Robot transmission joint and robot

Abstract

The robot transmission joint comprises a driving wheel, a driven wheel and an elastic body, the driving wheel comprises a first rotating wheel and a first restraining part, the driven wheel comprises a second rotating wheel and a second restraining part, and the second rotating wheel rotates along with the first rotating wheel; the two ends of the elastic body are connected to the first restraining part and the second restraining part correspondingly, and circumferential pre-tightening force is provided for the first rotating wheel and the second rotating wheel. The first rotating wheel and the second rotating wheel are always subjected to pre-tightening force applied by the elastic body in the rotating process, so that the first rotating wheel and the second rotating wheel are kept in close contact, the return clearance is eliminated, the joint can generate certain flexibility under the action of external force through the pre-tightening force provided by the elastic body, the external force is buffered, and the reliability of the joint is improved. The transmission joint forms a rigid-flexible composite structure, and the flexible characteristic of rigid joint transmission is achieved through a return stroke gap.

Description

Technical Field

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

[0002] Robot joint transmission design is a key content in bionic robot research. Rigid joint drive is a commonly used joint design implementation method, but the joints of the human body or animals are all rigid-flexible composite structures. Pure rigid joints cannot simulate flexible movements and achieve the flexibility of robot movement. In addition, there is a return gap in the rigid joints. When the active part changes the direction of movement, there is a relative idle travel or idle rotation angle between the driven part and the active part at the moment of movement starting, resulting in low movement accuracy, unstable transmission, and transmission noise. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a robot transmission joint that can eliminate the return clearance and realize the flexible characteristics of rigid joint transmission.

[0004] The present invention also provides a robot having the robot transmission joint.

[0005] A robot transmission joint according to an embodiment of the first aspect of the present invention comprises:

[0006] The driving wheel comprises a first rotating wheel and a first restraining portion fixed to the first rotating wheel;

[0007] The driven wheel comprises a second rotating wheel and a second restraining portion fixed to the second rotating wheel, the first rotating wheel is in transmission connection with the second rotating wheel, the second rotating wheel can rotate following the first rotating wheel, and the rotation axes of the first rotating wheel and the second rotating wheel are parallel;

[0008] The elastic body has two ends respectively connected to the first constraint portion and the second constraint portion, and provides a circumferential pre-tightening force to the first rotating wheel and the second rotating wheel.

[0009] The robot transmission joint according to the embodiment of the present invention has at least the following beneficial effects:

[0010] In the present invention, the first rotating wheel and the second rotating wheel are always subjected to the preload force applied by the elastic body during the rotation process, so that the first rotating wheel and the second rotating wheel maintain close contact and eliminate the return clearance. The preload force provided by the elastomer can make the joint produce a certain flexibility under the action of external force and buffer the external force. The transmission joint forms a rigid-flexible composite structure, and the flexible characteristics of the rigid joint transmission are realized by utilizing the return clearance.

[0011] According to some embodiments of the present invention, the first constraint portion includes a first constraint wheel coaxially arranged with the first rotating wheel, the second constraint portion includes a second constraint wheel coaxially arranged with the second rotating wheel, the elastomer is wound around the circumference of the first constraint wheel and the second constraint wheel, and the winding direction of the elastomer along the circumference of the first constraint wheel is the same as the winding direction of the elastomer along the circumference of the second constraint wheel.

[0012] According to some embodiments of the present invention, a first limiting groove is provided on the circumference of the first constraint wheel, a second limiting groove is provided on the circumference of the second constraint wheel, and the elastic body is wound around the first limiting groove and the second limiting groove.

[0013] According to some embodiments of the present invention, the first constraint wheel is provided with a first fixing pin, the second constraint wheel is provided with a second fixing pin, and both ends of the elastic body are respectively fixed to the first fixing pin and the second fixing pin.

[0014] According to some embodiments of the present invention, the first fixing pin is arranged on the axial end face of the first constraint wheel, the second fixing pin is arranged on the axial end face of the second constraint wheel, the circumferential side of the first constraint wheel is provided with a first lead-out groove connected to the first limiting groove, the circumferential side of the second constraint wheel is provided with a second lead-out groove connected to the second limiting groove, one end of the elastomer is wound around the first limiting groove via the first lead-out groove, and the other end of the elastomer is wound around the second limiting groove via the second lead-out groove.

