 are drivingly connected, the driven link assembly 33 has a driving end 331, and the driving assembly is used to drive the first output member 211 and the second output member 212 to rotate, so as to drive the driving end 331 to move.

[0044] In this embodiment, the present application sets a joint actuator 2 with a mechanical arm 3 installed so that the joint actuator 2 and the mechanical arm 3 are designed to be modular, so that the robot 100 can be assembled in a modular manner, thereby making the structure of the robot 100 simpler and easier to assemble. The entire mechanical arm 3 uses two independent output members to control the entire mechanical arm 3. Through the combination of the independent movement of the first drive link 31 and the second drive link 32, the mechanical arm 3 can output any required movement and trajectory within its limit range, thereby enabling the mechanical arm 3 to achieve a full rotation, thereby improving the flexibility and work efficiency of the robot 100. The drive assembly drives and connects the first drive link 31 and the second drive link 32 through the first output member 211 and the second output member 212 respectively. The drive assembly is not directly connected to the first drive link 31 and the second drive link 32, so that there is no circuit or electronic component between the two drive links of the entire mechanical arm 3 and the driven link assembly 33, thereby making the mechanical arm 3 composed of pure machinery, high reliability, and easy maintenance.

[0045] like Figure 5 and Figure 6 As shown, in one embodiment of the present invention, the driven link assembly 33 includes a first driven link 332 and a second driven link 333, the first driving link 31 and the second driving link 32 are rotatably connected to form a first rotation fulcrum 321; the second driving link 32 and the first driven link 332 are rotatably connected to form a second rotation fulcrum 3321; the first driven link 332 and the second driven link 333 are rotatably connected to form a third rotation fulcrum 3331; the first driving link 31 and the second driven link 333 are rotatably connected to form a fourth rotation fulcrum 3332; the line connecting the first rotation fulcrum 321, the second rotation fulcrum 3321, the third rotation fulcrum 3331 and the fourth rotation fulcrum 3332 is projected as a quadrilateral along the normal of the link assembly.

[0046] In this embodiment, the driven link assembly 33 also includes a third driven link 334 and a fourth driven link 335, the third driven link 334 and the first driving link 31 are rotatably connected to form a fifth rotation fulcrum 311; the third driven link 334 and the fourth driven link 335 are rotatably connected to form a sixth rotation fulcrum 3351; the fourth driven link 335 and the second driven link 333 are rotatably connected to form a seventh rotation fulcrum 3333, and the fourth driven link 335 has the driving end 331; the line connecting the fourth rotation fulcrum 3332, the fifth rotation fulcrum 311, the sixth rotation fulcrum 3351, and the seventh rotation fulcrum 3333 is projected as a quadrilateral along the normal of the link assembly. When the second driving end 331 of the second driving link 32 is driven by the second output member 212 and the driving assembly, the second driving link 32 rotates around the rotation center line of the first rotating fulcrum 321, thereby driving the first driven link 332 to rotate around the rotation center line of the second rotating fulcrum 3321; thereby driving the second driven link 333 to rotate around the rotation center line of the third rotating fulcrum 3331, thereby driving the first driving link 31 to rotate around the rotation center line of the fourth rotating fulcrum 3332; thereby driving the third driven link 334 to rotate around the rotation center line of the fifth rotating fulcrum 311, thereby driving the fourth driven link 335 to rotate around the rotation center lines of the sixth rotating fulcrum 3351 and the seventh rotating fulcrum 3333. The first driving end 331 of the first driving link 31 is driven by the first output member 211 and the driving assembly. The first driving link 31 rotates with the rotation center line of the first rotation fulcrum 321 as the axis, thereby driving the second driven link 333 to rotate with the rotation center line of the fourth rotation fulcrum 3332 as the axis, thereby driving the third driven link 334 to rotate with the rotation center line of the fifth rotation fulcrum 311 as the axis, thereby driving the fourth driven link 335 to rotate around the rotation center lines of the sixth rotation fulcrum 3351 and the seventh rotation fulcrum 3333 as the axis; thereby driving the first driven link 332 to rotate with the rotation center line of the third rotation fulcrum 3331 as the axis, thereby driving the second driving link 32 to rotate with the rotation center line of the second rotation fulcrum 3321 as the axis. When one of the driving ends 331 is driven, the entire link assembly can be driven, so there is no need to add a motor or electronic components to the link assembly, so that the entire mechanical arm 3 is composed of pure machinery, with high reliability and easy maintenance.

