Robot

Abstract

The invention provides a robot which comprises a robot body, a motor and a robot joint structure arranged on the robot body, the robot joint structure comprises a first structural part, a second structural part and an elastic device, and the first structural part and the second structural part are connected through a rotating shaft; the elastic device is connected with the first structural member and the second structural member; the motor controls rotation of the first structural part, when the first structural part rotates, the elastic device provides supporting force for the first structural part, the supporting force is opposite to the rotation direction of the first structural part, and the supporting force is used for reducing the rotation speed of the first structural part. According to the robot, the springs or the torsional springs of different shapes and positions are arranged at the joints of the robot, supporting force can be provided under the condition that the joints of the robot swing or are static, the motor can be effectively assisted to overcome the gravity component of the first structural part, and power consumption of the motor is reduced.

Description

TECHNICAL FIELD

[0001] The embodiment of the present disclosure relates to the technical field of robot joints, in particular, to a robot. BACKGROUND

[0002] In the design of a robot, the driving of a joint is an important part of the design of the robot. In the current design of a robot, a joint only adopts a motor to control a posture, which results in high energy consumption, and a mechanism is used for transmission during the rotation of the joint. SUMMARY

[0003] In order to solve the problem that a joint only adopts a motor to control a posture and results in high energy consumption in the prior art, the embodiment of the present disclosure provides a robot.

[0004] Therefore, one aspect of the present disclosure provides a robot, which comprises a robot body, a motor and a robot joint structure arranged on the robot body, the robot joint structure is mainly used for a knee joint, the robot joint structure comprises a first structural member, a second structural member and an elastic device, the first structural member and the second structural member are connected through a rotating shaft, and the elastic device is connected with the first structural member and the second structural member; the motor controls the rotation of the first structural member, when the first structural member rotates, the elastic device provides a support force for the first structural member, and the support force is opposite to the rotation direction of the first structural member, so as to slow down the rotation speed of the first structural member.

[0005] In some embodiments, the elastic device comprises a first spring, a support rod and a sliding block; one end of the support rod is rotationally connected with the first structural member, and the other end is rotationally connected with the sliding block; the second structural member is provided with a guide rail, and the sliding block is slidingly connected with the guide rail; one end of the first spring is connected with the sliding block, and the other end is connected with the second structural member; and the sliding block can compress the first spring by sliding along the guide rail.

[0006] In some embodiments, the calculation formula of the support force is as follows:

[0007]

[0008] wherein F(θ) is the support force of the first spring on the first structural member; x0 is the pre-compression amount of the first spring; l1 is the length of the support rod; l2 is the distance from the connection position of the support rod and the first structural member to the rotating shaft, and l1>l2; k is the elastic coefficient of the first spring; and θ is the included angle between the first structural member and the vertical direction, and the included angle is an acute angle.

[0009] In some embodiments, the elastic device comprises a second spring and a third spring; an end of the first structural member is provided with a first mounting hole for mounting the rotating shaft; the second spring and the third spring are arranged around the first mounting hole; a limiting portion is arranged on the second structural member, the limiting portion extending between the second spring and the third spring; one end of the second spring is connected with the first structural member, and the other end of the second spring is in contact with the limiting portion or has a first spacing therebetween; one end of the third spring is connected with the first structural member, and the other end of the third spring is in contact with the limiting portion or has a second spacing therebetween; when the first structural member rotates, the second spring or the third spring is pressed, and the resultant force of the second spring and the third spring can provide a supporting force for the first structural member.

[0010] In some embodiments, clockwise rotation around the rotating shaft is taken as the positive direction of the variable, the radius of the circular arc where the axis of the second spring and the third spring is located is r, and the first structural member is in a vertical state in the natural state, and the supporting force borne by the first structure is as follows:

[0011] (1) When the lower end of the second spring and the lower end of the third spring are both free and in contact with the limiting block in the natural state, the supporting force borne by the first structural member when rotating is equal to:

[0012]

[0013] wherein F(θ) is the supporting force, k1 is the elastic coefficient of the second spring, k2 is the elastic coefficient of the third spring, x1 and x2 are respectively the pre-compression amount of the second spring and the third spring (x1≥0, x2≥0), θ1 is the included angle corresponding to the pre-compression amount of the second spring; θ2 is the included angle corresponding to the pre-compression amount of the third spring; θ is the included angle between the first structural member and the vertical direction, the included angle being an acute angle; k1x1=k2x2, the elastic forces of the second spring and the third spring being equal in the natural state;

