Robot joint module and robot

Abstract

The invention belongs to the technical field of humanoid robots, and relates to a robot joint module and a robot, the robot joint module comprises a first mounting seat, a first motor, a fixed rod, a second mounting seat, a rotating part and a connecting rod, the first motor is fixedly mounted on the first mounting seat, and the first motor is provided with a first output shaft; the fixed part of the fixed rod is fixedly connected to the first mounting seat; the second mounting seat is rotatably mounted on the connecting part of the fixed rod around a rotating axis parallel to the first output shaft; the rotating piece is fixedly sleeved on the first output shaft; the first end of the connecting rod is hinged to the rotating part around a first axis, the second end of the connecting rod is hinged to the second mounting seat around a second axis, and the first axis and the second axis are parallel to the first output shaft; the connecting rod is not overlapped with the rotating piece, the first output shaft and the fixed rod in the axis direction of the first output shaft. According to the technical scheme, the technical problem that the swing angle range of a joint module needing to swing on the humanoid robot is limited due to mutual interference of rod pieces can be solved.

Description

Technical Field

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

[0002] With the development of humanoid robotics, the demand for biomimetic design of their joints is increasing. For example, to enhance hand flexibility, the wrist joint is generally required to have both radial and ulnar deviations as a first degree of freedom, as well as flexion and extension as a second degree of freedom, enabling the wrist to swing and rotate accordingly.

[0003] The design of the first degree of freedom is typically achieved using a dual push-pull linkage. However, interference between any two of the push, pull, and fixed rods in this dual push-pull linkage can easily occur, limiting the range of wrist swing angles and making it unsuitable for practical applications. Similarly, when dual push-pull linkages are used in other robot joint modules that require swinging motion, the swing angle range is also limited due to interference between the rods, thus failing to meet practical requirements. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a robot joint module and a robot to solve the technical problem that the swing angle range of the joint module that needs to achieve swing on a humanoid robot is limited due to interference between rods.

[0005] In a first aspect, an embodiment of the present application provides a robot joint module, comprising:

[0006] a first mounting seat;

[0007] a first motor, the first motor being fixedly mounted on the first mounting seat, and the first motor being provided with a first output shaft for outputting power outward;

[0008] A fixing rod, wherein the fixing rod is provided with a fixing portion and a connecting portion at both ends along its length, and the fixing portion is fixedly connected to the first mounting seat;

[0009] a second mounting seat, the second mounting seat being rotatably mounted on the connecting portion around a rotation axis, wherein the rotation axis is parallel to the first output shaft;

[0010] a rotating member, the rotating member being fixedly sleeved on the first output shaft;

[0011] a connecting rod, wherein the connecting rod has a first end and a second end along its length, the first end of the connecting rod being hinged to the rotating member about a first axis, and the second end of the connecting rod being hinged to the second mounting seat about a second axis, the first axis and the second axis being parallel to the first output shaft, and the distance from the first axis to the first output shaft being equal to the distance from the second axis to the rotation axis, and the distance from the first axis to the second axis being equal to the distance from the second axis to the rotation axis;

[0012] The connecting rod and the rotating member, the connecting rod and the first output shaft, and the connecting rod and the fixed rod do not overlap in the axial direction of the first output shaft.

[0013] Optionally, a first rotating shaft is provided between the first end of the connecting rod and one of the rotating members, and a first rotating hole is provided between the first end of the connecting rod and the other of the rotating members, wherein the first rotating hole is rotatably sleeved with the first rotating shaft, and a central axis of the first rotating shaft is the first axis;

[0014] A second rotating shaft is provided between the second end of the connecting rod and one of the second mounting seat, and a second rotating hole is provided between the second end of the connecting rod and the other of the second mounting seat. The second rotating hole can rotatably connect the second rotating shaft, and the central axis of the second rotating shaft is the second axis.

[0015] Optionally, the connecting portion is provided with an arc-shaped groove, the arc-shaped groove is arranged around the rotation axis, and the center of the arc-shaped groove is located on the rotation axis, the second rotating shaft can be rolledly inserted into the arc-shaped groove, and one end of the second rotating shaft passes through the arc-shaped groove and can be rotatably sleeved in the second rotating hole.

[0016] Optionally, one of the connecting portion and the second mounting seat is provided with a rotation hole, and the other of the connecting portion and the second mounting seat is provided with a rotation shaft, the rotation shaft is rotatably mounted in the rotation hole, and the central axis of the rotation shaft is the rotation axis.

[0017] Optionally, the robot joint module also includes a second motor and a mounting bracket, the second motor is fixedly mounted on the second mounting seat, the second motor is provided with a second output shaft for outputting power outward, the second output shaft is perpendicular to the first output shaft, and the second output shaft is not parallel to the front-to-back straight line, the front-to-back straight line is a straight line passing through the first end of the connecting rod and the second end of the connecting rod, the end of the second output shaft extending outside the second mounting seat is the output end, and the mounting bracket is fixedly connected to the output end.