[0047] In this embodiment, in order to further improve the structural stability of the robot arm 3 during movement, the line connecting the first rotating fulcrum 321, the second rotating fulcrum 3321, the third rotating fulcrum 3331, and the fourth rotating fulcrum 3332 is projected into a parallelogram along the normal of the robot arm 3; and / or, the line connecting the fourth rotating fulcrum 3332, the fifth rotating fulcrum 311, the sixth rotating fulcrum 3351, and the seventh rotating fulcrum 3333 is projected into a parallelogram along the normal of the robot arm 3.

[0048] like Figure 8 As shown, the joint actuator 2 also includes a rotating shaft 22, and the first output member 211 and the second output member 212 are respectively arranged on opposite sides of the joint actuator 2, and the rotating shaft 22 is extended along the rotation axis direction of the first output member 211, one end of the rotating shaft 22 is fixedly connected to the second output member 212, and the other end of the rotating shaft 22 is passed through the first output member 211.

[0049] In this embodiment, the joint actuator 2 further includes a rotating shaft 22, which is set as an output shaft extending along the rotation axis direction of the first output member 211, and one end of the rotating shaft 22 is fixedly connected to the second output member 212, and the connection method can be welding, plug-in, screw connection, pinning, etc. Alternatively, the rotating shaft 22 can also be integrally formed with the second output member 212, so that the second output member 212 can drive the rotating shaft 22 to rotate when it rotates around the rotation axis. The first output member 211 is provided with a through hole along the rotation axis direction, and one end of the rotating shaft 22 away from the second output member 212 is passed through the through hole. The first output member 211 is rotatably sleeved on the end of the rotating shaft 22, and the second output member 212 and the rotating shaft 22 rotate at the same speed. The end of the second output member 212 away from the first output member 211 is used to connect with an external device. Similarly, the ends of the rotating shaft 22 and the first output member 211 away from the second output member 212 are respectively used to connect with external devices. By adopting the first output member 211 and the second output member 212 to be respectively arranged on opposite sides of the joint actuator 2, the joint actuator 2 of the present application can adapt to external devices requiring two output ends at different positions, thereby improving the application range of the joint actuator 2.

[0050] like Figure 3 and Figure 4 As shown, the body 1 also includes a first connecting seat 13 and a second connecting seat 14, the body 1 has a second end 15 opposite to the first end 12, the first connecting seat 13 is located at the first end 12, the second connecting seat 14 is located at the second end 15, at least two of the first connecting parts 11 are arranged on opposite sides of the second connecting seat 14, and the first connecting seat 13 is movably connected to the second connecting seat 14.

[0051] In this embodiment, the first end 12 can be spaced apart from the second end 15 in the vertical direction, that is, the first end 12 can be located above or below the second end 15, and the first connection seat 13 and the second connection seat 14 can be connected to the joint actuator 2 and the mechanical arm 3 through the first connection part 11 on opposite sides, thereby constructing a humanoid robot 100. The first end 12 can be spaced apart from the second end 15 in the horizontal direction, that is, the first end 12 can be located in front of or behind the second end 15, and the first connection seat 13 and the second connection seat 14 can be connected to the joint actuator 2 and the mechanical arm 3 through the first connection part 11 on opposite sides, thereby constructing a multi-legged robot 100. The present application can design multiple additional connection seats according to the needs of users, and the first connection parts 11 can be provided on both sides of the connection seat, so as to facilitate the assembly of the joint actuator 2 and the mechanical arm 3 to construct robots 100 with different shapes, thereby improving the scope of application of the present application.

[0052] like Figure 3 , Figure 4 as well as Figures 9 to 11 As shown, the robot 100 further includes at least two posture control devices 4, and the posture control device 4 has at least two second connection parts 41, one of which is rotatably connected to the first connection seat 13, and the other of which is connected to the second connection seat 14, so that the first connection seat 13 is movably connected to the second connection seat 14;

[0053] And / or, the robot 100 further includes a head assembly, and the head assembly is movably connected to the first connecting seat 13 via another posture control device 4.

[0054] In this embodiment, the present application adopts a modular design through the posture control device 4, so that the assembly of the posture control device 4 with the first connection seat 13, the second connection seat 14 or the head assembly does not affect each other, thereby making it more convenient to disassemble and assemble the posture control device 4 with the first connection seat 13, the second connection seat 14 or the head assembly, thereby reducing the subsequent maintenance cost of the robot 100. The head assembly can be a head assembly carrying a camera, so as to facilitate the robot 100 to perform shooting tasks.