[0014] (2) When the lower end of the second spring and the lower end of the third spring are both in hard connection with the limiting portion, the supporting force is equal to:

[0015]

[0016] In some embodiments, clockwise rotation around the rotating shaft is taken as the positive direction of the variable, the radius of the circular arc where the axis of the second spring and the third spring is located is r, the first spacing corresponds to a reserved angle θ left , and the second spacing corresponds to a reserved angle θ right (θ left >0, θ right>0); in a natural state, the first structural member is in a vertical state, and the second spring and the third spring have a first interval and a second interval with the limiting block, respectively, so that:

[0017]

[0018] wherein F(θ) is the support force, k1 is the elastic coefficient of the second spring, k2 is the elastic coefficient of the third spring; θ 01 , θ 02 are pre-compression amounts (θ 01 >0, θ 02 >0) of the second spring and the third spring, respectively, θ is an included angle between the first structural member and the vertical direction, and the included angle is an acute angle.

[0019] In some embodiments, the elastic device further comprises a fourth spring and a fifth spring, the limiting portion extends between the fourth spring and the fifth spring; one end of the fourth spring is connected with the first structural member, and the other end is in contact with the limiting portion or has a gap; one end of the fifth spring is connected with the first structural member, and the other end is in contact with the limiting portion or has a gap; the first structural member presses the fourth spring or the fifth spring when rotating.

[0020] In some embodiments, a first mounting groove is formed on the first structural member around the first mounting hole, and the second spring and the third spring are arranged inside the first mounting groove.

[0021] In some embodiments, a second mounting groove is further formed on the first structural member around the first mounting groove, and the fourth spring and the fifth spring are arranged inside the second mounting groove.

[0022] In some embodiments, a first connecting member is arranged on the first structural member, the first connecting member is coaxially arranged with the first mounting hole, and the second spring and the third spring are mounted on the first connecting member.

[0023] In some embodiments, a second connecting member is further arranged on the first structural member, the second connecting member is coaxially arranged with the first connecting member, and the fourth spring and the fifth spring are mounted on the second connecting member.

[0024] In some embodiments, a plurality of second mounting holes are formed on the limiting portion for the first connecting member and the second connecting member to pass through.

[0025] In some embodiments, the elastic device comprises a first torsion spring, which comprises a torsion spring body and a first torsion arm and a second torsion arm arranged at two ends of the torsion spring body, the torsion spring body is coaxially arranged with the rotating shaft, the first torsion arm is connected with the first structural member, and the second torsion arm is connected with the second structural member, and the first torsion arm provides a supporting force for the first structural member when the first structural member rotates.

[0026] In some embodiments, the distance between the action point of the first torsion spring and the rotating shaft is l, and

[0027]

[0028] wherein F(θ) is the elastic force borne by the first structural member, k1 represents the elastic coefficient of the first torsion spring, θ0 represents the pre-compression amount of the first torsion spring, and θ is the included angle between the first structural member and the vertical direction, and the included angle is an acute angle.

[0029] In some embodiments, the elastic device comprises a second torsion spring, which also comprises a torsion spring body and a first torsion arm and a second torsion arm arranged at two ends of the torsion spring body, the torsion spring body is coaxially arranged with the rotating shaft, the first torsion arm is connected with the first structural member, and the second torsion arm is connected with the second structural member, and the first torsion arm provides a supporting force for the first structural member when the first structural member rotates.

[0030] In some embodiments, the distance between the action point of the first torsion spring and the rotating shaft is l, and

[0031]

[0032] wherein F(θ) is the supporting force, k1 and k2 respectively represent the elastic coefficients of the first torsion spring and the second torsion spring installed on two sides of the first structural member, θ 01 , and θ 02 respectively represent the pre-compression amounts of the first torsion spring and the second torsion spring, and θ is the included angle between the first structural member and the vertical direction, and the included angle is an acute angle.

[0033] In some embodiments, a third mounting hole for mounting the first torsion arm is arranged on the first structural member, and a fourth mounting hole for mounting the second torsion arm is arranged on the second structural member.

[0034] In some embodiments, a first mounting portion is arranged on the first structural member, and the first torsion arm is mounted on the first mounting portion; and a second mounting portion is arranged on the second structural member, and the second torsion arm is mounted on the second mounting portion.

[0035] In some embodiments, the included angle between the first torsion arm and the second torsion arm is 180 degrees or an obtuse angle.

