Robot transmission joint and robot

Abstract

The application discloses a robot transmission joint and a robot, and 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 constraint part. The driven wheel comprises a second rotating wheel and a second constraint part. The second rotating wheel rotates along with the first rotating wheel. The elastic body is connected to the first constraint part and the second constraint part at two ends respectively, and provides a circumferential pre-tightening force to the first rotating wheel and the second rotating wheel. The first rotating wheel and the second rotating wheel are always subjected to the pre-tightening force provided by the elastic body during rotation, so that the first rotating wheel and the second rotating wheel are kept in close contact and the return gap is eliminated. The pre-tightening force provided by the elastic body can make the joint have 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 characteristic of the rigid joint transmission is realized by using the return gap.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a robot transmission joint and a robot. BACKGROUND

[0002] The robot joint transmission design is a key content in the bionic robot research, and the rigid joint driving is a commonly used joint design implementation method. However, the joint of human body or animal is a rigid-flexible composite structure, and the pure rigid joint cannot simulate the flexible action and realize the compliance of the robot movement. In addition, the rigid joint has a return gap, and when the driving part changes the movement direction, there is a relative idle stroke or idle angle between the driven part and the driving part at the moment of movement start, which results in low movement precision, unstable transmission, and transmission noise. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a robot transmission joint capable of eliminating the return gap and realizing the flexible characteristics of the rigid joint transmission.

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

[0005] The robot transmission joint according to the first aspect of the present application comprises:

[0006] The driving wheel comprises a first rotating wheel and a first constraint part fixed to the first rotating wheel;

[0007] The driven wheel comprises a second rotating wheel and a second constraint part fixed to the second rotating wheel, the first rotating wheel and the second rotating wheel are in transmission connection, the second rotating wheel can rotate following the first rotating wheel, and the rotating axes of the first rotating wheel and the second rotating wheel are parallel;

[0008] The elastic body is connected to the first constraint part and the second constraint part at both ends, respectively, 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 present application embodiment has at least the following beneficial effects:

[0010] In the present application, the first rotating wheel and the second rotating wheel are always subjected to the pre-tightening force provided by the elastic body during rotation, so that the first rotating wheel and the second rotating wheel maintain close contact and eliminate the return gap. The pre-tightening force provided by the elastic body can make the joint have 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 using the return gap.

[0011] According to some embodiments of the present application, the first constraint part comprises a first constraint wheel coaxially arranged with the first rotating wheel, the second constraint part comprises a second constraint wheel coaxially arranged with the second rotating wheel, the elastic body is arranged around the circumferential side of the first constraint wheel and the second constraint wheel, and the arrangement direction of the elastic body around the circumferential side of the first constraint wheel is the same as the arrangement direction of the elastic body around the circumferential side of the second constraint wheel.

[0012] According to some embodiments of the present application, the circumferential side of the first constraint wheel is provided with a first limiting groove, the circumferential side of the second constraint wheel is provided with a second limiting groove, and the elastic body is arranged within the first limiting groove and the second limiting groove.

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

[0014] According to some embodiments of the present application, the first fixing pin is arranged on the end face in the axial direction of the first constraint wheel, the second fixing pin is arranged on the end face in the axial direction of the second constraint wheel, the circumferential side of the first constraint wheel is provided with a first leading-out groove in communication with the first limiting groove, the circumferential side of the second constraint wheel is provided with a second leading-out groove in communication with the second limiting groove, one end of the elastic body is arranged within the first limiting groove through the first leading-out groove, and the other end of the elastic body is arranged within the second limiting groove through the second leading-out groove.

[0015] According to some embodiments of the present application, the first constraint wheel and the second constraint wheel are both arranged in a cylindrical shape.

[0016] Alternatively, at least one of the first constraint wheel and the second constraint wheel is arranged in a cam shape.

[0017] According to some embodiments of the present application, the circumferential side of the first rotating wheel and the circumferential side of the second rotating wheel are both provided with gear teeth, and the first rotating wheel and the second rotating wheel are engaged.

[0018] According to some embodiments of the present application, the robot transmission joint further comprises a first connecting rod, a second connecting rod and a driving element, the driving element is mounted 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 with the driving wheel and drives the driving wheel to rotate.

[0019] The robot according to the second aspect of the embodiments of the present application comprises the robot transmission joint according to the first aspect of the embodiments of the present application.