[0018] Optionally, the output end is located on a side of the connecting rod away from the fixed rod, and the connecting rod further comprises a connecting rod disposed between the first end and the second end, the first end of the connecting rod, the connecting rod, and the second end of the connecting rod jointly form a first recessed area, and an opening of the first recessed area faces the side where the output end is located;

[0019] And / or, the fixing rod further includes a connecting section arranged between the fixing portion and the connecting portion, the fixing portion, the connecting section and the connecting portion together form a second recessed area, and the opening of the second recessed area faces the side where the output end is located.

[0020] Optionally, the robot joint module also includes a third motor, which is provided with a third output shaft for outputting power outward. The third output shaft is perpendicular to the first output shaft and parallel to the front-to-back direction straight line. The first mounting seat is fixedly sleeved on the third output shaft.

[0021] Optionally, the rotating member is in the shape of a disk, the fixing portion is provided with an arcuate surface, and the side surface of the rotating member is in contact with the arcuate surface;

[0022] And / or, the first mounting seat and the second mounting seat are both cylindrical, the central axis of the first mounting seat coincides with the first output shaft, and the central axis of the first mounting seat and the central axis of the second mounting seat are perpendicular to each other.

[0023] Optionally, an annular protrusion is provided on the surface of the first mounting seat, and the annular protrusion is arranged around the first output shaft. The fixing portion is provided with an annular step that cooperates with the stop of the annular protrusion. The annular step is fixedly connected to the annular protrusion, and the side of the annular step closest to the rotating part is the arc-shaped surface.

[0024] In a second aspect, an embodiment of the present application further provides a robot comprising the above-mentioned robot joint module.

[0025] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0026] In the robot joint module of the embodiment of the present application, the portion of the rotating member between the first output shaft and the first axis, the connecting rod, the portion of the second mounting seat between the second axis and the rotation axis, and the fixed rod are equivalent to forming a parallelogram mechanism, and when the first output shaft of the first motor rotates, it will drive the rotating member to rotate, so when the rotating member rotates, it will push or pull the first end of the connecting rod, and then the second end of the connecting rod will push or pull the second mounting seat, so that the second mounting seat can rotate around the rotation axis. Therefore, after the robot hand is fixedly mounted on the second mounting seat, the robot hand can be rotated relative to the rotation axis, so that when the rotation axis is set to the direction corresponding to the swing of the robot hand, the robot hand can be swung. Similarly, other joint modules on the robot that need to swing can adopt the robot joint module of the embodiment of the present application to achieve swing. Moreover, since the connecting rod of the robot joint module in the embodiment of the present application does not overlap with the rotating part, the first output shaft and the fixed rod respectively in the axial direction of the first output shaft, it will not interfere with the rotating part, the first output shaft and the fixed rod during the process of the connecting rod pushing and pulling the second mounting seat to rotate. Compared with the existing double push-pull connecting rod structure, the angle range of rotation of the second mounting seat around the rotation axis can be expanded, thereby expanding the swing angle range of the wrist joint or other joint modules on the robot that need to swing, solving the technical problem that the swing angle range of the joint module on the humanoid robot that needs to swing is limited due to the mutual interference of the rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the solutions in this application, a brief introduction will be given below to the drawings required for use in the description of the embodiments of this application. Obviously, the drawings described below are some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] Figure 1 A schematic diagram of the three-dimensional structure of a robot joint module provided in one embodiment of the present application;

[0029] Figure 2 A schematic diagram of the decomposed structure of a robot joint module provided in one embodiment of the present application;

[0030] Figure 3 A top view of the robot joint module provided by one embodiment of the present application, with the second mounting base located at an initial rotation position;

[0031] Figure 4 A top view of the robot joint module provided by one embodiment of the present application, with the second mounting base located at the rotation end position;

[0032] Figure 5 The robot joint module provided in one embodiment of the present application is Figure 3 and Figure 4 A top view of the middle moment of the corresponding moment;

[0033] Figure 6 This is a structural schematic diagram of the robot joint module provided in one embodiment of the present application when it is arranged in a position parallel to the third output shaft.

[0034] Reference numerals:

[0035] 1. Robot joint module;

[0036] 100, first mounting seat; 110, annular protrusion;

[0037] 200, first output shaft;

[0038] 300, fixing rod; 310, fixing portion; 311, annular step; 3111, arcuate surface; 320, connecting portion; 321, arcuate groove; 322, rotating hole; 330, connecting section; 340, second recessed area;

[0039] 400, second mounting seat; 410, second rotation axis; 420, rotation axis;

[0040] 500, rotating member; 510, first rotating shaft;

[0041] 600, connecting rod; 610, first end; 611, first rotation hole; 620, second end; 621, second rotation hole; 630, connecting rod; 640, first recessed area;

[0042] 700, second output shaft;

[0043] 800, mounting bracket; 810, sleeve portion; 820, transition connection portion; 830, fixing bracket;

[0044] 900, auxiliary fixing rod; 910, third recessed area;

[0045] 010. Install the sleeve; 020. Connect the sleeve. DETAILED DESCRIPTION

[0046] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] It should be understood that when an element is referred to as being “fixed to,” “disposed on,” or “mounted on” another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it can be directly connected to the other element or indirectly connected to the other element.

