Joint actuator, execution assembly and robot

Abstract

The invention discloses a joint actuator, an actuating assembly and a robot, and relates to the technical field of mechanical devices.The joint actuator comprises a shell, a driving assembly and a transmission assembly, the driving assembly is at least partially arranged in the shell, and the transmission assembly is arranged in the shell; the transmission assembly comprises a first output piece, a second output piece and a third output piece which are connected with the driving assembly, the driving assembly is used for driving the first output piece, the second output piece and the third output piece to independently rotate around the rotating axes of the first output piece, the second output piece and the third output piece, and a first opening and a second opening are formed in the shell. The first output piece and the second output piece are arranged at the first opening, the rotating axes of the first output piece and the second output piece coincide, the third output piece is arranged at the second opening, and the rotating axis of the third output piece intersects with the rotating axis of the first output piece, so that a physical model of the joint actuator is simpler; the calculation amount of kinematics simulation and motion control is greatly reduced, and the construction difficulty and the mass production difficulty of a multi-degree-of-freedom complex robot are greatly simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical devices, and in particular to a joint actuator, an actuator assembly and a robot. Background Art

[0002] Current joint actuators can usually only provide motion control of a single degree of freedom, which means that multiple joint actuators are required to be linked and combined to achieve multi-degree-of-freedom motion. However, the existing combined joint structure not only increases the complexity and manufacturing cost of the entire system, but may also affect the motion flexibility and response speed of the robot arm to a certain extent. In addition, when performing robot kinematic analysis, motion control, designing motion controllers, and designing motion control models, designers need to consider the distributed layout of each joint degree of freedom, and the design of combined structures requires the introduction of more complex physical models and mathematical descriptions. This process significantly increases the computational difficulty of kinematic simulation and motion control, and increases the complexity of design and optimization. Summary of the invention

[0003] The main purpose of the present invention is to propose a joint actuator, an actuator assembly and a robot, aiming to solve the problem of difficulty in designing and manufacturing complex robots with multiple degrees of freedom.

[0004] To achieve the above object, the joint actuator proposed by the present invention comprises:

[0005] A housing having a mounting cavity and a first opening and a second opening communicating with the mounting cavity;

[0006] A driving assembly is disposed in the installation cavity;

[0007] The transmission assembly includes a first output member, a second output member and a third output member respectively connected to the driving assembly, the driving assembly is used to drive the first output member, the second output member and the third output member to rotate respectively, the first output member and the second output member are arranged at the first opening, the third output member is arranged at the second opening, the rotation axis of the first output member and the rotation axis of the second output member are arranged to coincide, and the rotation axis of the first output member intersects with the rotation axis of the third output member.

[0008] In one embodiment, the first output member is provided with a first connection portion for connecting an external device, the second output member is provided with a second connection portion for connecting an external device, and the first connection portion and the second connection portion are spaced apart.

[0009] In one embodiment, the first connection portion and the second connection portion are spaced apart from each other in the axial direction of the first output member, or the first connection portion and the second connection portion are spaced apart from each other in the radial direction of the first output member.

[0010] 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.

[0011] In one embodiment, the first output member includes a rotating shaft, the second output member includes a first flange, the first flange is rotatably sleeved on the rotating shaft, and the driving assembly is used to drive the rotating shaft and the first flange to rotate coaxially and independently.

[0012] In one embodiment, the joint actuator also includes a control component and a feedback component, the control component is electrically connected to the feedback component and the drive component, the feedback component is used to respectively detect the rotation of the first output member, the second output member and the third output member and feed back the detection information to the control component, and the control component is used to control the operation of the drive component according to the detection information.

[0013] In one embodiment, the feedback component includes a plurality of encoders spaced apart in the housing, and the plurality of encoders are used to respectively detect the rotation of the first output member, the second output member, and the third output member, and send the detection information to the control component.

[0014] In one embodiment, the feedback assembly includes a first magnetic encoder, the first magnetic encoder includes a first magnetic induction member and a first magnetic element disposed in the housing, the first magnetic element is disposed on the first output member and is spaced relative to the first magnetic induction member;

[0015] And / or, the joint actuator further comprises a transmission member disposed in the housing, the feedback assembly comprises a second magnetic encoder, the second magnetic encoder comprises a second magnetic induction member and a second magnetic element disposed in the housing, the second magnetic element is disposed on the transmission member and is spaced relative to the second magnetic induction member, and the second output member is drivingly connected to the transmission member to drive the transmission member to rotate;

[0016] And / or, the feedback component includes a third magnetic encoder, the third magnetic encoder includes a third magnetic induction component and a third magnetic element arranged in the shell, and the third magnetic element is arranged on the third output component and is relatively spaced from the third magnetic induction component.