[0036] In some embodiments, the elastic device further comprises a limiting spring, one end of which is connected with the first structural member and the other end of which is connected with the second structural member, for limiting the rotation of the first structural member.

[0037] In some embodiments, the first structural member is provided with a first protrusion and the second structural member is provided with a second protrusion, the first protrusion and the second protrusion being arranged on the same side of the rotation shaft, for limiting the rotation of the first structural member to this side.

[0038] In some embodiments, the first protrusion and / or the second protrusion is provided with a buffer.

[0039] In some embodiments, the motor is arranged at the proximal end or the distal end and is connected with the first structural member.

[0040] The present disclosure can provide elastic force and elastic limiting in the case of swing or static of the robot joint by arranging springs of different shapes and positions at the robot joint. The spring or torsion spring can be combined with the motor to form an elastic driver, which can jointly adjust the rotation posture of the first structural member, i.e., can provide support force for the first structural member, overcome the gravity of the first structural member, slow down the rotation speed of the first structural member, and make the first structural member rotate to a set angle. The elastic device of the present disclosure effectively supports the rotation of the robot joint and saves the consumption of motor power.

[0041] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present disclosure more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0042] In the drawings which are not necessarily drawn to scale, like reference numerals can be used to describe similar parts throughout the various illustrations. Like reference numerals having different letter suffixes can represent different instances of similar parts. The drawings illustrate generally, by way of example, various embodiments of the present apparatus and methods. The same reference numerals in all drawings can represent the same or similar parts. Such embodiments are illustrative, rather than restrictive, and are not intended to exclude additions, combinations, subtractions, or modifications thereof. The drawings described are intended to provide a further understanding of the present disclosure, and constitute a part of this application, the illustrative embodiments of the present disclosure and their description serve the purpose of explanations rather than limiting the present disclosure. In the drawings:

[0043] Figure 1 is a side view of a robot joint structure provided by the first embodiment of the present disclosure;

[0044] Figure 2 is an isometric view of a robot joint structure provided by a first embodiment of the present disclosure;

[0045] Figure 3 is an exploded view of a robot joint structure provided by a first embodiment of the present disclosure;

[0046] Figure 4 is a side view of a robot joint structure provided by a second embodiment of the present disclosure;

[0047] Figure 5 is an isometric view of a robot joint structure provided by a second embodiment of the present disclosure;

[0048] Figure 6 is an exploded view of a robot joint structure provided by a second embodiment of the present disclosure;

[0049] Figure 7 is a schematic view of a robot joint structure provided by a second embodiment of the present disclosure;

[0050] Figure 8 is a schematic view of a robot joint structure provided by a second embodiment of the present disclosure;

[0051] Figure 9 is a side view of a robot joint structure provided by a third embodiment of the present disclosure;

[0052] Figure 10 is an isometric view of a robot joint structure provided by a third embodiment of the present disclosure;

[0053] Figure 11 is an exploded view of a robot joint structure provided by a third embodiment of the present disclosure;

[0054] Figure 12 is a side view of a robot joint structure provided by a fourth embodiment of the present disclosure;

[0055] Figure 13 is an isometric view of a robot joint structure provided by a fourth embodiment of the present disclosure;

[0056] Figure 14 is an exploded view of a robot joint structure provided by a fourth embodiment of the present disclosure;

[0057] Figure 15 is a side view of a robot joint structure provided by a fifth embodiment of the present disclosure;

[0058] Figure 16 is an isometric view of a robot joint structure provided by a fifth embodiment of the present disclosure;

[0059] Figure 17 is an exploded view of a robot joint structure provided by a fifth embodiment of the present disclosure;

[0060] Figure 18 is a schematic view of a robot joint structure provided by a fifth embodiment of the present disclosure;

[0061] Figure 19 is a schematic view of a robot joint structure provided by a fifth embodiment of the present disclosure;

[0062] Figure 20 is a side view of a robot joint structure provided by a sixth embodiment of the present disclosure;

[0063] Figure 21 is an axonometric view of a robot joint structure provided by a sixth embodiment of the present disclosure;

[0064] Figure 22 is an exploded view of a robot joint structure provided by a sixth embodiment of the present disclosure;

[0065] Figure 23 is a schematic view of a motor of a robot provided by an embodiment of the present disclosure, the motor being mounted at a rotating shaft;

[0066] Figure 24 is a schematic view of a motor of a robot provided by an embodiment of the present disclosure, the motor being mounted at a distal end;

[0067] Figure 25 is a schematic view of a first protrusion and a second protrusion of a robot provided by an embodiment of the present disclosure;