[0048] It should be noted that the terms "upper", "lower", "left", "right", "front", "back", "inside", "outside", "top", "bottom", "vertical", "horizontal", "length", "width" and "height" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The term "multiple" means two or more, unless otherwise clearly and specifically defined.

[0049] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0050] See also Figure 1-6 , the first part of the embodiment of the present application provides a robot joint module 1, including a first mounting seat 100, a first motor (not shown in the figure), a fixed rod 300, a second mounting seat 400, a rotating member 500 and a connecting rod 600. The first mounting seat 100 is used as the mounting part of the robot joint module 1 for installation at various joints of an existing robot, while the second mounting seat 400 is used to install components that need to realize swinging motions at various joints of the robot. For example, the first mounting seat 100 can be installed at joints such as the arm, waist and neck of the robot, and the second mounting seat 400 can be installed on the robot's robot hand, torso and head and other components that need to realize swinging motions. The embodiment of the present application is explained by taking the example that the first mounting seat 100 is used to be installed at the arm of the robot, and the second mounting seat 400 is used to install the robot hand. It can be understood that the robot joint module 1 of the embodiment of the present application is also part or all of the robot wrist joint.

[0051] The first motor is fixedly mounted on the first mounting base 100 and is provided with a first output shaft 200 for outputting power. The rotating member 500 is fixedly sleeved on the first output shaft 200 so that the rotating member 500 can be driven by the first output shaft 200 to rotate. It can be understood that when the rotating member 500 rotates, it rotates around the first output shaft 200 relative to the first mounting base 100.

[0052] The fixing rod 300 is provided with a fixing portion 310 and a connecting portion 320 at both ends along its own length direction. The fixing portion 310 is fixedly connected to the first mounting seat 100, and the connecting portion 320 extends outward relative to the first mounting seat 100 along the length direction of the fixing rod 300. The second mounting seat 400 is rotatably mounted on the connecting portion 320 around a rotation axis, and this rotation axis is parallel to the first output shaft 200.

[0053] The connecting rod 600 has a first end 610 and a second end 620 along its length. The first end 610 is hinged to the rotating member 500 about a first axis, and the second end 620 is hinged to the second mounting base 400 about a second axis. The first and second axes are parallel to the first output shaft 200. Furthermore, the distance from the first axis to the first output shaft 200 is equal to the distance from the second axis to the rotation axis, and the distance from the first axis to the second axis is equal to the distance from the second axis to the rotation axis. In other words, connecting the first axis, the second axis, the first output shaft 200, and the rotation axis at the same point along their respective axes forms a parallelogram.

[0054] At the same time, in order to avoid interference between the connecting rod 600 and the rotating member 500, the first output shaft 200 or the fixed rod 300, the connecting rod 600 is arranged so as not to overlap with the rotating member 500, the first output shaft 200 and the fixed rod 300 in the axial direction of the first output shaft 200.

[0055] The robot joint module 1 provided in the embodiment of the present application, when the first output shaft 200 of the first motor fixedly mounted on the first mounting seat 100 rotates, it will drive the rotating member 500 to rotate, that is, the rotating member 500 is rotatably mounted on the first mounting seat 100 around the first output shaft 200; since the first end 610 of the connecting rod 600 is hinged to the rotating member 500 around the first axis, the second end 620 of the connecting rod 600 is hinged to the second mounting seat 400 around the second axis, the second mounting seat 400 is rotatably mounted on the connecting portion 320 of the fixed rod 300 around the rotation axis, and the fixed portion 310 of the fixed rod 300 is fixedly connected to the first mounting seat 100, and the distance from the first axis to the first output shaft 200 is the same as the distance from the second axis to the rotating member. The distances between the moving axes are equal, and the distance from the first axis to the second axis is equal to the distance from the second axis to the rotation axis. Therefore, the portion of the rotating member 500 between the first output shaft 200 and the first axis, the connecting rod 600, the portion of the second mounting base 400 between the second axis and the rotation axis, and the fixed rod 300 form a parallelogram mechanism (a parallelogram mechanism is a special type of planar hinge four-bar mechanism, the core feature of which is that the two opposite sides always remain parallel and of equal length). Therefore, when the rotating member 500 rotates, it pushes or pulls the first end 610 of the connecting rod 600, which in turn causes the second end 620 of the connecting rod 600 to push or pull the second mounting base 400, allowing the second mounting base 400 to rotate about the rotation axis. Therefore, after the robot hand is fixedly mounted on the second mounting base 400, the robot hand can be rotated relative to the rotation axis. Therefore, by setting the rotation axis to the direction corresponding to the robot hand's swing, the robot hand can be swung. Similarly, other joint modules on the robot that need to achieve swinging can use the robot joint module 1 of the embodiment of the present application to achieve swinging. Moreover, since the connecting rod 600 of the robot joint module 1 of the embodiment of the present application does not overlap with the rotating member 500, the first output shaft 200 and the fixed rod 300 in the axial direction of the first output shaft 200, the connecting rod 600 does not interfere with the rotating member 500, the first output shaft 200 and the fixed rod 300 during the process of pushing and pulling the second mounting seat 400 to rotate. Compared with the existing double push-pull connecting rod structure, the angle range of the second mounting seat 400 rotating around the axis of rotation can be expanded, thereby expanding the swing angle range of the wrist joint or other joint modules on the robot that need to achieve swinging, solving the technical problem that the swing angle range of the joint module that needs to achieve swinging on the humanoid robot is limited due to the mutual interference of the rods.