[0017] In one embodiment, the driving assembly includes a first motor, the transmission assembly also includes a first gear set, the first output member is provided with a first output gear, and the first motor is drivingly connected to the first output gear through the first gear set;

[0018] And / or, the driving assembly further includes a second motor, the transmission assembly further includes a second gear set, the second output member is provided with a second output gear, and the second motor is drivingly connected to the second output gear through the second gear set;

[0019] And / or, the driving assembly includes a third motor, the transmission assembly also includes a third gear set, the third output member is provided with a third output gear, and the third motor is drivingly connected to the third output gear via the third gear set.

[0020] In one embodiment, the shell is configured to be spherical.

[0021] In one embodiment, the intersection of the rotation axis of the first output member and the rotation axis of the third output member coincides with the spherical center of the housing.

[0022] The present invention further provides an actuator assembly, comprising a connecting member and the joint actuator in any of the aforementioned embodiments, wherein the connecting member is drivingly connected to one or more of the first output member, the second output member and the third output member.

[0023] The present invention also provides a robot, comprising the joint actuator in any one of the aforementioned embodiments.

[0024] The technical solution of the present invention adopts two coaxially arranged output members to make the joint actuator compatible. Specifically, the joint actuator includes a shell, a drive assembly and a transmission assembly. The shell is hollow inside to form a accommodating chamber. The drive assembly is at least partially arranged in the accommodating chamber. The transmission assembly includes a first output member, a second output member and a third output member respectively connected to the drive assembly. The drive assembly is used to drive the first output member, the second output member and the third output member to rotate independently around their respective rotation axes. A first opening and a second opening are provided on the shell. The first output member and the second output member are arranged at the first opening and their rotation axes coincide. The third output member is arranged at the second opening, and the rotation axis of the third output member intersects with the rotation axis of the first output member.

[0025] It can be understood that when the joint actuator is used in the joint part of the robot, the third output member can be used to connect the body of the robot, and the first output member and the second output member can be used to connect the corresponding parts of the robot arm respectively, so that the joint actuator can provide multi-degree-of-freedom motion control for the robot arm. Furthermore, since the axes of the first output member and the third output member intersect, the axes of the first output member and the second output member are arranged to coincide, so that the physical model of the joint actuator is simpler and easier for structural analysis and design, which greatly reduces the calculation amount of kinematic simulation and motion control, and greatly simplifies the difficulty of building and mass production of complex robots with multiple degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 A structural schematic diagram of an embodiment of a joint actuator provided by the present invention;

[0028] Figure 2 A top view of an embodiment of a joint actuator provided by the present invention;

[0029] Figure 3 A schematic diagram of the disassembled structure of an embodiment of a joint actuator provided by the present invention;

[0030] Figure 4 A schematic diagram of the split structure of the drive assembly and the transmission assembly in an embodiment of the joint actuator provided by the present invention;

[0031] Figure 5 A schematic diagram of the split structure of the third output member, the third motor and the third gear set in an embodiment of the joint actuator provided by the present invention;

[0032] Figure 6 A schematic diagram of the assembly structure of a first output member, a second output member and a driving assembly in an embodiment of a joint actuator provided by the present invention;

[0033] Figure 7 A schematic structural diagram of a first output member, a second output member and the other side of a driving assembly in an embodiment of a joint actuator provided by the present invention;

[0034] Figure 8 A schematic diagram of the split structure of the first output member, the first motor and the first gear set in an embodiment of the joint actuator provided by the present invention;

[0035] Fig. 9 A schematic diagram of the split structure of the second output member, the second motor, the second gear set and the transmission member in an embodiment of the joint actuator provided by the present invention;

[0036] Fig.10 for Figure 2 Sectional view in the AA direction;

[0037] Fig.11 for Figure 2 Cross-sectional view along the BB direction.