[0015] According to some embodiments of the present invention, the first constraining wheel and the second constraining wheel are both configured as cylindrical;

[0016] Alternatively, at least one of the first constraining wheel and the second constraining wheel is configured as a cam.

[0017] According to some embodiments of the present invention, gear teeth are disposed on the circumference of the first rotating wheel and the second rotating wheel, and the first rotating wheel is meshed with the second rotating wheel.

[0018] According to some embodiments of the present invention, the robot transmission joint also includes a first link, a second link and a driving element, the driving element is installed on the second link, the driven wheel is connected to the second link, the driving wheel is connected to the first link, the driving element is connected to the driving wheel, and drives the driving wheel to rotate.

[0019] A robot according to an embodiment of the second aspect of the present invention comprises the robot transmission joint of the embodiment of the first aspect.

[0020] According to some embodiments of the present invention, the robot also includes a sensor and a control module, the sensor is used to detect at least one of the rotation angle, rotation speed, rotation acceleration, and vibration amount of the first rotating wheel and / or the second rotating wheel, and the control module is capable of receiving and recording detection information based on the sensor.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 A schematic diagram of an embodiment of a robot transmission joint of the present invention;

[0024] Figure 2 It is a schematic diagram of the cooperation between the driving wheel and the driven wheel in one embodiment;

[0025] Figure 3 for Figure 1 A cross-sectional view of the robot's transmission joint;

[0026] Figure 4 A schematic diagram of the cooperation between the driving wheel and the driven wheel in another embodiment;

[0027] Figure 5 A schematic diagram of the cooperation between the driving wheel and the driven wheel in another embodiment;

[0028] Figure 6 A schematic diagram of the cooperation between the driving wheel and the driven wheel in another embodiment;

[0029] Figure 7 It is a schematic diagram of the cooperation between the driving wheel and the driven wheel in another embodiment.

[0030] Reference numerals:

[0031] The driving wheel 100, the first rotating wheel 110, the first constraint portion 120, the first constraint wheel 121, the first limiting groove 122, the first fixing pin 123, the first lead-out groove 124; the driven wheel 200, the second rotating wheel 210, the second constraint portion 220, the second constraint wheel 221, the second limiting groove 222, the second fixing pin 223, the second lead-out groove 224; the elastic body 300; the first connecting rod 400; the second connecting rod 500; the driving element 600. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0033] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 should not be understood as a limitation on the present invention.

[0034] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0035] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0036] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0037] Reference Figures 1 to 3 In an embodiment of the present invention, a robot transmission joint (hereinafter referred to as the transmission joint) is provided. The transmission joint includes a driving wheel 100, a driven wheel 200 and an elastic body 300. The driving wheel 100 is connected to other power elements and rotates when driven by the power elements. The driven wheel 200 rotates synchronously with the rotation of the driving wheel 100 to complete the power transmission of the transmission joint.

[0038] Specifically, the driving wheel 100 includes a first rotating wheel 110 and a first constraint portion 120, the first constraint portion 120 is fixed to the first rotating wheel 110, the driven wheel 200 includes a second rotating wheel 210 and a second constraint portion 220, the second constraint portion 220 is fixed to the second rotating wheel 210, the first rotating wheel 110 is transmission-connected with the second rotating wheel 210, the second rotating wheel 210 can rotate with the first rotating wheel 110, and the rotation axes of the two are parallel; the elastic body 300 should have the ability of elastic deformation and recovery, the elastic body 300 is not limited to being set as an elastic component such as a spring or an elastic rope, the two ends of the elastic body 300 are respectively connected to the first constraint portion 120 and the second constraint portion 220, and provide a circumferential preload to the first rotating wheel 110 and the second rotating wheel 210, the first During the rotation process, the rotating wheel 110 and the second rotating wheel 210 are always subjected to the preload force applied by the elastic body 300, so that the first rotating wheel 110 and the second rotating wheel 210 maintain close contact, eliminate the return clearance, and overcome the influence of the return clearance on the joint transmission accuracy and transmission stability, and reduce the transmission noise and wear; in addition, the preload force provided by the elastomer 300 can make the joint produce a certain flexibility under the action of external force, and buffer the external force, effectively improve the ability of the transmission joint to resist impact and the stability of transmission, and form a rigid-flexible composite structure of the transmission joint, thereby utilizing the return clearance to realize the flexible characteristics of the rigid joint transmission, so that the transmission joint can be adapted to the design and research of bionic robots, such as the design of drive joints for fingers of humanoid dexterous hands.