[0056] In one embodiment, one of the connecting portion 320 and the second mounting base 400 is provided with a rotation hole 322, and the other of the connecting portion 320 and the second mounting base 400 is provided with a rotation shaft 420. The rotation shaft 420 is rotatably mounted in the rotation hole 322, and the central axis of the rotation shaft 420 is the rotation axis, so that the second mounting base 400 can be rotatably mounted on the connecting portion 320 around the rotation axis.

[0057] Specifically, see Figure 2 A rotating shaft 420 is provided on the surface of the second mounting seat 400 facing the connecting portion 320 , and a rotating hole 322 is provided at the center of the connecting portion 320 .

[0058] In some embodiments, a bearing (not shown in the figure) can also be installed between the rotating shaft 420 and the rotating hole 322, so that the rotating shaft 420 is sleeved on the inner ring of the bearing, and the outer ring of the bearing is fixedly installed in the rotating hole 322, thereby reducing the wear of the rotating shaft 420 and ensuring that the second mounting seat 400 can rotate accurately around the rotating axis.

[0059] In one embodiment, the first end 610 of the connecting rod 600 and one of the rotating member 500 are provided with a first rotating shaft 510, and the first end 610 of the connecting rod 600 and the other one of the rotating member 500 are provided with a first rotating hole 611. The first rotating hole 611 can be rotatably sleeved on the first rotating shaft 510. The central axis of the first rotating shaft 510 is the first axis. Through the matching relationship between the first rotating shaft 510 and the first rotating hole 611, the first end 610 of the connecting rod 600 can be hinged to the rotating member 500 around the first axis.

[0060] In one embodiment, the second end 620 of the connecting rod 600 and one of the second mounting seat 400 are provided with a second rotating shaft 410, and the second end 620 of the connecting rod 600 and the other one of the second mounting seat 400 are provided with a second rotating hole 621. The second rotating hole 621 can be rotatably sleeved on the second rotating shaft 410. The central axis of the second rotating shaft 410 is the second axis. Through the matching relationship between the second rotating shaft 410 and the second rotating hole 621, the second end 620 of the connecting rod 600 can be hinged to the second mounting seat 400 around the second axis.

[0061] Specifically, see Figure 1-2 A first rotating shaft 510 is fixed on the rotating member 500 , a first rotating hole 611 is provided on the first end 610 of the connecting rod 600 ; a second rotating hole 621 is provided on the second end 620 of the connecting rod 600 , and a second rotating shaft 410 is fixed on the second mounting seat 400 .

[0062] See also Figure 1-3In one embodiment, the connecting portion 320 is provided with an arc-shaped groove 321, which is arranged around the rotation axis, and the center of the arc-shaped groove 321 is located on the rotation axis. The second rotating shaft 410 can be rolledly inserted into the arc-shaped groove 321, and one end of the second rotating shaft 410 passing through the arc-shaped groove 321 can be rotatably sleeved in the second rotating hole 621.

[0063] It can be understood that in this embodiment, when the rotating member 500 rotates about the first output shaft 200 and thereby drives the second end 620 of the connecting rod 600 to move through the hinged connection with the first end 610 of the connecting rod 600, the second end 620 of the connecting rod 600 pushes or pulls the second rotating shaft 410 through the second rotating hole 621, causing the second rotating shaft 410 to rotate relative to the second rotating hole 621. Because the second rotating shaft 410 is inserted into the arcuate groove 321, the rotation of the second rotating shaft 410 relative to the second rotating hole 621 is equivalent to rolling relative to the arcuate groove 321. In this embodiment, the provision of the arcuate groove 321 ensures that the second rotating shaft 410 and the second rotating hole 621 move along a predetermined motion trajectory. In addition, the provision of the arcuate groove 321 on the connecting portion 320 is equivalent to a hollowed-out design of the connecting portion 320, which also saves material used to manufacture the connecting portion 320.

[0064] See also Figure 1-2 In one embodiment, the robot joint module 1 also includes an auxiliary fixing rod 900, which is spaced apart from the fixing rod 300 along the axial direction of the first output shaft 200. One end of the auxiliary fixing rod 900 along its own length direction is fixedly connected to the first mounting seat 100, and the other end of the auxiliary fixing rod 900 along its own length direction is rotatably mounted on the second mounting seat 400 around the rotation axis.

[0065] It can be understood that the connection structure of the auxiliary fixing rod 900 relative to the first mounting seat 100 and the second mounting seat 400 is the same as the connection structure of the fixing rod 300 relative to the first mounting seat 100 and the second mounting seat 400. By providing this auxiliary fixing rod 900, it can be further ensured that the second mounting seat 400 can be accurately rotated around the rotation axis under the push or pull of the connecting rod 600, and the second mounting seat 400 will not produce other movements except rotation around the rotation axis, and further prevent the second mounting seat 400 from being separated from the first mounting seat 100.