[0020] According to some embodiments of the present application, the robot further comprises a sensor for detecting at least one of the rotation angle, rotation speed, rotation acceleration, and vibration amount of the first rotation wheel and / or the second rotation wheel, and a control module capable of receiving and recording the detection information of the sensor.

[0021] Additional aspects and advantages of the present application will be given, partially in the following description, partially become obvious from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0022] The present application will be further described below in conjunction with the accompanying drawings and embodiments, in which:

[0023] Figure 1 A schematic view of a robot transmission joint according to an embodiment of the present application;

[0024] Figure 2 A schematic view of the cooperation between a driving wheel and a driven wheel according to an embodiment of the present application;

[0025] Figure 3 A schematic view of the cooperation between a driving wheel and a driven wheel according to another embodiment of the present application; Figure 1 A sectional view of a robot transmission joint according to an embodiment of the present application;

[0026] Figure 4 A schematic view of the cooperation between a driving wheel and a driven wheel according to another embodiment of the present application;

[0027] Figure 5 A schematic view of the cooperation between a driving wheel and a driven wheel according to another embodiment of the present application;

[0028] Figure 6 A schematic view of the cooperation between a driving wheel and a driven wheel according to another embodiment of the present application;

[0029] Figure 7 A schematic view of the cooperation between a driving wheel and a driven wheel according to another embodiment of the present application.

[0030] LIST OF REFERENCE NUMBERS

[0031] Driving wheel 100, first rotation wheel 110, first constraint 120, first constraint wheel 121, first limiting slot 122, first fixed pin 123, first lead-out slot 124; Driven wheel 200, second rotation wheel 210, second constraint 220, second constraint wheel 221, second limiting slot 222, second fixed pin 223, second lead-out slot 224; Elastic body 300; First connecting rod 400; Second connecting rod 500; Driving element 600. DETAILED DESCRIPTION

[0032] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below are exemplary and are intended to explain the present application, but are not to be understood as limiting the present application.

[0033] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0034] In the description of the present application, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of indicated technical features.

[0035] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

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

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

[0038] Specifically, the driving wheel 100 comprises a first rotating wheel 110 and a first constraint part 120 fixed to the first rotating wheel 110, the driven wheel 200 comprises a second rotating wheel 210 and a second constraint part 220 fixed to the second rotating wheel 210, the first rotating wheel 110 and the second rotating wheel 210 are in transmission connection, the second rotating wheel 210 can rotate following 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 be set as elastic components such as springs and elastic ropes, two ends of the elastic body 300 are connected to the first constraint part 120 and the second constraint part 220 respectively, and the elastic body 300 provides the circumferential pre-tightening force to the first rotating wheel 110 and the second rotating wheel 210, the first rotating wheel 110 and the second rotating wheel 210 are always subjected to the pre-tightening force applied by the elastic body 300 in the process of rotation, so that the first rotating wheel 110 and the second rotating wheel 210 keep close contact, eliminate the return gap, overcome the influence of the return gap on the transmission accuracy and stability of the joint, and reduce the transmission noise and wear; in addition, the pre-tightening force provided by the elastic body 300 can make the joint have a certain flexibility under the action of external force, buffer the external force, effectively improve the impact resistance and stability of the transmission joint, and form a rigid-flexible composite structure, so that the flexible characteristics of the rigid joint transmission are realized by using the return gap, and the transmission joint can be adapted to the design and research of the bionic robot, such as the driving joint design of the anthropomorphic dexterous hand fingers.

[0039] It should be noted that in the design of the conventional transmission joint, the driving is usually increased to overcome the return error, in addition, the driving force required when the joint moves in different directions is different, and the specifications of the driving motor are usually set to meet the larger driving requirement, which will cause the cost of the transmission joint to increase rapidly, the present application introduces the circumferential pre-tightening force to the rotation of the first rotating wheel 110 and / or the second rotating wheel 210, utilizes and processes the return error in the process of joint transmission, eliminates the adverse effects of the return error on the transmission, and makes the transmission joint have flexible characteristics and reduce the cost of the transmission joint.