[0039] It should be noted that in the design of traditional transmission joints, the method of increasing the drive is usually adopted to overcome the return error. In addition, the driving force required for the joint to move in different directions is different. The specifications of the drive motor are usually set to meet the larger drive requirements, which will cause the cost of the transmission joint to increase rapidly. The present invention introduces a circumferential preload into the rotation of the first rotating wheel 110 and / or the second rotating wheel 210, utilizes and processes the return error in the joint transmission process, eliminates the adverse effect of the return error on the transmission, and makes the transmission joint flexible, thereby reducing the cost of the transmission joint.

[0040] The transmission connection mode between the first rotating wheel 110 and the second rotating wheel 210 is not limited to friction transmission, gear transmission, etc. Exemplarily, the first rotating wheel 110 and the second rotating wheel 210 are configured as friction wheels, which are pressed against each other and transmit power by friction. When the first rotating wheel 110 is driven to rotate, the second rotating wheel 210 rotates synchronously under the action of friction. In another embodiment, Figure 1As shown, gear teeth are provided on the circumferential sides of the first rotating wheel 110 and the second rotating wheel 210. The first rotating wheel 110 and the second rotating wheel 210 are configured as gears, which mesh with each other. The transmission of the first rotating wheel 110 and the second rotating wheel 210 is more stable. The first rotating wheel 110 and the second rotating wheel 210 are subjected to continuous pre-tightening force when meshing, maintaining close contact between the tooth surfaces, thereby reducing the return clearance.

[0041] It should be noted that, for transmission joints using gear transmission, the traditional method is usually to set double-piece gears with staggered teeth to eliminate the gap between the teeth so that a certain pressure is always maintained between the teeth, but this method will cause greater wear of the gears during the transmission process; in the present invention, an elastomer 300 is used to provide a circumferential preload force to the first rotating wheel 110 and / or the second rotating wheel 210, thereby reducing the transmission wear between the first rotating wheel 110 and the second rotating wheel 210 while eliminating the return gap between the two.

[0042] In one embodiment, if Figure 4 As shown, the first constraint portion 120 is set as a protrusion on the end surface of the first rotating wheel 110 and is eccentrically set. The second constraint portion 220 is set as a protrusion on the end surface of the second rotating wheel 210 and is eccentrically set. When the first rotating wheel 110 and the second rotating wheel 210 rotate synchronously, the part of the elastic body 300 located between the first constraint portion 120 and the second constraint portion 220 is pulled and elastically deformed. Since the first constraint portion 120 and the second constraint portion 220 are both eccentrically set, the elastic body 300 can provide circumferential pre-tightening force to the first rotating wheel 110 and the second rotating wheel 210, thereby eliminating the return gap between the two.

[0043] In another embodiment, if Figure 2 and Figure 3 As shown, the first constraint part 120 includes a first constraint wheel 121, which is coaxially arranged with the first rotating wheel 110, and the second constraint part 220 includes a second constraint wheel 221, which is coaxially arranged with the first rotating wheel 110, and the elastomer 300 is wound around the circumference of the first constraint wheel 121 and the second constraint wheel 221, that is, a part of the elastomer 300 is wound around the circumference of the first constraint wheel 121, and a part of the elastomer 300 is wound around the circumference of the second constraint wheel 221, and the winding direction of the elastomer 300 along the circumference of the first constraint wheel 121 is opposite to the winding direction of the elastomer 300 along the circumference of the second constraint wheel 221.