[0066] See also Figure 1-2In one embodiment, the robot joint module 1 further includes a second motor (not shown in the figure) and a mounting bracket 800. The second motor is fixedly mounted on the second mounting seat 400. The second motor is provided with a second output shaft 700 for outputting power outward. The second output shaft 700 is perpendicular to the first output shaft 200, and the second output shaft 700 is not parallel to the front-to-back straight line. The front-to-back straight line is a straight line passing through the first end 610 of the connecting rod 600 and the second end 620 of the connecting rod 600. The end of the second output shaft 700 extending outside the second mounting seat 400 is the output end, and the mounting bracket 800 is fixedly connected to the output end. In this embodiment, the mounting bracket 800 is used to fix the robot hand. In other embodiments, the mounting bracket 800 can also be used to fix other components that need to be swung, such as a torso and a head.

[0067] Understandably, because the robot hand is fixedly mounted on the mounting bracket 800, which is fixedly connected to the output end of the second output shaft 700, the robot hand can rotate under the influence of the second output shaft 700. In three-dimensional space, determining the direction of two of three mutually perpendicular lines can determine the direction of the remaining line. In this embodiment, the second mounting base 400 rotates about a rotation axis (parallel to the first output shaft 200). The second output shaft 700 is disposed on the second mounting base 400, is perpendicular to the first output shaft 200, and is not parallel to the front-to-back direction. Therefore, under all of the above conditions, this embodiment effectively clearly defines the position of the second output shaft 700 relative to the first output shaft 200 and the axial direction of the second output shaft 700 on the second mounting base 400. For example, when the second mounting base 400 is cylindrical and the aforementioned rotation axis 420 is disposed along the radial direction of the second mounting base 400, the axial direction of the second output shaft 700 is also the direction of the central axis of the second mounting base 400. Therefore, in this embodiment, when the orientation of the first output shaft 200 is configured such that the robot hand has a first degree of freedom of radial and ulnar deviation through rotation of the second mounting base 400 about the rotation axis, the robot hand can also have a second degree of freedom of flexion and extension through rotation driven by the second output shaft 700, thereby enabling the robot joint module 1 of this embodiment to simultaneously have a first degree of freedom of radial and ulnar deviation and a second degree of freedom of flexion and extension.

[0068] See also Figure 2In one embodiment, the mounting bracket 800 is in a bent shape as a whole. The mounting bracket 800 includes a sleeve portion 810 and a fixed bracket 830 that are connected to each other. The sleeve portion 810 is fixedly sleeved on the output end of the second output shaft 700. The fixed bracket 830 is used to fix the robot hand, and the fixed bracket 830 is bent relative to the sleeve portion 810 in a direction parallel to the second output shaft 700.

[0069] It can be understood that when the robot hand is fixedly mounted on the mounting bracket 800 of this embodiment, driven by the second output shaft 700, the rotation direction of the robot hand around the second output shaft 700 is perpendicular to the direction of the second mounting seat 400 around the rotation axis, thereby making it easier for the robot joint module 1 to have a first degree of freedom that can simultaneously have radial deviation and ulnar deviation and a second degree of freedom that can flex and extend.

[0070] See also Figure 2 More specifically, the sleeve portion 810 is circular, allowing it to be securely sleeved onto the end of the second output shaft 700 extending outside the second mounting base 400. The fixing bracket 830 is circular, allowing the robot hand to be securely mounted on the fixing bracket 830. The mounting bracket 800 also includes a transition portion 820, the ends of which are respectively fixedly connected to the sleeve portion 810 and the fixing bracket 830, thereby connecting the sleeve portion 810 and the fixing bracket 830 to each other.

[0071] See also Figure 1-5 In one embodiment, the output end of the second output shaft 700 is located on a side of the connecting rod 600 away from the fixed rod 300. The connecting rod 600 further includes a connecting rod 630 disposed between the first end 610 and the second end 620. The first end 610 of the connecting rod 600, the connecting rod 630, and the second end 620 of the connecting rod 600 collectively form a first recessed area 640. The opening of the first recessed area 640 faces the side where the output end of the second output shaft 700 is located.

[0072] It is understandable that when the second mounting base 400 rotates about the rotation axis to the point where the output end of the second output shaft 700 approaches the side of the connecting rod 600 away from the fixed rod 300, the mounting bracket 800 fixedly connected to the second output shaft 700 will also approach the side of the connecting rod 600 away from the fixed rod 300. At this time, if the first recessed area 640 is not provided, when the mounting bracket 800 rotates under the drive of the second output shaft 700, there is a risk of interference between the mounting bracket 800 and the connecting rod 600, which will hinder the rotation process of the mounting bracket 800. This embodiment avoids the mounting bracket 800 by providing the first recessed area 640. Under the premise of ensuring smooth rotation of the second mounting base 400 about the rotation axis, the mounting bracket 800 can also be smoothly rotated about the second output shaft 700. This is very important for the robot joint module 1 having both a first degree of freedom capable of radial and ulnar deviation and a second degree of freedom capable of flexion and extension. In other words, when a robot hand is fixedly mounted on the mounting bracket 800 , this embodiment ensures the rotation angle range of the robot hand around the rotation axis, while also ensuring the rotation angle range of the robot hand around the second output shaft 700 .