[0055] In this embodiment, the posture control device 4 can be set to two, one of which can be used for the connection between the first connection seat 13 and the second connection seat 14. By adopting the posture control device 4 with at least two second connection parts 41, the posture control device 4 can be rotatably connected to the first connection seat 13 through one of the second connection parts 41, and the posture control device 4 can be connected to the second connection seat 14 through a second connection part 41 on the other side. Under the drive of the posture control device 4, the first connection seat 13 can be rotated relative to the second connection seat 14, so as to more conveniently adjust the posture of the first connection seat 13 relative to the second connection seat 14. Another posture control device 4 can be used for installing the head assembly, the posture control device 4 can be connected to the first connection seat 13 through one of the second connection parts 41, and the posture control device 4 can be rotatably connected to the head assembly through a second connection part 41 on the other side. Under the drive of the posture control device 4, the head assembly can be rotated relative to the first connection seat 13, so as to more conveniently adjust the posture of the head assembly relative to the first connection seat 13.

[0056] like Figures 9 to 11 As shown, the posture control device 4 includes a first base 42, a second base 43, a connecting component 44 and the joint actuator 2. The first base 42 and the second base 43 are both provided with the second connecting portion 41. The joint actuator 2 is arranged on the first base 42. The connecting component 44 is respectively connected to the first output member 211 and the second output member 212 and is rotatably connected to the second base 43 to adjust the posture of the second base 43 relative to the first base 42.

[0057] In this embodiment, in order to facilitate the installation between the posture control device 4 and the first connection seat 13, the second connection seat 14 and the head assembly, the first base 42 and the second base 43 are both provided with a second connection portion 41, and the joint actuator 2 is arranged on the first base 42. The first base 42 can be connected to the first connection seat 13 or the head assembly through the second connection portion 41, thereby facilitating the assembly of the posture control device 4 with the first connection seat 13 or the head assembly. The present application adopts a connection component 44 to be connected to the first output member 211 and the second output member 212 respectively, and the connection component 44 can also be rotatably connected to the second base 43, thereby making it more convenient for the joint actuator 2 to adjust the posture of the second base 43 relative to the first base 42.

[0058] In this embodiment, the connection component 44 may have two connection ends. The present application uses the two connection ends of the connection component 44 to respectively and correspondingly rotate and connect the first output member 211 and the second output member 212, thereby making the joint actuator 2 more stably drive the connection component 44 to rotate. The first output member 211 and the second output member 212 are respectively rotationally connected to the two connection ends of the connection component 44, so that the movement of the robot 100 is more flexible and can adapt to more complex application scenarios.

[0059] like Figures 9 to 11 As shown, the connecting component 44 includes a first connecting member 441, a second connecting member 442 and a supporting member 443, the supporting member 443 is arranged on the joint actuator 2, the supporting member 443 can be movably arranged on the second base 43, the first output member 211 is drivingly connected to the first connecting member 441, the second output member 212 is drivingly connected to the second connecting member 442, and the third output member 213 is drivingly connected to the first base 42, so that the joint actuator 2 can be rotatably arranged relative to the first base 42.

[0060] In this embodiment, the support member 443 is used to connect the second base 43 with the joint actuator 2, thereby improving the stability of the connection between the connection assembly 44 and the joint actuator 2. One end of the first connecting member 441 and the second connecting member 442 are rotatably connected to the first output member 211 and the second output member 212, respectively, and the other ends of the first connecting member 441 and the second connecting member 442 are rotatably connected to the second base 43. The joint actuator 2 drives the first output member 211 and the second output member 212 to rotate, thereby driving the first connecting member 441 and the second connecting member 442 to rotate, thereby driving the second base 43 and the second connecting seat 14 to rotate along the first direction, thereby tilting the second base 43 and the second connecting seat 14 relative to the axis of the support member 443, so as to adjust the posture of the second base 43 and the second connecting seat 14 relative to the support member 443, thereby improving the flexibility of the robot 100.

[0061] like Figures 9 to 11 As shown, the first connecting member 441 may include a first rotating member 4411 and a first connecting rod 4412 , the first rotating member 4411 is rotatably disposed at one end of the first connecting rod 4412 , and the second base 43 is rotatably disposed at the other end of the first connecting rod 4412 .