[0044] When the first rotating wheel 110 rotates synchronously with the second rotating wheel 210, the first rotating wheel 110 rotates in opposite directions to the second rotating wheel 210, the first constraint wheel 121 rotates synchronously with the first rotating wheel 110, and the second constraint wheel 221 rotates synchronously with the second rotating wheel 210. If the rotation of the first rotating wheel 110 increases the length of the elastic body 300 wound around the first constraint wheel 121, since the first rotating wheel 110 rotates in opposite directions to the second rotating wheel 210, and the winding direction of the elastic body 300 along the circumference of the first constraint wheel 121 is the same as the winding direction of the elastic body 300 along the circumference of the second constraint wheel 221, the elastic body 300 is wound around the first constraint wheel 121. The length of the elastic body 300 wound around the second constraint wheel 221 is reduced, and the increase in the length of the elastic body 300 wound around the first constraint wheel 121 is equal to the decrease in the length of the elastic body 300 wound around the second constraint wheel 221; similarly, if the rotation of the first rotating wheel 110 reduces the length of the elastic body 300 wound around the first constraint wheel 121, the length of the elastic body 300 wound around the second constraint wheel 221 is increased, and the decrease in the length of the elastic body 300 wound around the first constraint wheel 121 is equal to the increase in the length of the elastic body 300 wound around the second constraint wheel 221.

[0045] Therefore, the magnitude and direction of the preload force provided by the elastic body 300 during the rotation of the first rotating wheel 110 and the second rotating wheel 210 remain unchanged, that is, the elastic body 300 can provide a preload force of a specific direction and magnitude during the rotation of the first rotating wheel 110 and the second rotating wheel 210, and the magnitude and direction of the preload force are not affected by the rotation angle of the joint.

[0046] It should be noted that the dynamic requirements of the transmission joint in different movement directions are different. For example, there are transmission positions in the transmission joint that have relatively large mechanical requirements, and the size and direction of the preload force that can be provided in the traditional transmission joint are in a changing state during the joint transmission process, and cannot meet the mechanical requirements of the transmission joint at a specific transmission position; in the present invention, the size and direction of the preload force always remain unchanged, and a preset preload force can be applied in the direction where the transmission joint has a greater mechanical requirement, so as to meet the different mechanical requirements of the transmission joint and provide benefits for the symmetry of the robot.

[0047] In one embodiment, the radius of the first constraint wheel 121 is smaller than the radius of the first rotating wheel 110, and the radius of the second constraint wheel 221 is smaller than the radius of the second rotating wheel 210, then there is a gap between the first constraint wheel 121 and the second constraint wheel 221, a part of the elastic body 300 is located between the first constraint wheel 121 and the second constraint wheel 221, and the two ends of this part of the elastic body 300 are respectively wound toward the circumference of the first constraint wheel 121 and the circumference of the second constraint wheel 221. By setting the gap between the first constraint wheel 121 and the second constraint wheel 221, on the one hand, there is no contact between the first constraint wheel 121 and the second constraint wheel 221, which does not affect the power transmission between the first rotating wheel 110 and the second rotating wheel 210, and on the other hand, the elastic body 300 can pass through, so that the winding direction of the elastic body 300 along the circumference of the first constraint wheel 121 is the same as the winding direction of the elastic body 300 along the circumference of the second constraint wheel 221.

[0048] Herein, the “winding direction” of the elastic body 300 toward the first constraint wheel 121 and the second constraint wheel 221 refers to, with the portion of the elastic body 300 located between the first constraint wheel 121 and the second constraint wheel 221 as a reference, the winding direction of this portion of the elastic body 300 toward the first constraint wheel 121 is the winding direction of the elastic body 300 along the first constraint wheel 121, and the winding direction of this portion of the elastic body 300 toward the second constraint wheel 221 is the winding direction of the elastic body 300 along the second constraint wheel 221; Figure 2 For example, the portion of the elastomer 300 located between the first constraint wheel 121 and the second constraint wheel 221 is in an inclined state, and its two ends are respectively tangent to the circumferential side of the first constraint wheel 121 and the circumferential side of the second constraint wheel 221. The winding direction of the elastomer 300 along the circumferential side of the first constraint wheel 121 is clockwise, and the winding direction of the elastomer 300 along the circumferential side of the second constraint wheel 221 is clockwise.