[0040] The transmission connection mode of the first rotating wheel 110 and the second rotating wheel 210 is not limited to friction transmission and gear transmission. For example, the first rotating wheel 110 and the second rotating wheel 210 are set as friction wheels, the two are pressed tightly 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. Figure 1As shown, the first rotating wheel 110 and the circumferential side of the second rotating wheel 210 are provided with gear teeth, the first rotating wheel 110 and the second rotating wheel 210 are provided as gears, and the two gears are engaged with each other, so that the transmission of the first rotating wheel 110 and the second rotating wheel 210 is more stable, and the first rotating wheel 110 and the second rotating wheel 210 are continuously pre-tightened when engaged, so as to keep the close contact between the tooth surfaces, thereby reducing the return gap.

[0041] It should be noted that for the transmission joint using gear transmission, the conventional method is usually to set double gear teeth to eliminate the gap between the teeth, so that the teeth always maintain a certain pressure, but this way will cause greater wear of the gears during transmission; in the present application, the elastic body 300 provides circumferential pre-tightening force to the first rotating wheel 110 and / or the second rotating wheel 210, which reduces the transmission wear between the first rotating wheel 110 and the second rotating wheel 210 on the premise of eliminating the return gap of the first rotating wheel 110 and the second rotating wheel 210.

[0042] In an embodiment, as shown in Figure 4 The first constraint part 120 is provided as a protrusion on the end face of the first rotating wheel 110 and is eccentrically arranged, and the second constraint part 220 is provided as a protrusion on the end face of the second rotating wheel 210 and is eccentrically arranged, when the first rotating wheel 110 and the second rotating wheel 210 rotate synchronously, the part of the elastic body 300 between the first constraint part 120 and the second constraint part 220 is pulled and elastically deformed, since the first constraint part 120 and the second constraint part 220 are both eccentrically arranged, 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, as shown in Figure 2 and Figure 3 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 elastic body 300 is arranged around the circumferential side of the first constraint wheel 121 and the second constraint wheel 221, that is, a part of the elastic body 300 is arranged around the circumferential side of the first constraint wheel 121, a part of the elastic body 300 is arranged around the circumferential side of the second constraint wheel 221, and the arrangement direction of the elastic body 300 along the circumferential side of the first constraint wheel 121 is opposite to the arrangement direction of the elastic body 300 along the circumferential side of the second constraint wheel 221.

[0044] When the first rotating wheel 110 and the second rotating wheel 210 rotate synchronously, the rotating directions of the first rotating wheel 110 and the second rotating wheel 210 are opposite, the first constraint wheel 121 rotates synchronously with the first rotating wheel 110, 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 around the periphery of the first constraint wheel 121, because the rotating directions of the first rotating wheel 110 and the second rotating wheel 210 are opposite, and the direction of the elastic body 300 around the periphery of the first constraint wheel 121 is the same as the direction of the elastic body 300 around the periphery of the second constraint wheel 221, the length of the elastic body 300 around the periphery of the second constraint wheel 221 decreases, and the increase of the length of the elastic body 300 around the periphery of the first constraint wheel 121 is equal to the decrease of the length of the elastic body 300 around the periphery of the second constraint wheel 221; similarly, if the rotation of the first rotating wheel 110 decreases the length of the elastic body 300 around the periphery of the first constraint wheel 121, the length of the elastic body 300 around the periphery of the second constraint wheel 221 increases, and the decrease of the length of the elastic body 300 around the periphery of the first constraint wheel 121 is equal to the increase of the length of the elastic body 300 around the periphery of the second constraint wheel 221.

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

[0046] It should be noted that the dynamics requirements of the transmission joint are different in different motion directions, for example, there are transmission positions with large mechanical requirements for the transmission joint, and the size and direction of the pre-tightening force provided in the traditional transmission joint are in a state of change during the transmission of the joint, which cannot meet the mechanical requirements of the transmission joint in the specific transmission position; in the present application, the size and direction of the pre-tightening force are always unchanged, and a preset pre-tightening force can be applied in the direction where the transmission joint has large mechanical requirements, so as to meet the different mechanical requirements of the transmission joint and provide benefits for the symmetry of the robot.