[0062] In this embodiment, the first rotating member 4411 has a spherical joint, and both ends of the first connecting rod 4412 may have spherical grooves, and the spherical joint on the first rotating member 4411 can be rotatably arranged in the spherical groove on the first connecting rod 4412. The second base 43 may have a spherical joint, and the spherical joint on the second base 43 can be rotatably arranged in the spherical groove on the first connecting rod 4412. The design of the spherical joint enables it to evenly distribute the load in multiple directions, and thus can withstand complex mechanical loads with multiple degrees of freedom. This makes the spherical joint on the first rotating member 4411 or the second base 43 have very good adaptability in an environment that needs to withstand rotation, tilt or other complex mechanical conditions. Of course, in some other embodiments of the present invention, in addition to the spherical joint structure, it can also be connected by means such as a sliding joint, a joint structure, a coupling, etc., which are not specifically limited here.

[0063] In this embodiment, the specific structure of the second connecting member 442 refers to the above-mentioned embodiment of the first connecting member 441, and will not be described in detail here.

[0064] like Figures 9 to 11 As shown, the support member 443 includes a second rotating member 4431 and a third rotating member 4432, the joint actuator 2 located on the posture control device 4 is connected to the second rotating member 4431, the second rotating member 4431 is rotatably connected to the third rotating member 4432, and the third rotating member 4432 is rotatably connected to the second base 43.

[0065] In this embodiment, the third rotating member 4432 can be set as a universal joint, which adopts a cross-axis universal joint and has four ends. The second rotating member 4431 is in a "Y" shape as a whole. One end of the second rotating member 4431 is connected to the joint actuator 2, and the other end of the second rotating member 4431 is rotatably connected to two opposite ends of the universal joint. The other two opposite ends of the universal joint are rotatably connected to the second base 43 respectively. The first connecting member 441 and the second connecting member 442 can drive the second base 43 to rotate around the rotation axis of the two ends of the universal joint. The present application can improve the flexibility of the second base 43 and the second connecting seat 14 by using a universal joint for the third rotating member 4432, with a wide adjustable angle range and a larger tilt angle. The structure of the cross-axis universal joint is relatively simple, and the manufacturing process is mature and the cost is low. Of course, in some other embodiments of the present invention, in addition to the cross-axis universal joint, conventional cross-axis universal joints, spherical couplings and other components can also be used for connection to achieve multiple degrees of freedom between the base and the second connecting seat 14, which is not specifically limited here.

[0066] like Figure 7 As shown, the outer shape of the housing 23 is set to be spherical, and / or the intersection of the rotation axis of the first output member 211 and the rotation axis of the third output member 213 coincides with the center of the sphere of the housing 23 .

[0067] In this embodiment, the overall shape of the shell 23 is set to be spherical, and the spherical joint actuator 2 allows the joints of the robot arm 3 to rotate in multiple directions, which can provide higher flexibility than traditional single-degree-of-freedom or multi-degree-of-freedom motors, so that the robot arm 3 can perform complex movements, which is closer to the natural movements of humans or animals. The joint actuator 2 is a spherical structure, which can facilitate the modular design of the robot arm 3 and the joint actuator 2, so that the robot arm 3 and the joint actuator 2 can be combined together in a more compact and efficient manner, which is conducive to saving space. For applications that require high-precision operations, the joint actuator 2 can more flexibly control angle changes, thereby providing a precise motion trajectory. Of course, in some other embodiments of the present invention, the shape of the shell 23 can also adopt a polyhedron structure such as a regular cube, or it can be an irregular shape, which can be designed according to actual needs.

[0068] In one embodiment of the present invention, the shell 23 adopts a spherical structure, and the rotation axis of the first output member 211 and the rotation axis of the third output member 213 intersect vertically and the intersection coincides with the center of the shell 23, so that the entire system has a high degree of symmetry, and this structure can optimize the mechanical properties, ensure the balanced and uniform transmission of force, so that the joint actuator 2 has good stability, and can simplify the relevant mechanical models during modeling, reduce unnecessary complex situations, and the corresponding calculations become simpler. The mechanical arm 3 is matched with the spherical shell structure, and the structure of the mechanical arm 3 of the robot 100 is also simpler and has extremely high compatibility, which can adapt to more application scenarios.

[0069] like Figure 7 and Figure 8 As shown, the driving assembly includes a first motor 24, the transmission assembly 21 also includes a first gear set 214, the first output member 211 also includes a first output gear 2111, and the first motor 24 is drivingly connected to the first output gear 2111 through the first gear set 214;

[0070] And / or, the driving assembly further includes a second motor 241, the transmission assembly 21 further includes a second gear set 215, the second output member 212 further includes a second output gear 2121, and the second motor 241 is drivingly connected to the second output gear 2121 via the second gear set 215;

[0071] And / or, the driving assembly includes a third motor 242, the transmission assembly 21 also includes a third gear set 216, the third output member 213 also includes a third output gear 2131, and the third motor 242 is drivingly connected to the third output gear 2131 via the third gear set 216.