[0049] It should be noted that, in the present embodiment, the first constraint wheel 121 and the second constraint wheel 221 are both configured to be cylindrical, and the radius size relationship between the first constraint wheel 121 and the second constraint wheel 221 is not limited. The portion of the elastomer 300 located between the first constraint wheel 121 and the second constraint wheel 221 is always tangent to the circumferential side of the first constraint wheel 121 and the circumferential side of the second constraint wheel 221, and the direction of the preload force provided by the elastomer 300 to the first rotating wheel 110 and the second rotating wheel 210 remains unchanged.

[0050] Since the first constraint wheel 121 rotates synchronously with the first rotating wheel 110, and the second constraint wheel 221 rotates synchronously with the second rotating wheel 210, the first constraint wheel 121 and the second constraint wheel 221 rotate at the same angle per unit time. Figure 5As shown, in the case where the radius of the first constraint wheel 121 is greater than the radius of the second constraint wheel 221, if the first rotating wheel 110 rotates in the forward direction, the winding length of the elastic body 300 around the first constraint wheel 121 increases, and the winding length of the elastic body 300 around the second constraint wheel 221 decreases. Then, the increase in the winding length of the elastic body 300 around the first constraint wheel 121 is greater than the decrease in the winding length of the elastic body 300 around the second constraint wheel 221. At this time, the preload force provided by the elastic body 300 increases; similarly, if the first rotating wheel 110 rotates in the reverse direction, the preload force provided by the elastic body 300 decreases. Figure 5 For example, when the first rotating wheel 110 rotates clockwise, the preload force increases, and when the first rotating wheel 110 rotates counterclockwise, the preload force decreases.

[0051] Understandable, such as Figure 6 As shown, in the case where the radius of the first constraint wheel 121 is smaller than the radius of the second constraint wheel 221, if the first rotating wheel 110 rotates forward, the winding length of the elastic body 300 around the first constraint wheel 121 decreases, and the winding length of the elastic body 300 around the second constraint wheel 221 increases. Then, the reduction value of the winding length of the elastic body 300 around the first constraint wheel 121 is greater than the increase value of the winding length of the elastic body 300 around the second constraint wheel 221. At this time, the preload force provided by the elastic body 300 decreases; similarly, if the first rotating wheel 110 rotates in the reverse direction, the preload force provided by the elastic body 300 increases. Figure 6 For example, when the first rotating wheel 110 rotates clockwise, the preload force decreases, and when the first rotating wheel 110 rotates counterclockwise, the preload force increases.

[0052] like Figure 2 As shown, for the case where the radius of the first constraint wheel 121 is equal to the radius of the second constraint wheel 221, no matter whether the first rotating wheel 110 rotates forward or reverse, the change in the winding length of the elastomer 300 around the first constraint wheel 121 is always equal to the change in the winding length of the elastomer 300 around the second constraint wheel 221. Therefore, no matter whether the first rotating wheel 110 rotates forward or reverse, the preload force provided by the elastomer 300 remains unchanged.

[0053] From the above, it can be seen that when the first constraint wheel 121 and the second constraint wheel 221 are both set to be cylindrical, the direction of the preload force provided by the elastomer 300 is always in the direction tangent to the circumferential side of the first constraint wheel 121 and the second constraint wheel 221, that is, the direction of the preload force provided by the elastomer 300 always remains unchanged; in addition, by changing the radius of the first constraint wheel 121 and the second constraint wheel 221, the magnitude and direction of the preload force during the joint transmission process can be kept unchanged, or during the joint transmission process, the direction of the preload force remains unchanged, and the magnitude changes with the change of the joint position, so that the motion joint can achieve preload force control in a specific direction.