[0047] In an 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. In this case, a space is formed between the first constraint wheel 121 and the second constraint wheel 221, and a portion of the elastic body 300 is located between the first constraint wheel 121 and the second constraint wheel 221, and the two ends of the portion of the elastic body 300 are wound around the circumferential side of the first constraint wheel 121 and the circumferential side of the second constraint wheel 221, respectively. By arranging the space between the first constraint wheel 121 and the second constraint wheel 221, on the one hand, the first constraint wheel 121 and the second constraint wheel 221 are not in contact, and the power transmission between the first rotating wheel 110 and the second rotating wheel 210 is not affected. On the other hand, the space can be used for the elastic body 300 to pass through, so that the winding direction of the elastic body 300 along the circumferential side of the first constraint wheel 121 is the same as the winding direction of the elastic body 300 along the circumferential side of the second constraint wheel 221.

[0048] In this document, the "winding direction" of the elastic body 300 to the circumferential side of the first constraint wheel 121 and the second constraint wheel 221 means that, based on the portion of the elastic body 300 located between the first constraint wheel 121 and the second constraint wheel 221, the winding direction of the portion of the elastic body 300 to the first constraint wheel 121 is the winding direction of the elastic body 300 along the circumferential side of the first constraint wheel 121, and the winding direction of the portion of the elastic body 300 to the second constraint wheel 221 is the winding direction of the elastic body 300 along the circumferential side of the second constraint wheel 221. Figure 2 For example, the portion of the elastic body 300 located between the first constraint wheel 121 and the second constraint wheel 221 is in an inclined state, and the two ends are tangent to the circumferential side of the first constraint wheel 121 and the circumferential side of the second constraint wheel 221, respectively. The winding direction of the elastic body 300 along the circumferential side of the first constraint wheel 121 is clockwise, and the winding direction of the elastic body 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 arranged in a cylindrical shape, and the radius of the first constraint wheel 121 and the radius of the second constraint wheel 221 are not limited. The portion of the elastic body 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 pre-tightening force provided by the elastic body 300 to the first rotating wheel 110 and the second rotating wheel 210 is always 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 rotation angle of the first constraint wheel 121 and the second constraint wheel 221 in a unit time is the same. For example, Figure 5As shown, when the radius of the first constraint wheel 121 is larger 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. Therefore, 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, and the preload provided by the elastic body 300 increases. Similarly, if the first rotating wheel 110 rotates in the reverse direction, the preload provided by the elastic body 300 decreases. Figure 5 For example, when the first rotating wheel 110 rotates clockwise, the preload increases; when the first rotating wheel 110 rotates counterclockwise, the preload decreases.

[0051] Understandable, such as Figure 6 As shown, when 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 in the forward direction, 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. Therefore, the decrease in the winding length of the elastic body 300 around the first constraint wheel 121 is greater than the increase in the winding length of the elastic body 300 around the second constraint wheel 221, and the preload provided by the elastic body 300 decreases. Similarly, if the first rotating wheel 110 rotates in the reverse direction, the preload provided by the elastic body 300 increases. Figure 6 For example, when the first rotating wheel 110 rotates clockwise, the preload decreases; when the first rotating wheel 110 rotates counterclockwise, the preload increases.

[0052] like Figure 2 As shown, when the radius of the first constraint wheel 121 is equal to the radius of the second constraint wheel 221, regardless of whether the first rotating wheel 110 rotates in the forward or reverse direction, the change in the winding length of the elastic body 300 around the first constraint wheel 121 is always equal to the change in the winding length of the elastic body 300 around the second constraint wheel 221. Therefore, regardless of whether the first rotating wheel 110 rotates in the forward or reverse direction, the preload provided by the elastic body 300 remains unchanged.

[0053] As can be seen from the above, when both the first constraint wheel 121 and the second constraint wheel 221 are cylindrical, the preload provided by the elastic body 300 is always tangent to the circumference of the first constraint wheel 121 and the second constraint wheel 221, that is, the preload provided by the elastic body 300 remains constant. 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 can remain constant during the joint transmission process, or the direction of the preload can remain constant during the joint transmission process, while the magnitude changes with the change of the joint position, so that the moving joint can achieve preload control in a specific direction.