[0038] Description of Figure Numbers:

[0039] 100, joint actuator; 110, housing; 110a, mounting cavity; 110b, first opening; 110c, second opening; 110d, third opening; 120, driving assembly; 121, first motor; 122, second motor; 123, third motor; 130, transmission assembly; 131, first output member; 1311, first connecting portion; 1312, rotating shaft; 1313, first output gear; 132, second output member; 1321, second connecting portion; 1322, first flange; 1323, second output gear; 1324, transmission gear; 133, third output member; 1331 , third connecting part; 1332, second flange; 1333, third output gear; 134, first gear set; 135, second gear set; 136, third gear set; 140, feedback assembly; 141, first magnetic induction component; 142, first magnetic element; 143, second magnetic induction component; 144, second magnetic element; 145, third magnetic induction component; 146, third magnetic element; 150, transmission component; 151, gear plate; 152, connecting shaft; 153, mounting component; 160, control assembly; 161, control circuit board; 162, wiring; 170, bearing; 180, third flange.

[0040] 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

[0041] 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.

[0042] 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.

[0043] 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.

[0044] The invention provides a joint actuator.

[0045] See also Figures 1 to 3 In one embodiment of the present invention, the joint actuator 100 includes a shell 110, a driving assembly 120 and a transmission assembly 130. The shell 110 is hollow inside to form an accommodating chamber. The driving assembly 120 is at least partially disposed in the accommodating chamber. The transmission assembly 130 includes a first output member 131, a second output member 132 and a third output member 133 respectively connected to the driving assembly 120. The driving assembly 120 is used to drive the first output member 131, the second output member 132 and the third output member 133 to rotate independently around their respective rotation axes. The shell 110 is provided with a first opening 110b and a second opening 110c. The first output member 131 and the second output member 132 are disposed at the first opening 110b and their rotation axes coincide with each other. The third output member 133 is disposed at the second opening 110c, and the rotation axis of the third output member 133 intersects with the rotation axis of the first output member 131.

[0046] The joint actuator 100 in this solution can be used to connect the body and the mechanical arm of the robot. In one embodiment, the joint actuator 100 is applied to a quadruped robot, and the body of the robot is connected by the third output member 133, and the mechanical arm is connected by the first output member 131 and the second output member 132. Since the axes of the first output member 131 and the third output member 133 intersect, and the axes of the first output member 131 and the second output member 132 coincide, the joint actuator 100 can provide multi-degree-of-freedom motion control for the mechanical arm. Furthermore, since the axes of the first output member 131 and the third output member 133 intersect, and the axes of the first output member 131 and the second output member 132 coincide, the mathematical model of the joint actuator 100 is simpler and easier to analyze and design, which greatly reduces the calculation amount of kinematic simulation and motion control, and greatly simplifies the construction difficulty and mass production difficulty of complex robots with multiple degrees of freedom. The joint actuator 100 enables the robot to be modularly assembled, and the simplified structure makes assembly more convenient. On the other hand, the simple mathematical model is also conducive to reducing the load of the controller and reducing energy consumption.

[0047] In addition, the first output member 131 and the second output member 132 are structurally symmetrical after rotating 180° around the axis of the third output member 133, so that the joint actuator 100 has high compatibility. Different robot arms of the robot can be connected using joint actuators 100 of the same specifications, greatly reducing manufacturing costs.

[0048] In one embodiment, the first output member 131 is provided with a first connection portion 1311 for connecting an external device, and the second output member 132 is provided with a second connection portion 1321 for connecting an external device. The first connection portion 1311 and the second connection portion 1321 are spaced apart.

[0049] Some existing robots use a multi-link structure for transmission. In order to avoid interference between the links, such as Figure 4 As shown, further reference Figure 8 and Fig. 9 In one embodiment of the present invention, a first connection portion 1311 is provided on a side of the first output member 131 facing outside the housing 110, and a second connection portion 1321 is provided on a side of the second output member 132 facing outside the housing 110. The first connection portion 1311 and the second connection portion 1321 are arranged at intervals. In this embodiment, the second output member 132 is a flange structure, the first output member 131 is an output shaft passing through the flange, and the second connection portion 1321 is a plurality of through holes provided on the flange. One of the connecting rods of the robotic arm can be connected by passing through holes provided by screws, bolts and other components; and the first connection portion 1311 is a spline circumferentially arranged at the end of the first output member 131, and a spline groove is provided on another connecting rod of the corresponding robotic arm, and the spline is inserted into the spline groove for transmission.