[0054] In addition, in some embodiments, at least one of the first constraint wheel 121 and the second constraint wheel 221 is a cam. Figure 7 As shown, taking the second constraint wheel 221 as a cam as an example, when the first constraint wheel 121 rotates counterclockwise and the second constraint wheel 221 rotates clockwise, the winding length of the elastic body 300 along the circumference of the first constraint wheel 121 decreases, and the winding length of the elastic body 300 along the circumference of the second constraint wheel 221 increases, and the elastic body 300 is wound toward the raised portion of the second constraint wheel 221, so that the reduction in the winding length of the elastic body 300 on the circumference of the first constraint wheel 121 is less than the increase in the winding length of the elastic body 300 along the circumference of the second constraint wheel 221, the preload force provided by the elastic body 300 increases, and the direction of the preload force changes; the first constraint wheel 121 rotates clockwise and the second constraint wheel 221 rotates counterclockwise. When rotating, the winding length of the elastic body 300 along the circumference of the first constraint wheel 121 increases, and the winding length of the elastic body 300 along the circumference of the second constraint wheel 221 decreases. If the radius of the other parts of the second constraint wheel 221 except the protrusion is the same as that of the first constraint wheel 121, the magnitude and direction of the preload force provided by the elastic body 300 remain unchanged. If the radius of the other parts of the second constraint wheel 221 except the protrusion is larger than the radius of the first constraint wheel 121, the preload force provided by the elastic body 300 decreases and the direction of the preload force changes. If the radius of the other parts of the second constraint wheel 221 except the protrusion is smaller than the radius of the first constraint wheel 121, the preload force provided by the elastic body 300 increases and the direction of the preload force changes.

[0055] From the above, it can be seen that by changing the contour shapes of the first constraint wheel 121 and the second constraint wheel 221, the elastomer 300 can provide a preload force with varying direction and magnitude, and the direction and magnitude of the preload force can be related to the transmission position, so that the elastomer 300 can provide a preload force of corresponding magnitude and direction at a specific rotation angle of the transmission joint.

[0056] like Figure 1 and Figure 3 In one embodiment, a first limiting groove 122 is provided on the circumferential side of the first constraint wheel 121, and a second limiting groove 222 is provided on the circumferential side of the second constraint wheel 221. A portion of the elastomer 300 is wound in the first limiting groove 122, and a portion of the elastomer 300 is wound in the second limiting groove 222. The first limiting groove 122 and the second limiting groove 222 limit the elastomer 300 along the axial direction to prevent the elastomer 300 from detaching from the first constraint wheel 121 or the second constraint wheel 221 during the process of the first rotating wheel 110 and the second rotating wheel 210.

[0057] It can be understood that the circumference of the first limiting groove 122 and the second limiting groove 222 is open to allow the elastic body 300 to be embedded; the first limiting groove 122 and the second limiting groove 222 can be set to be an arc shape or a circular ring shape.

[0058] The first constraint wheel 121 is also provided with a first fixing pin 123, and the second constraint wheel 221 is also provided with a second fixing pin 223. The second constraint wheel 221 is provided with a second fixing pin 223. The two ends of the elastomer 300 are respectively fixed to the first fixing pin 123 and the second fixing pin 223, so as to realize the fixed connection between the end of the elastomer 300 and the first constraint wheel 121 and the second constraint wheel 221.

[0059] The fixing method of the elastomer 300 to the first fixing pin 123 and the second fixing pin 223 is not limited to that the elastomer 300 is bundled and fixed to the first fixing pin 123 or the second fixing pin 223, or the first fixing pin 123 and the second fixing pin 223 are both set as press pins, and the ends of the elastomer 300 are fixed to the first constraint wheel 121 and the second constraint wheel 221 by press pins.

[0060] The first fixing pin 123 can be arranged on the circumferential side of the first constraint wheel 121. After the end of the elastomer 300 is fixed to the first fixing pin 123, it can be directly arranged along the first limiting groove 122. The second fixing pin 223 can be arranged on the circumferential side of the second constraint wheel 221. After the end of the elastomer 300 is fixed to the second fixing pin 223, it can be directly arranged along the second limiting groove 222.