[0068] wherein the above-mentioned Figures 1 to 25 includes the following reference signs:

[0069] 100 - first structural member; 101 - first mounting slot; 102 - first mounting portion; 103 - first protrusion; 200 - second structural member; 201 - guide rail; 202 - limiting portion; 203 - second mounting portion; 204 - second protrusion; 205 - buffer member; 300 - limiting spring; 400 - first spring; 410 - second spring; 420 - third spring; 411 - fourth spring; 421 - fifth spring; 430 - first torsional spring; 430a - first torsional arm; 430b - second torsional arm; 500 - support rod; 600 - sliding block; 700 - motor; 800 - rotating shaft; 900 - connecting member; 910 - first connecting member; 920 - second connecting member. DETAILED DESCRIPTION

[0070] Hereinafter, specific embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, but are not limited thereto.

[0071] It should be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the above description should not be considered limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0072] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with the general description of the disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0073] These and other characteristics of the present disclosure will become apparent from the following description and the associated drawings, wherein:

[0074] It is also to be understood that even though a number of specific embodiments of the present disclosure have been described herein, these are merely for the purposes of illustration and are not intended to limit the scope of the disclosure in any way. Various modifications and changes can be made to the embodiments described herein without departing from the scope of the present disclosure.

[0075] The above and other aspects, features, and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0076] Specific embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings; however, these are merely specific embodiments of the present disclosure, and the present disclosure can be implemented in many different ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the present disclosure unnecessarily. Therefore, specific structural and functional details disclosed herein are not intended to limit, but merely as a basis for the claims and a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriate detailed structure.

[0077] It is to be understood that the terms "first", "second", and the like, used in the description and the claims of this disclosure, are used to differentiate between similar objects, and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of the terms so construed can be interchanged, such that, for example, the embodiments of the present disclosure described herein can be carried out in other than the order discussed herein. Further, the terms "comprise" and "comprising" and any variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, system, product, or apparatus that comprises a list of steps or elements not only comprises those steps or elements but can also include other steps or elements not expressly listed or inherent to such process, method, system, product, or apparatus.

[0078] The present specification can use the phrases "in an embodiment," "in another embodiment," "in yet another embodiment," or "in at least one embodiment" which can refer to one or more embodiments of the present disclosure.

[0079] The first embodiment of the present disclosure provides a robot, comprising a robot body, a motor 700 and a robot joint structure arranged on the robot body, the robot joint structure comprising a first structural member 100, a second structural member 200 and an elastic device, the first structural member 100 and the second structural member 200 are connected through a rotating shaft 800, the elastic device is arranged between the first structural member 100 and the second structural member 200, the first structural member 100 can rotate around the rotating shaft 800, and the elastic device cooperates with the motor 700 arranged on the robot to control the rotation angle and the rotation speed of the first structural member 100, thereby reducing the energy consumption of the motor 700.

[0080] In the present embodiment, within the set rotation range of the first structural member 100, the elastic device provides a support force for the first structural member 100, the support force is opposite to the rotation direction of the first structural member 100, and is used to slow down the rotation speed of the first structural member 100 and better control the rotation angle of the first structural member 100; specifically, when the first structural member rotates, the motor 700 and the elastic device form an elastic driver, overcome the gravity component of the first structural member 100, control the rotation speed of the first structural member 100, and until the first structural member reaches the set rotation angle; the present embodiment can control the rotation of the first structural member 100 by cooperating with the motor 700 through the arrangement of the elastic device, thereby saving the energy consumption of the motor 700.

[0081] As shown in Figure 1 , Figure 2 and Figure 3 , the elastic device comprises a first spring 400, a support rod 500 and a sliding block 600, the first structural member 100 and the second structural member 200 are connected through the rotating shaft 800, and the first structural member 100 can make plane circular motion around the rotating shaft 800; the second structural member 200 is provided with a guide rail 201, the sliding block 600 is slidably connected with the guide rail 201, and the sliding block 600 can slide along the guide rail 201; one end of the support rod 500 is rotatably connected with the first structural member 200, the other end is rotatably connected with the sliding block 600, the lower end of the sliding block 600 is connected with the first spring 400, the first spring 400 is connected with the second structural member 200, the sliding block 600 can compress the first spring 400 when sliding along the guide rail 201, the first spring 400 can generate a support force for the first structural member 100, cooperate with the motor 700 to control the rotation angle and the rotation speed of the first structural member 100, and the support force is smaller than the pressure exerted by the first structural member on the first spring 400.