[0050] As can be seen from the above, the first connection part 1311 and the second connection part 1321 are arranged at intervals so that the connecting rod on the first output member 131 and the connecting rod on the second output member 132 can independently rotate 360° around the rotation axis without interference, so that the robot arm has greater movement space and flexibility.

[0051] In one embodiment, the first connection portion 1311 and the second connection portion 1321 are spaced apart from each other along the axial direction of the first output member 131 , or the first connection portion 1311 and the second connection portion 1321 are spaced apart from each other along the radial direction of the first output member 131 .

[0052] In one embodiment of the present invention, the first connecting portion 1311 and the second connecting portion 1321 are spaced apart along the rotation axis direction of the first output member 131. Figures 2 to 4 If the two connecting rods of the robot arm are respectively connected to the first output member 131 and the second output member 132, the end of one of the connecting rods can be set to a ring structure with a perforated hole in the middle, which is sleeved on the first output member 131 and connected to the second output member 132 through screws and other components, and the end of the other connecting rod can be set with a spline groove to be plugged into the spline of the first output member 131.

[0053] In some other embodiments of the present invention, the first connection portion 1311 and the second connection portion 1321 are arranged at intervals along the radial direction of the first output member 131. For example, the first output member 131 can also adopt a flange structure and have through holes. The outer surfaces of the two flanges are flush, and the through holes on the two flanges are arranged at intervals along the radial direction of the first output member 131. At this time, both connecting rods of the mechanical arm can be connected to the two flanges by screws or bolts. Alternatively, the outer ring of the second output member 132 can also be provided with a spline structure, and spline grooves can be respectively provided on the connecting rods corresponding to the mechanical arm. Therefore, in addition to using flanges and setting splines, the first output member 131 and the second output member 132 can also adopt other similar structures for outputting torque, and this conclusion is also applicable to the third output member 133, which is not specifically limited here.

[0054] In one embodiment, the rotation axis of the first output member 131 and the rotation axis of the third output member 133 are disposed perpendicular to each other.

[0055] like Figure 2As shown, in one embodiment of the present invention, the rotation axes of the first output member 131 and the third output member 133 are arranged perpendicular to each other. Specifically, the angle between the rotation axis of the first output member 131 and the rotation axis of the third output member 133 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 131 and the third output member 133 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 100 is further simplified and the structure is more reasonable.

[0056] It can be understood that the joint actuator 100 can not only adapt to the connection of different robot arms, but can also be used to connect the head, tail, waist and other positions of the robot's body. In addition to conventional humanoid robots, automated production lines, and bionic robots, the joint actuator can also be used in medical equipment, precision machinery, aerospace and other scenarios that require highly flexible and precise control.

[0057] In one embodiment, the first output member 131 includes a rotating shaft 1312 , and the second output member 132 includes a first flange 1322 , the first flange 1322 is rotatably sleeved on the rotating shaft 1312 , and the driving assembly 120 is used to drive the rotating shaft 1312 and the first flange 1322 to rotate coaxially and independently.

[0058] Traditional joint motors generally use two spaced output shafts to connect the two connecting rods of the robot arm, which will result in a certain limit on the rotation angle of the robot arm, resulting in limited movement of the robot. Figure 4 As shown, further reference Figure 8 and Fig. 9 In one embodiment of the present invention, the first output member 131 includes a rotating shaft 1312, and the second output member 132 includes a first flange 1322. Specifically, a through hole is provided at the center of the first flange 1322, and the diameter of the through hole is larger than the diameter of the rotating shaft 1312. The rotating shaft 1312 is provided with an end of a first connecting portion 1311 passing through the first flange 1322 through the through hole, and the rotation axis of the first flange 1322 and the rotating shaft 1312 coincide.

[0059] The driving assembly 120 is used to drive the rotating shaft 1312 and the first flange 1322 to rotate independently around the rotation axis, so that the rotation speed and rotation direction of the rotating shaft 1312 and the first flange 1322 can be the same or different. The two connecting rods of the robotic arm are respectively connected to the rotating shaft 1312 and the first flange 1322. Both connecting rods can realize 360° rotation in forward and reverse directions. The rotation angle of the robotic arm is not restricted, and the movement of the robot is more flexible and changeable, and can adapt to more complex application scenarios.