[0073] Specifically, see Figure 2-5 The first end 610 and the second end 620 of the connecting rod 600 are both cylindrical. The connecting rod 630 of the connecting rod 600 is composed of a first oblique segment, a straight segment and a second oblique segment. The first oblique segment is connected to the first end 610 and is inclined toward the fixed rod 300. The second oblique segment is connected to the second end 620 and is inclined toward the fixed rod 300. The straight segment is arranged between the first oblique segment and the second oblique segment, so that the first end 610 of the connecting rod 600, the first oblique segment, the straight segment, the second oblique segment and the second end 620 of the connecting rod 600 can enclose a first recessed area 640.

[0074] Similarly, see Figure 1-4 In one embodiment, the fixing rod 300 also includes a connecting section 330 arranged between the fixing portion 310 and the connecting portion 320. The fixing portion 310, the connecting section 330 and the connecting portion 320 together form a second recessed area 340. The opening of the second recessed area 340 also faces the side where the output end of the second output shaft 700 is located.

[0075] When the second mounting base 400 rotates about the rotation axis until the output end of the second output shaft 700 is closer to the connecting rod 600 and farther from the fixed rod 300, the connecting rod 600 has moved closer to the fixed rod 300. This means that the output end of the second output shaft 700 is also closer to the fixed rod 300, and thus the mounting bracket 800, which is fixedly connected to the second output shaft 700, is also closer to the fixed rod 300. If the second recessed area 340 is not provided at this time, the mounting bracket 800, when rotated by the second output shaft 700, would also risk interfering with the fixed rod 300, which could also hinder the rotation of the mounting bracket 800. By providing the second recessed area 340 to avoid the mounting bracket 800, this embodiment further ensures that the mounting bracket 800 can rotate smoothly about the second output shaft 700.

[0076] Specifically, see Figure 1-3 The fixing portion 310 of the fixing rod 300 is an annular step 311 with an arcuate profile. The outer contour of the connecting portion 320 of the fixing rod 300 is generally circular. The connecting section 330 of the fixing rod 300 is in the shape of a straight segment. The connecting section 330 of the fixing rod 300 is eccentrically disposed relative to the fixing portion 310 and the connecting portion 320, so that the fixing portion 310, the connecting section 330, and the connecting portion 320 collectively enclose a second recessed area 340. The ends of the connecting section 330 of the fixing rod 300 are integrally connected to the fixing portion 310 and the connecting portion 320, respectively.

[0077] See also Figure 1-2 In one embodiment, the shape of the auxiliary fixing rod 900 is set to be similar to that of the fixing rod 300, and the auxiliary fixing rod 900 is provided with a third recessed area 910 spaced apart from and parallel to the second recessed area 340, so that the auxiliary fixing rod 900 can also avoid the rotation of the mounting bracket 800 around the second output shaft 700, avoiding interference between the auxiliary fixing rod 900 and the mounting bracket 800.

[0078] In one embodiment, the robot joint module 1 also includes a third motor (not shown in the figure), which is used to be fixedly installed on the arm of the robot. The third motor is provided with a third output shaft for outputting power outward. The third output shaft is perpendicular to the first output shaft 200, and the third output shaft is parallel to the front-to-back direction. The first mounting seat 100 is fixedly sleeved on the third output shaft.

[0079] It is understood that when the third motor drives the third output shaft to rotate, the third output shaft can drive the first mounting base 100 to rotate about the third output shaft relative to the third motor and the robot arm on which the third motor is mounted. Furthermore, because the third output shaft is perpendicular to the first output shaft 200 and parallel to the front-back direction, when the first output shaft 200 is oriented so that the robot hand has radial and ulnar first degrees of freedom through rotation of the second mounting base 400 about the rotation axis, the rotation of the first mounting base 100 driven by the third motor is similar to the rotation of a human hand about its central axis. In other words, the robot joint module 1 of this embodiment has a third degree of freedom capable of pronation and supination.

[0080] In this embodiment, since the first mounting seat 100 can rotate around the third output axis, the third output axis is perpendicular to the first output axis 200; the second mounting seat 400 is connected to the first mounting seat 100, and the second mounting seat 400 can rotate around the rotation axis, and the rotation axis is parallel to the first output axis 200; the mounting bracket 800 is connected to the second mounting seat 400, and the mounting bracket 800 can rotate around the second output axis 700, and the second output axis 700 is perpendicular to the first output axis 200; therefore, the robotic hand fixedly mounted on the mounting bracket 800 can simultaneously have the freedom of rotation around the rotation axis, the second output axis 700 and the third output axis, that is, it has the first degree of freedom that can perform radial deviation and ulnar deviation, the second degree of freedom that can perform flexion and extension, and the third degree of freedom that can perform pronation and supination. In addition, the robot joint module 1 of this embodiment can be set to have the rotation axis, the second output axis 700 and the third output axis converge at the same point, so that the robot joint module 1 has the freedom of rotation around three mutually perpendicular axes similar to a universal ball, and the structure is more compact. Compared with the joint modules in which the first degree of freedom, the second degree of freedom and the third degree of freedom are respectively arranged at different positions, it can reduce the related components that may be driven by the robot hand when performing complex movements with multiple degrees of freedom, which is convenient for the robot hand to save more effort when performing complex movements with multiple degrees of freedom and reduce the space occupied by the robot hand movements, and also makes the robot joint module 1 more similar to the human wrist.