[0061] In another embodiment, the first fixing pin 123 is arranged on the axial end face of the first constraint wheel 121, and the circumferential side of the first constraint wheel 121 is provided with a first lead-out groove 124 connected to the first limiting groove 122, the second fixing pin 223 is arranged on the axial end face of the second constraint wheel 221, and the circumferential side of the second constraint wheel 221 is provided with a second lead-out groove 224 connected to the second limiting groove 222, one end of the elastomer 300 is wound around the first limiting groove 122 via the first lead-out groove 124, and the other end of the elastomer 300 is wound around the second limiting groove 222 via the second lead-out groove 224. The first lead-out groove 124 is used to provide a limit in the process of the elastomer 300 being led out from the axial direction of the first constraint wheel 121 to the circumferential side of the first constraint wheel 121. Similarly, the second lead-out groove 224 is used to provide a limit in the process of the elastomer 300 being led out from the axial direction of the second constraint wheel 221 to the circumferential side of the second constraint wheel 221, so as to prevent the elastomer 300 from being separated from the first constraint wheel 121 or the second constraint wheel 221; and the first fixing pin 123 and the second fixing pin 223 are both arranged on the axial end face, which can avoid the winding area of ​​the elastomer 300 on the circumferential side of the first constraint wheel 121 and the second constraint wheel 221, so that the winding of the elastomer 300 on the circumferential side of the first constraint wheel 121 and the second constraint wheel 221 is smoother.

[0062] Reference Figure 1 and Figure 3The transmission joint in the present invention also includes a first connecting rod 400, a second connecting rod 500 and a driving element 600. The driving wheel 100 is connected to the first connecting rod 400, the driven wheel 200 is connected to the second connecting rod 500, the driving element 600 is installed on the second connecting rod 500 and connected to the driving wheel 100. The driving element 600 is configured as a motor, a steering gear, etc. that can provide rotational power. The driving element 600 can drive the driving wheel 100 to rotate. When the driving wheel 100 rotates, the first connecting rod 400 and the second connecting rod 500 rotate relative to each other to realize power transmission of the transmission joint.

[0063] The present invention also provides a robot, which includes at least one of the above-mentioned transmission joints. The robot can be set as a bionic robot. Since the transmission joints in the present invention are of a rigid-flexible composite structure, the flexibility of the robot's movement can be achieved, and it can simulate human or animal joints.

[0064] The robot also includes a sensor and a control module. The sensor is used to detect at least one of the rotation angle, rotation speed, rotation acceleration, and vibration amount of the first rotating wheel 110 and / or the second rotating wheel 210. The control module can receive and record the detection gap of the sensor, so that the robot can provide a preload in a specific direction based on a motion feedback mechanism, thereby realizing intelligent control of the robot.

[0065] Exemplarily, the sensor is set as a position sensor, and a position sensor such as an optical fiber, an ultrasonic position sensor, etc. is installed at the rotation axis position of the first rotating wheel 110 or the second rotating wheel 210. The position sensor can accurately measure the angular position information of the rotation of the transmission joint in real time, continuously collect the position data during the rotation of the joint at a certain sampling frequency, and transmit it to the control module. The control module can analyze the joint motion trajectory, positioning accuracy, etc. according to the detection information of the position sensor, for example, it can be used to determine whether the preload force affects the joint to accurately reach the preset position.

[0066] Alternatively, the sensor is configured as a speed sensor, and a speed sensor, such as a speed monitoring module such as a tachometer generator and a Hall sensor, is installed near the first rotating wheel 110 or the second rotating wheel 210 to obtain real-time speed information of the joint rotation. The sensor collects speed data at a corresponding sampling frequency and feeds it back to the control module, which can understand the influence of the preload force on the smoothness of joint rotation and speed stability by analyzing the speed data.