[0060] In one embodiment, the joint actuator 100 also includes a control component 160 and a feedback component 140. The control component 160 is electrically connected to the feedback component 140 and the drive component 120. The feedback component 140 is used to respectively detect the rotation of the first output component 131, the second output component 132, and the third output component 133 and feed back the detection information to the control component 160. The control component 160 is used to control the operation of the drive component 120 according to the detection results.

[0061] like Figures 4 to 9 As shown, in one embodiment of the present invention, the joint actuator 100 also includes a control component 160 and a feedback component 140. Specifically, the control component 160 is electrically connected to the feedback component 140 and the drive component 120, respectively. The control component 160 is used to receive external signals and generate control instructions, and control the drive component 120 and the transmission component 130 to complete a specified action according to the instructions. The feedback component 140 is arranged in the shell 110 to respectively detect the actual position and speed of the first output member 131, the second output member 132 and the third output member 133. The feedback component 140 sends this information to the control component 160. In addition to receiving external signals, the control component 160 also receives detection information from the feedback component 140. The control component 160 obtains the rotation angle, rotation speed, rotation time and other parameters of the first output member 131, the second output member 132 and the third output member 133 according to this information, and controls and adjusts the operation of the drive component 120 in real time according to these parameters and external signals to achieve closed-loop control.

[0062] In one embodiment, the feedback component 140 includes a plurality of encoders spaced apart in the housing 110 , and the plurality of encoders are used to respectively detect the rotation of the first output member 131 , the second output member 132 , and the third output member 133 , and send the detection information to the control component 160 .

[0063] In one embodiment of the present invention, the feedback component 140 may use one or more encoders such as a magnetic encoder, a photoelectric encoder, an eddy current encoder, a rotary encoder, etc. for detection. Of course, in addition to the aforementioned multiple encoders, in some other embodiments of the present invention, a speed sensor, a Hall sensor, etc. may also be used to detect the rotation angle, rotation speed and other parameters of the first output member 131, the second output member 132, and the third output member 133. No specific limitation is made here, and it can be selected according to actual needs. In addition, in addition to detecting the rotation of the output member, the feedback component 140 also includes conventional auxiliary detection devices in the motor such as temperature sensors and force sensors, which will not be described in detail here. In this embodiment, a magnetic encoder is used for detection, which is explained in detail below.

[0064] In one embodiment, the feedback assembly 140 includes a first magnetic encoder, which includes a first magnetic induction member 141 and a first magnetic element 142 disposed in the housing 110, wherein the first magnetic element 142 is disposed on the first output member 131 and is spaced apart from the first magnetic induction member 141;

[0065] And / or, the joint actuator 100 further includes a transmission member 150 disposed in the housing 110, the feedback assembly 140 includes a second magnetic encoder, the second magnetic encoder includes a second magnetic induction member 143 and a second magnetic element 144 disposed in the housing 110, the second magnetic element 144 is disposed on the transmission member 150 and is spaced relative to the second magnetic induction member 143, and the second output member 132 is drivingly connected to the transmission member 150 to drive the transmission member 150 to rotate;

[0066] And / or, the feedback component 140 includes a second magnetic encoder, which includes a third magnetic induction component 145 and a third magnetic element 146 disposed in the housing 110, and the third magnetic element 145 is disposed on the third output component 133 and is spaced relative to the third magnetic induction component 146.

[0067] like Figure 4 , Figures 6 to 9 As shown, in one embodiment of the present invention, the feedback component 140 uses multiple sets of magnetic encoders to detect the rotation of each output member. Specifically, the first magnetic encoder includes a first magnetic sensing member 141 and a first magnetic element 142, the second magnetic encoder includes a second magnetic sensing member 143 and a second magnetic element 144, and the third magnetic encoder includes a third magnetic sensing member 145 and a third magnetic element 146. The first magnetic sensing member 141, the second magnetic sensing member 143 and the third magnetic sensing member 145 are all configured as magnetic field sensors, and the first magnetic element 142, the second magnetic element 144 and the third magnetic element 146 are all circular magnet sheets.