[0081] Specifically, see Figure 1-2 The robot joint module 1 also includes a mounting sleeve 010 for mounting a third motor and a connecting sleeve 020 for connecting the third output shaft and the first mounting seat 100. The mounting sleeve 010 is fixedly mounted on the arm of the robot, and the third motor is fixedly mounted in the mounting sleeve 010. One end of the connecting sleeve 020 is fixedly sleeved on the third output shaft, and the other end of the connecting sleeve 020 is fixedly connected to the first mounting seat 100, so that when the third output shaft rotates, the first mounting seat 100 can be driven to rotate around the third output shaft through the connecting sleeve 020.

[0082] See also Figure 1-2 In one embodiment, the rotating member 500 is disc-shaped, so that the rotating member 500 can rotate around the first output shaft 200 under the drive of the first output shaft 200. The fixed portion 310 has an arcuate surface 3111, which is in contact with the side surface of the rotating member 500. The arcuate surface 3111 guides the rotation of the rotating member 500 around the first output shaft 200 through the arcuate surface 3111. At the same time, because the friction generated between the rotating member 500 and the arcuate surface 3111 is rolling friction, the friction of the rotating member 500 relative to the fixed portion 310 is minimized to the greatest extent. It should be noted that although the fixed portion 310 has an arcuate surface 3111 in contact with the side surface of the rotating member 500, the fixed portion 310 is still fixedly connected to the first mounting base 100 (for example, fixed to the first mounting base 100 by screw connection), and is not fixedly connected to the rotating member 500.

[0083] See also Figure 1-2 In one embodiment, an annular protrusion 110 is provided on the surface of the first mounting seat 100. The annular protrusion 110 is disposed around the first output shaft 200. The fixing portion 310 is provided with an annular step 311 that engages with the stopper of the annular protrusion 110. The annular step 311 is fixedly connected to the annular protrusion 110. For example, the annular step 311 can be fixedly connected to the annular protrusion 110 by screws. The side of the annular step 311 closest to the rotating member 500 is the aforementioned arcuate surface 3111.

[0084] It is understood that by providing the annular step 311 to cooperate with the stopper of the annular protrusion 110 and achieve a fixed connection, the two vertical surfaces of the annular step 311 can be in close contact with the two vertical surfaces of the annular protrusion 110, thereby achieving precise positioning and fixed connection between the annular step 311 and the annular protrusion 110, thereby firmly connecting the fixing portion 310 of the fixing rod 300 to the first mounting seat 100, preventing relative movement between the fixing rod 300 and the first mounting seat 100 along the axial or radial directions of the first output shaft 200, thereby ensuring that the second mounting seat 400 can accurately rotate about the rotation axis under the push and pull of the connecting rod 600. Furthermore, by providing the side of the annular step 311 closest to the rotating member 500 as the aforementioned curved surface 3111, the curved surface 3111 can also facilitate close contact with the side of the rotating member 500, thereby facilitating smooth rotation of the rotating member 500.

[0085] See also Figure 1-2 In one embodiment, the connecting portion 320 is in the shape of a disc, so that the second mounting seat 400 can be rotatably mounted on the connecting portion 320 around the rotation axis, and the outer contour shape of the connecting portion 320, the rotating member 500, and the arc-shaped surface 3111 is more consistent.

[0086] See also Figure 1-2 In one embodiment, both the first mounting seat 100 and the second mounting seat 400 are cylindrical in shape. The central axis of the first mounting seat 100 coincides with the first output shaft 200, and the central axis of the second mounting seat 400 is perpendicular to the central axis of the first mounting seat 100. Since motors are generally cylindrical, by configuring both the first mounting seat 100 and the second mounting seat 400 as cylindrical, it is possible to facilitate the installation of the first motor on the first mounting seat 100 and the installation of the second motor on the second mounting seat 400. This also makes it easier for the second end 620 of the connecting rod 600 to push and pull the second mounting seat 400 around its rotation axis. Furthermore, by aligning the central axis of the first mounting seat 100 with the first output shaft 200 and making the central axis of the second mounting seat 400 perpendicular to the centerline of the first mounting seat 100, it is also possible to facilitate the alignment of the second output shaft 700 of the second motor with the first output shaft 200 of the first motor. This allows the robot joint module 1 to achieve both swinging motion around the first output shaft 200 and rotational motion around the second output shaft 700.

[0087] The second part of the embodiment of the present application further provides a robot, which includes the robot joint module 1 of the above embodiment, wherein the first mounting seat 100 is installed on the arm of the robot, and the second mounting seat 400 is fixedly installed on the robot hand.