[0067] Alternatively, the sensor is configured as an acceleration sensor, which is disposed at the rotation axis of the first rotating wheel 110 and the second rotating wheel 210. The acceleration sensor can be configured as a piezoelectric or strain type acceleration sensor. The acceleration sensor can measure the acceleration change during the rotation of the joint, collect acceleration data at a suitable sampling frequency and transmit it to the control module. The control module can evaluate the influence of the preload force on the joint dynamic characteristics, such as the response speed and stability during starting, stopping and steering, etc., based on the detection information of the acceleration sensor.

[0068] Alternatively, the sensor is set as a vibration sensor, which is installed on the rotating shaft, housing, bearing seat and other positions of the transmission joint. The vibration sensor can be set as a resistive strain type or an inductive vibration sensor. The vibration sensor can detect the vibration generated during the rotation of the joint, including information such as the frequency and amplitude of the vibration. The vibration sensor collects vibration data at a specific sampling frequency and feeds it back to the control module. The control module can determine whether the preload has caused friction, collision or resonance between the transmission components based on the vibration data.

[0069] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A robot transmission joint, characterized in that: include: The driving wheel comprises a first rotating wheel and a first restraining portion fixed to the first rotating wheel; The driven wheel comprises a second rotating wheel and a second restraining portion fixed to the second rotating wheel, the first rotating wheel is in transmission connection with the second rotating wheel, the second rotating wheel can rotate following the first rotating wheel, and the rotation axes of the first rotating wheel and the second rotating wheel are parallel; The elastic body has two ends respectively connected to the first constraint portion and the second constraint portion, and provides a circumferential pre-tightening force to the first rotating wheel and the second rotating wheel.

2. The robot transmission joint according to claim 1, characterized in that: The first constraint portion includes a first constraint wheel coaxially arranged with the first rotating wheel, the second constraint portion includes a second constraint wheel coaxially arranged with the second rotating wheel, the elastomer is wound around the circumference of the first constraint wheel and the second constraint wheel, and the winding direction of the elastomer along the circumference of the first constraint wheel is the same as the winding direction of the elastomer along the circumference of the second constraint wheel.

3. The robot transmission joint according to claim 2, characterized in that: A first limiting groove is provided on the circumferential side of the first constraining wheel, a second limiting groove is provided on the circumferential side of the second constraining wheel, and the elastic body is wound in the first limiting groove and the second limiting groove.

4. The robot transmission joint according to claim 3, characterized in that: The first constraint wheel is provided with a first fixing pin, the second constraint wheel is provided with a second fixing pin, and two ends of the elastic body are respectively fixed to the first fixing pin and the second fixing pin.

5. The robot transmission joint according to claim 4, characterized in that: The first fixing pin is arranged on the axial end face of the first constraint wheel, the second fixing pin is arranged on the axial end face of the second constraint wheel, the circumferential side of the first constraint wheel is provided with a first lead-out groove connected with the first limiting groove, the circumferential side of the second constraint wheel is provided with a second lead-out groove connected with the second limiting groove, one end of the elastomer is wound in the first limiting groove via the first lead-out groove, and the other end of the elastomer is wound in the second limiting groove via the second lead-out groove.

6. The robot transmission joint according to claim 2, characterized in that: The first constraint wheel and the second constraint wheel are both configured as cylindrical; Alternatively, at least one of the first constraining wheel and the second constraining wheel is configured as a cam.

7. The robot transmission joint according to claim 1, characterized in that: The circumferences of the first rotating wheel and the second rotating wheel are both provided with gear teeth, and the first rotating wheel is meshed with the second rotating wheel.

8. The robot transmission joint according to claim 1, characterized in that: The robot transmission joint also includes a first connecting rod, a second connecting rod and a driving element, the driving element is installed on the second connecting rod, the driven wheel is connected to the second connecting rod, the driving wheel is connected to the first connecting rod, the driving element is connected to the driving wheel, and drives the driving wheel to rotate.

9. A robot, characterized in that A robot transmission joint comprising any one of claims 1 to 8.

10. The robot according to claim 9, characterized in that: The robot also includes a sensor and a control module, wherein the sensor is used to detect at least one of the rotation angle, rotation speed, rotation acceleration, and vibration amount of the first rotating wheel and / or the second rotating wheel, and the control module can receive and record the detection information based on the sensor.

Images