[0068] The first magnetic element 142 is arranged at one end of the first output member 131 facing the shell 110. The first output member 131 has an installation groove at one end away from the first connecting portion 1311. The first magnetic element 142 is embedded in the installation groove and is coaxially arranged with the first output member 131. The first output member 131 can drive the first magnetic element 142 to rotate at the same speed around the rotation axis. The first magnetic induction member 141 and the first magnetic element 142 are opposite to each other and are arranged at intervals. The first magnetic induction member 141 detects the change of the magnetic field of the first magnetic element 142, and the rotation angle and other information of the first output member 131 can be detected.

[0069] And / or, since the rotation axes of the second output member 132 and the first output member 131 coincide with each other, and the first output member 131 is provided with the first magnetic element 142, the second magnetic element 144 is installed in the housing 110 of the joint actuator 100 by providing the transmission member 150, please refer to Figures 7 to 9 and Fig.11 The transmission member 150 includes a gear plate 151, a connecting shaft 152 arranged along the axis direction of the gear plate 151, and a mounting member 153 arranged on the connecting shaft 152. The mounting member 153 is also provided with a mounting groove. The second magnetic element 144 is embedded in the mounting groove and is coaxially arranged with the connecting shaft 152. The second output member 132 is provided with a transmission gear 1324 meshing with the gear plate 151. When the second output member 132 rotates around its own axis, it can drive the transmission member 150 to rotate around the connecting shaft 152 at the same speed. The second magnetic induction member 143 can detect parameters such as the rotation angle of the second output member 132 to achieve a closed-loop feedback of the axis shift.

[0070] And / or, please refer to Figure 5 and Fig.10 The third output member 133 is also provided with a mounting groove at one end facing the housing 110, and the third magnetic element 146 is embedded in the mounting groove and coaxially arranged with the third output member 133. The third output member 133 can drive the third magnetic element 146 to rotate at the same speed around the rotation axis, and the third magnetic sensing member 145 and the third magnetic element 146 are arranged oppositely and at intervals. It should be noted that the magnetic encoder has a strong anti-interference ability, is suitable for complex industrial environments, and has a contactless structure that is durable and low in cost.

[0071] like Fig.10 As shown, in one embodiment of the present invention, the control component 160 includes a control circuit board 161 disposed in the housing 110. Specifically, the control circuit board 161 is electrically connected to the feedback component 140 and the drive component 120, respectively. Figure 4It can be seen that the first magnetic induction component 141, the second magnetic induction component 143, and the third magnetic induction component 145 are arranged at intervals along the axial direction of the third output component 133. This embodiment adopts a flexible circuit board (not shown) to connect with the control circuit board 161, and the first magnetic induction component 141, the second magnetic induction component 143, and the third magnetic induction component 145 are arranged at intervals on the flexible circuit board. The bendable characteristics of the flexible circuit board are conducive to the assembly of components.

[0072] In addition, a third opening 110d is provided on the shell 110 on the opposite side of the third output member 133, and a wiring 162 is provided on the control circuit board 161. The wiring 162 passes through the shell 110 at the third opening 110d to connect with an external device, and is mainly used for the control circuit board 161 to receive external signals and connect to an external power supply. The third opening 110d is provided on the opposite side of the third output member 133 so that the wiring 162 is subjected to less torsion when the joint actuator 100 rotates, and is not prone to pulling and breaking.

[0073] In one embodiment, the driving assembly 120 includes a first motor 121, the transmission assembly 130 also includes a first gear set 134, the first output member 131 is provided with a first output gear 1313, and the first motor 121 is drivingly connected to the first output gear 1313 through the first gear set 134;

[0074] And / or, the driving assembly 120 further includes a second motor 122, the transmission assembly 130 further includes a second gear set 135, the second output member 132 is provided with a second output gear 1323, and the second motor 122 is drivingly connected to the second output gear 1323 via the second gear set 135;

[0075] And / or, the driving assembly 120 includes a third motor 123 , the transmission assembly 130 also includes a third gear set 136 , the third output member 133 is provided with a third output gear 1333 , and the third motor 123 is drivingly connected to the third output gear 1333 via the third gear set 136 .