[0088] The robot provided in the embodiment of the present application includes the robot joint module 1 of the above embodiment, so it can also solve the technical problem that the joint module that needs to realize swinging on the humanoid robot will have a limited swing angle range due to the mutual interference of the rods.

[0089] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.

Claims

1. A robot joint module, characterized in that: include: a first mounting seat; a first motor, the first motor being fixedly mounted on the first mounting seat, and the first motor being provided with a first output shaft for outputting power outward; A fixing rod, wherein the fixing rod is provided with a fixing portion and a connecting portion at both ends along its length, and the fixing portion is fixedly connected to the first mounting seat; a second mounting seat, the second mounting seat being rotatably mounted on the connecting portion around a rotation axis, wherein the rotation axis is parallel to the first output shaft; a rotating member, the rotating member being fixedly sleeved on the first output shaft; a connecting rod, wherein the connecting rod has a first end and a second end along its length, the first end of the connecting rod being hinged to the rotating member about a first axis, and the second end of the connecting rod being hinged to the second mounting seat about a second axis, the first axis and the second axis being parallel to the first output shaft, and the distance from the first axis to the first output shaft being equal to the distance from the second axis to the rotation axis, and the distance from the first axis to the second axis being equal to the distance from the second axis to the rotation axis; The connecting rod and the rotating member, the connecting rod and the first output shaft, and the connecting rod and the fixed rod do not overlap in the axial direction of the first output shaft.

2. The robot joint module according to claim 1, characterized in that: A first rotating shaft is provided between the first end of the connecting rod and one of the rotating members, and a first rotating hole is provided between the first end of the connecting rod and the other of the rotating members. The first rotating hole is rotatably sleeved on the first rotating shaft, and the central axis of the first rotating shaft is the first axis. A second rotating shaft is provided between the second end of the connecting rod and one of the second mounting seat, and a second rotating hole is provided between the second end of the connecting rod and the other of the second mounting seat. The second rotating hole can rotatably connect the second rotating shaft, and the central axis of the second rotating shaft is the second axis.

3. The robot joint module according to claim 1, characterized in that: The connecting portion is provided with an arc-shaped groove, which is arranged around the rotation axis, and the center of the arc-shaped groove is located on the rotation axis. The second rotating shaft can be rolledly inserted into the arc-shaped groove, and one end of the second rotating shaft passes through the arc-shaped groove and can be rotatably sleeved in the second rotating hole.

4. The robot joint module according to claim 1, characterized in that: One of the connecting portion and the second mounting seat is provided with a rotation hole, and the other of the connecting portion and the second mounting seat is provided with a rotation shaft. The rotation shaft is rotatably sleeved in the rotation hole, and the central axis of the rotation shaft is the rotation axis.

5. The robot joint module according to any one of claims 1 to 4, characterized in that: The robot joint module also includes a second motor and a mounting bracket. The second motor is fixedly mounted on the second mounting seat. The second motor is provided with a second output shaft for outputting power outward. The second output shaft is perpendicular to the first output shaft, and the second output shaft is not parallel to the front-to-back straight line. The front-to-back straight line is a straight line passing through the first end of the connecting rod and the second end of the connecting rod. The end of the second output shaft extending outside the second mounting seat is the output end, and the mounting bracket is fixedly connected to the output end.

6. The robot joint module according to claim 5, characterized in that: The output end is located on a side of the connecting rod away from the fixed rod, the connecting rod further comprising a connecting rod disposed between the first end and the second end, the first end of the connecting rod, the connecting rod, and the second end of the connecting rod jointly forming a first recessed area, the opening of the first recessed area facing the side where the output end is located; And / or, the fixing rod further includes a connecting section arranged between the fixing portion and the connecting portion, the fixing portion, the connecting section and the connecting portion together form a second recessed area, and the opening of the second recessed area faces the side where the output end is located.

7. The robot joint module according to claim 5, characterized in that: The robot joint module also includes a third motor, which is provided with a third output shaft for outputting power outward. The third output shaft is perpendicular to the first output shaft and parallel to the front-to-back direction straight line. The first mounting seat is fixedly sleeved on the third output shaft.

8. The robot joint module according to claim 1, characterized in that: The rotating member is in the shape of a disk, the fixing portion is provided with an arc-shaped surface, and the side surface of the rotating member is in contact with the arc-shaped surface; And / or, the first mounting seat and the second mounting seat are both cylindrical, the central axis of the first mounting seat coincides with the first output shaft, and the central axis of the first mounting seat and the central axis of the second mounting seat are perpendicular to each other.

9. The robot joint module according to claim 8, characterized in that: An annular protrusion is provided on the surface of the first mounting seat, and the annular protrusion is arranged around the first output shaft. The fixing portion is provided with an annular step that cooperates with the stop of the annular protrusion. The annular step is fixedly connected to the annular protrusion, and the side of the annular step closest to the rotating part is the arc surface.

10. A robot, characterized in that: A robot joint module comprising the robot joint module according to any one of claims 1 to 9.

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