[0054] Additionally, in some embodiments, at least one of the first constraint wheel 121 and the second constraint wheel 221 is a cam. For example... 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. Furthermore, the elastic body 300 winds around the protruding portion of the second constraint wheel 221, such that the decrease in the winding length of the elastic body 300 along 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. This increases the preload provided by the elastic body 300, and the direction of the preload changes. When the first constraint wheel 121 rotates clockwise and the second constraint wheel 221 rotates counterclockwise... During rotation, the length of the elastic body 300 around the circumference of the first constraint wheel 121 increases, and the length of the elastic body 300 around the circumference of the second constraint wheel 221 decreases. If the radius of the second constraint wheel 221, excluding the protrusion, is the same as that of the first constraint wheel 121, the magnitude and direction of the preload provided by the elastic body 300 remain unchanged. If the radius of the second constraint wheel 221, excluding the protrusion, is greater than that of the first constraint wheel 121, the preload provided by the elastic body 300 decreases, and the direction of the preload changes. If the radius of the second constraint wheel 221, excluding the protrusion, is less than that of the first constraint wheel 121, the preload provided by the elastic body 300 increases, and the direction of the preload changes.

[0055] As can be seen from the above, by changing the contour shape of the first constraint wheel 121 and the second constraint wheel 221, the elastic body 300 can provide a preload force that varies in both direction and magnitude. Furthermore, the change in the direction and magnitude of the preload force can be related to the transmission position, enabling the elastic body 300 to 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 periphery of the first constraint wheel 121, and a second limiting groove 222 is provided on the periphery of the second constraint wheel 221. A portion of the elastic body 300 is wound around the first limiting groove 122, and a portion of the elastic body 300 is wound around the second limiting groove 222. The first limiting groove 122 and the second limiting groove 222 limit the elastic body 300 along the axial direction to prevent the elastic body 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] Understandably, the periphery 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 configured as an arc or annular.

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

[0059] The fixing mode of the elastic body 300 to the first fixing pin 123 and the second fixing pin 223 is not limited. The elastic body 300 is fixed to the first fixing pin 123 or the second fixing pin 223 by binding, or the first fixing pin 123 and the second fixing pin 223 are both provided as nails, and the end of the elastic body 300 is fixed to the first constraint wheel 121 and the second constraint wheel 221 by the nails.

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

[0061] In another embodiment, the first fixing pin 123 is arranged on the end face in the axial direction of the first constraint wheel 121. The circumferential side of the first constraint wheel 121 is provided with a first leading-out groove 124 which is in communication with the first limiting groove 122. The second fixing pin 223 is arranged on the end face in the axial direction of the second constraint wheel 221. The circumferential side of the second constraint wheel 221 is provided with a second leading-out groove 224 which is in communication with the second limiting groove 222. One end of the elastic body 300 is arranged in the first limiting groove 122 through the first leading-out groove 124, and the other end of the elastic body 300 is arranged in the second limiting groove 222 through the second leading-out groove 224. The first leading-out groove 124 is used to provide limiting during the process that the elastic body 300 is 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 leading-out groove 224 is used to provide limiting during the process that the elastic body 300 is 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 avoid the disengagement of the elastic body 300 from the first constraint wheel 121 or the second constraint wheel 221. Moreover, the first fixing pin 123 and the second fixing pin 223 are both arranged on the end face in the axial direction, so as to avoid the elastic body 300 in the arrangement area on the circumferential side of the first constraint wheel 121 and the second constraint wheel 221, and make the arrangement of the elastic body 300 on the circumferential side of the first constraint wheel 121 and the second constraint wheel 221 more smooth.

[0062] Referring to Figure 1 With Figure 3The transmission joint in the application further comprises 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 set as a motor, a steering engine or the like capable of providing rotary 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 relatively, and the power transmission of the transmission joint is realized.

[0063] The application further provides a robot, the robot comprising at least one transmission joint described above, the robot can be set as a bionic robot, since the transmission joint in the application belongs to a rigid-flexible composite structure, the flexibility of the robot movement can be realized, and the human body or animal joint can be simulated.

[0064] The robot further comprises a sensor and a control module, the sensor is used for detecting at least one of the rotation angle, the rotation speed, the rotation acceleration and the vibration amount of the first rotating wheel 110 and / or the second rotating wheel 210, the control module can receive and record the detection interval of the sensor, so that the robot can provide a pre-tightening force in a specific direction based on the motion feedback mechanism, and the intelligent control of the robot is realized.

[0065] For example, the sensor is set as a position sensor, and the position sensor such as an optical fiber, an ultrasonic position sensor or the like is installed on the rotation shaft position of the first rotating wheel 110 or the second rotating wheel 210. The position sensor can accurately measure the angle position information of the rotation of the transmission joint in real time, continuously collect the position data in the rotation process of the joint at a certain sampling frequency, and transmit the position data to the control module. The control module can analyze the joint motion trajectory, positioning accuracy and the like according to the detection information of the position sensor, for example, whether the pre-tightening force affects the accurate arrival of the joint at the preset position can be judged.