[0076] like Figures 5 to 9 As shown, in one embodiment of the present invention, the driving assembly 120 includes a first motor 121, a second motor 122 and a third motor 123, and the transmission assembly 130 also includes a first gear set 134, a second gear set 135 and a third gear set 136. Specifically, a bracket (not shown) is further provided in the housing 110, and the driving assembly 120 and the transmission assembly 130 are both provided on the bracket. A first output gear 1313 is provided on the rotating shaft 1312 on the first output member 131, and the first gear set 134 is respectively connected to the first motor 121 and the first output gear 1313, and the first motor 121 drives the first output member 131 to rotate through the first gear set 134;

[0077] And / or, a second output gear 1323 is disposed on the first flange 1322 of the second output member 132, the second gear set 135 is respectively connected to the second motor 122 and the second output gear 1323, the second motor 122 drives the second output member 132 to rotate through the second gear set 135, and the first motor 121 and the second motor 122 are disposed on opposite sides of the first output member 131 and the second output member 132;

[0078] And / or, a third output gear 1333 is provided on the second flange 1332 of the third output member 133, and the third gear set 136 is respectively connected to the third motor 123 and the third output gear 1333, and the third motor 123 drives the third output member 133 to rotate through the third gear set 136. As can be seen from the above, the three output members can be driven to rotate independently through the three motors and gear sets, and there is no interference between them. It should be noted that the three gear sets constitute independent reducer mechanisms, which are used to reduce the high speed of the three motors to the required low speed to meet the specific requirements of speed and torque in different applications.

[0079] Furthermore, in order to reduce the friction of each output member during rotation, the joint actuator 100 further includes a plurality of bearings 170, specifically, Figure 5 and Fig.10 As shown, the third output member 133 is provided with bearings 170 on both sides along the rotation axis; Figure 8 and Fig.11 As shown, the first output member 131 is provided with bearings 170 at both ends along the rotation axis, wherein the bearing 170 close to the first connecting portion 1311 is provided between the rotating shaft 1312 and the first flange 1322, so as to reduce the friction between the first flange 1322 and the rotating shaft 1312; Figure 6 , Fig. 9 and Fig.11 As shown, a bearing 170 is provided on the side of the first flange 1322 of the second output member 132 away from the housing 110, and bearings 170 are also provided at both ends of the connecting shaft 152 of the transmission member 150. It can be understood that the above-mentioned multiple bearings 170 are all used for the installation of various components and for reducing friction, and their size specifications can be set according to the requirements of the corresponding components.

[0080] Furthermore, in order to facilitate the connection of the joint actuator 100 to the robot's body and robotic arm, a third flange 180 is also provided at the third opening 110d of the shell 110. The third flange 180 is arranged to coincide with the rotation axis of the second flange 1332 of the third output member 133, and a bearing 170 is also sleeved on the third flange 180. The rotating shaft 1312 and the first flange 1322 are used to connect the robotic arm. The third flange 180 and the second flange 1332 are used to connect the robot's body so that the robot can control the robotic arm to perform lateral swing arm movement, and the wiring 162 can be passed through the axial hole of the third flange 180 to facilitate connection with an external device.

[0081] In one embodiment, the housing 110 is configured to be spherical.

[0082] like Figures 1 to 3 As shown, in one embodiment of the present invention, the shell 110 is configured as a sphere as a whole, and the spherical joint actuator 100 allows the joint to rotate in multiple directions, which can provide higher flexibility than traditional single-degree-of-freedom or multi-degree-of-freedom motors, allowing the mechanical system to perform complex movements that are closer to the natural movements of humans or animals. The spherical structure allows the joints to be combined together in a more compact and efficient manner, which is conducive to saving space. For applications that require high-precision operations, the spherical joint actuator 100 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 110 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.

[0083] In one embodiment, the intersection of the rotation axis of the first output member 131 and the rotation axis of the third output member 133 coincides with the center of the sphere of the housing 110 .

[0084] In one embodiment of the present invention, the shell 110 adopts a spherical structure, and the rotation axis of the first output member 131 and the rotation axis of the third output member 133 intersect vertically and the intersection coincides with the center of the shell 110, 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 100 has good stability, and can simplify the relevant mechanical models during modeling, reduce unnecessary complex situations, and the corresponding calculations become simpler. With the spherical shell structure, the structure of the robot joint is also simpler and has extremely high compatibility, which can adapt to more application scenarios.

[0085] The present invention also proposes an execution assembly, which includes a connecting member and a joint actuator 100. The specific structure of the joint actuator 100 refers to the above embodiment. Since the present execution assembly adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here. Among them, the connecting member can be a connecting rod, and a plurality of connecting rods constitute a mechanical arm and are respectively connected to one or more of the first output member 131, the second output member 132 and the third output member 133 to form an execution assembly, which is used to be assembled to the body of the robot to perform corresponding actions.