[0072] In this embodiment, the present application drives three output members to rotate independently through three motors and three gear sets, without interference between them, thereby improving the stability of the three output members driving the mechanical arm 3 and the robot 100 body 1. It should be noted that the three gear sets constitute independent speed reducer mechanisms, which are used to reduce the rotation speed of the three motors to the required rotation speed to meet the specific requirements of speed and torque in different application scenarios.

[0073] In this embodiment, the driving end 331 of the first motor 24 can be drivably connected to a driving gear, and the driving gear on the first motor 24 can be drivably connected to the first output gear 2111 through the first gear set 214, thereby improving the rotation stability of the first output gear 2111. The driving end 331 of the second motor 241 can be drivably connected to a driving gear, and the driving gear on the second motor 241 can be drivably connected to the second output gear 2121 through the second gear set 215, thereby improving the rotation stability of the second output gear 2121. The driving end 331 of the third motor 242 can be drivably connected to a driving gear, and the driving gear on the third motor 242 can be drivably connected to the third output gear 2131 through the third gear set 216, thereby improving the rotation stability of the third output gear 2131.

[0074] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A robot, characterized in that: include: A body, comprising a power supply component and a controller component, wherein the power supply component and the controller component are electrically connected, the body having a plurality of first connection parts, the body having a first end, and at least two of the first connection parts being disposed on opposite sides of the first end; A plurality of joint actuators, the joint actuators are electrically connected to the controller assembly, each of the joint actuators comprises a transmission assembly; the transmission assembly comprises a first output member, a second output member and a third output member, the joint actuator is rotatably arranged on the first connection portion through the third output member; as well as A plurality of mechanical arms, each of the mechanical arms is rotatably connected to the first output member and the second output member of one of the joint actuators.

2. The robot according to claim 1, characterized in that: The rotation axes of the first output member and the second output member are arranged to coincide with each other, and the rotation axis of the first output member and the rotation axis of the third output member intersect with each other.

3. The robot according to claim 2, characterized in that: The rotation axis of the first output member and the rotation axis of the third output member are arranged perpendicular to each other.

4. The robot according to claim 3, characterized in that: The first output member and the second output member are arranged on the same side of the joint actuator.

5. The robot according to claim 4, characterized in that: The robotic arm includes a first driving link, a second driving link and a driven link assembly, the first driving link and the second driving link are respectively rotatably connected to the driven link assembly, the first output member is drivingly connected to the first driving link, and the second output member is drivingly connected to the second driving link.

6. The robot according to claim 3, characterized in that: The joint actuator also includes a rotating shaft, and the first output member and the second output member are respectively arranged on opposite sides of the joint actuator. The rotating shaft is extended along the rotation axis direction of the first output member, one end of the rotating shaft is fixedly connected to the second output member, and the other end of the rotating shaft is passed through the first output member.

7. The robot according to claim 3, characterized in that: The body also includes a first connecting seat and a second connecting seat, the body has a second end opposite to the first end, the first connecting seat is located at the first end, the second connecting seat is located at the second end, at least two of the first connecting parts are arranged on opposite sides of the second connecting seat, and the first connecting seat is movably connected to the second connecting seat.

8. The robot according to claim 7, characterized in that: The robot further comprises at least two posture control devices, each of which has at least two second connection parts, one of which is rotatably connected to the first connection seat, and another of which is connected to the second connection seat, so that the first connection seat is movably connected to the second connection seat; And / or, the robot further comprises a head assembly, and the head assembly is movably connected to the first connecting seat via another posture control device.

9. The robot according to claim 8, characterized in that The posture control device includes a first base, a second base, a connecting component and the joint actuator. The first base and the second base are both provided with the second connecting part. The joint actuator is arranged on the first base. The connecting component is respectively connected to the first output member and the second output member and is rotatably connected to the second base to adjust the posture of the second base relative to the first base.

10. The robot according to claim 9, characterized in that: The connecting assembly includes a first connecting member, a second connecting member and a supporting member, wherein the supporting member is arranged on the joint actuator, and the supporting member can be movably arranged on the second base, the first output member is drivingly connected to the first connecting member, the second output member is drivingly connected to the second connecting member, and the third output member is drivingly connected to the first base, so that the joint actuator can be rotatably arranged relative to the first base.

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