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

[0067] Alternatively, the sensor is set as an acceleration sensor, the acceleration sensor is arranged at the rotating shaft of the first rotating wheel 110 and the second rotating wheel 210, and the acceleration sensor can be set as a piezoelectric or strain type acceleration sensor. The acceleration sensor can measure the acceleration change experienced in the rotating process of the joint, collect acceleration data at a suitable sampling frequency and transmit the acceleration data to the control module. The control module can evaluate the influence of the pre-tightening force on the joint dynamic characteristics, such as the response speed and stability during starting, stopping and turning, according to the detection information of the acceleration sensor.

[0068] Alternatively, the sensor is set as a vibration sensor, the vibration sensor is installed at the rotating shaft, the shell, the bearing seat or other positions of the transmission joint, the vibration sensor can be set as a resistance strain type or inductance type vibration sensor, the vibration sensor can detect the vibration generated in the rotating process of the joint, including the frequency and amplitude of the vibration, and the like, the vibration sensor collects vibration data at a specific sampling frequency and feeds back the vibration data to the control module, and the control module can judge whether the pre-tightening force causes the friction, collision or resonance between the transmission components or the like according to the vibration data.

[0069] The embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application. In addition, the embodiments of the present application 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 includes a first rotating wheel and a first constraint part fixed to the first rotating wheel; The driven wheel includes a second rotating wheel and a second constraint part fixed to the second rotating wheel. The first rotating wheel and the second rotating wheel are connected in a transmission manner. The second rotating wheel can rotate with the first rotating wheel. The rotation axes of the first rotating wheel and the second rotating wheel are parallel. An elastic body, with its two ends connected to the first constraint part and the second constraint part respectively, provides a circumferential preload to the first and second rotating wheels. The first constraint part includes a first constraint wheel coaxially arranged with the first rotating wheel, and the second constraint part includes a second constraint wheel coaxially arranged with the second rotating wheel. The elastic body is wound around the circumference of the first constraint wheel and the second constraint wheel, and the winding direction of the elastic body along the circumference of the first constraint wheel is the same as the winding direction of the elastic body along the circumference of the second constraint wheel. A first limiting groove is provided on the circumference of the first constraint wheel, and a second limiting groove is provided on the circumference of the second constraint wheel. The elastic body is wound around the first limiting groove and the second constraint wheel. The first constraint wheel is provided with a first fixing pin, and the second constraint wheel is provided with a second fixing pin. The two ends of the elastic body are respectively fixed to the first fixing pin and the second fixing pin. The first fixing pin is provided on the axial end face of the first constraint wheel, and the second fixing pin is provided on the axial end face of the second constraint wheel. The circumference of the first constraint wheel is provided with a first lead-out groove communicating with the first constraint groove, and the circumference of the second constraint wheel is provided with a second lead-out groove communicating with the second constraint groove. One end of the elastic body is wound around the first constraint groove through the first lead-out groove, and the other end of the elastic body is wound around the second constraint groove through the second lead-out groove.

2. The robot transmission joint according to claim 1, characterized in that, Both the first constraint wheel and the second constraint wheel are cylindrical. Alternatively, at least one of the first constraint wheel and the second constraint wheel may be configured as a cam.

3. The robot transmission joint according to claim 1, characterized in that, Both the first and second rotating wheels have teeth on their circumferences, and the first and second rotating wheels mesh with each other.

4. The robot transmission joint according to claim 1, characterized in that, The robot transmission joint also includes a first link, a second link, and a drive element. The drive element is mounted on the second link, the driven wheel is connected to the second link, the driving wheel is connected to the first link, and the drive element is connected to the driving wheel and drives the driving wheel to rotate.

5. A robot, characterized in that, The robot transmission joint includes any one of claims 1 to 4.

6. The robot according to claim 5, characterized in that, The robot also includes sensors and a control module. The sensors are used to detect at least one of the following: rotation angle, rotation speed, rotation acceleration, and vibration amount of the first and / or second wheels. The control module is able to receive and record the detection information based on the sensors.

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