[0086] The present invention also proposes a robot, including a joint actuator 100. The specific structure of the joint actuator 100 refers to the above-mentioned embodiment. Since the robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0087] 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 joint actuator for realizing precise motion control of joints of a mechanical device, characterized in that: include: A housing having a mounting cavity and a first opening and a second opening communicating with the mounting cavity; A driving assembly is disposed in the installation cavity; The transmission assembly includes a first output member, a second output member and a third output member respectively connected to the driving assembly, the driving assembly is used to drive the first output member, the second output member and the third output member to rotate respectively, the first output member and the second output member are arranged at the first opening, the third output member is arranged at the second opening, the rotation axis of the first output member and the rotation axis of the second output member are arranged to coincide, and the rotation axis of the first output member intersects with the rotation axis of the third output member.

2. The joint actuator according to claim 1, characterized in that: The first output member is provided with a first connection portion for connecting an external device, and the second output member is provided with a second connection portion for connecting an external device, and the first connection portion and the second connection portion are spaced apart.

3. The joint actuator according to claim 2, characterized in that: The first connection portion and the second connection portion are arranged at intervals along the axial direction of the first output member, or the first connection portion and the second connection portion are arranged at intervals along the radial direction of the first output member.

4. The joint actuator according to claim 1, 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.

5. The joint actuator according to any one of claims 1 to 4, characterized in that: The first output member includes a rotating shaft, the second output member includes a first flange, the first flange is rotatably sleeved on the rotating shaft, and the driving assembly is used to drive the rotating shaft and the first flange to rotate coaxially and independently.

6. The joint actuator according to claim 1, characterized in that: The joint actuator also includes a control component and a feedback component. The control component is electrically connected to the feedback component and the drive component. The feedback component is used to respectively detect the rotation of the first output member, the second output member and the third output member and feed back the detection information to the control component. The control component is used to control the operation of the drive component according to the detection information.

7. The joint actuator according to claim 6, characterized in that: The feedback component includes a plurality of encoders spaced apart in the housing, and the plurality of encoders are used to respectively detect the rotation of the first output member, the second output member, and the third output member, and send the detection information to the control component.

8. The joint actuator according to claim 7, characterized in that: The feedback assembly includes a first magnetic encoder, the first magnetic encoder includes a first magnetic induction member and a first magnetic element disposed in the housing, the first magnetic element is disposed on the first output member and is spaced relative to the first magnetic induction member; And / or, the joint actuator further comprises a transmission member disposed in the housing, the feedback assembly comprises a second magnetic encoder, the second magnetic encoder comprises a second magnetic induction member and a second magnetic element disposed in the housing, the second magnetic element is disposed on the transmission member and is spaced relative to the second magnetic induction member, and the second output member is drivingly connected to the transmission member to drive the transmission member to rotate; And / or, the feedback component includes a third magnetic encoder, the third magnetic encoder includes a third magnetic induction component and a third magnetic element arranged in the shell, and the third magnetic element is arranged on the third output component and is relatively spaced from the third magnetic induction component.

9. The joint actuator according to claim 1, characterized in that: The driving assembly includes a first motor, the transmission assembly also includes a first gear set, the first output member is provided with a first output gear, and the first motor is drivingly connected to the first output gear through the first gear set; And / or, the driving assembly further includes a second motor, the transmission assembly further includes a second gear set, the second output member is provided with a second output gear, and the second motor is drivingly connected to the second output gear through the second gear set; And / or, the driving assembly includes a third motor, the transmission assembly also includes a third gear set, the third output member is provided with a third output gear, and the third motor is drivingly connected to the third output gear via the third gear set.

10. The joint actuator according to claim 1, characterized in that: The shell is configured to be spherical.

11. The joint actuator according to claim 10, characterized in that: The intersection of the rotation axis of the first output member and the rotation axis of the third output member coincides with the spherical center of the housing.

12. An execution component, characterized in that: The invention comprises a connecting member and the joint actuator according to any one of claims 1 to 11, wherein the connecting member is drivingly connected to one or more of the first output member, the second output member and the third output member.

13. A robot, characterized in that: The invention comprises the joint actuator according to any one of claims 1 to 11.

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