[0082] In this embodiment, when the motor 700 drives the first structural member 100 to rotate, the first spring 400 can provide support force to the first structural member 100 through the support rod 500 and the slider 600, thereby reducing the power consumption of the motor 700; when stationary, the first spring 400 can also provide elastic support force to overcome the gravity of the first structural member 100 and reduce the power consumption of the motor 700.

[0083] Furthermore, in this embodiment, the slider 600 has an I-beam structure, which allows it to withstand greater pressure while maintaining a lighter weight. The first spring 400 is a cylindrical compressible spring.

[0084] Furthermore, in this embodiment, a limiting spring 300 is also provided. The limiting spring 300 is disposed on the opposite side of the support rod 500. One end of the limiting spring 300 is connected to the second structural member 200, and the other end is in contact with the first structural member 100, for limiting the first structural member 100 from rotating to the side of the limiting spring 300.

[0085] Alternatively, in this embodiment, such as Figure 25 As shown, the first structural member 100 is provided with a first protrusion 103, and the second structural member 200 is provided with a second protrusion 204. The first protrusion 103 and the second protrusion 204 are located on the same side of the rotating shaft 800. When the first structural member 100 rotates around the rotating shaft 800, the first protrusion 103 can interfere with the second protrusion 204, thereby limiting the rotation direction and rotation angle of the first structural member 100 and playing a limiting role. Furthermore, the first protrusion 103 or the second protrusion 204 is provided with a buffer member 205 to provide buffering when the first protrusion 103 collides with the second protrusion 204. Preferably, the buffer member is made of an elastic material.

[0086] In this embodiment, the first spring 400 can provide elastic support force for the robot joint when it is stationary or swinging back and forth. By setting first springs 400 with different elastic coefficients, different forces can be provided. The calculation method of the elastic support force of the first spring 400 is as follows (the positive direction of the variables in the following formulas is clockwise rotation around the axis):

[0087]

[0088] Wherein, F(θ) is the elastic supporting force of the first spring 400; x0 is the pre-compression amount of the first spring 400 (which can be 0); l1 is the length of the supporting rod 500; l2 is the distance from the connecting position of the upper end of the supporting rod 500 and the first structural member 100 to the rotating shaft 800, and l1>l2; k is the elastic coefficient of the first spring 400; θ is the included angle between the first structural member 100 and the vertical direction, which is an acute angle; the elastic coefficient and the pre-compression amount can be selected according to actual conditions.

[0089] In some embodiments, as shown in Figure 23 The motor 700 is arranged at the rotating shaft 800, or, as shown in Figure 24 The motor 700 drives the first structural member 100 to rotate through a transmission mechanism.

[0090] The present disclosure can provide supporting force in the case of swinging or static of the robot joint by arranging springs or torsion springs with different shapes and positions at the robot joint, which can effectively assist the motor to overcome the gravity component of the first structural member and save the power consumption of the motor 700.

[0091] The second embodiment of the present disclosure provides a robot, which comprises a robot body and a robot joint structure arranged on the robot body, the robot joint structure comprising a first structural member 100, a second structural member 200 and an elastic device, the first structural member 100 and the second structural member 200 being connected through a rotating shaft 800, the elastic device being arranged between the first structural member 100 and the second structural member 200, the first structural member 100 being capable of rotating around the rotating shaft 800, the elastic device and a motor 700 arranged on the robot cooperating to control the rotation angle of the first structural member 100, thereby reducing the energy consumption of the motor 700.

[0092] In the present embodiment, the elastic device provides supporting force for the first structural member 100 within the set rotation range of the first structural member 100, the supporting force being opposite to the rotation direction of the first structural member 100, for slowing down the rotation speed of the first structural member 100 and better controlling the rotation angle of the first structural member 100; specifically, when the first structural member rotates, the motor 700 and the elastic device overcome the gravity component of the first structural member 100 to control the rotation speed of the first structural member 100 until the first structural member reaches the set rotation angle; the present embodiment can save the energy consumption of the motor 700 by arranging the elastic device to cooperate with the motor 700 to control the rotation of the first structural member 100.

[0093] AsFigure 4 , Figure 5 and Figure 6 As shown, the elastic device includes a second spring 410 and a third spring 420. The first structural member 100 and the second structural member 200 are connected by a rotating shaft 800. The first structural member 100 is capable of planar circular motion around the rotating shaft 800. A limiting part 202 is provided on the second structural member 200. The limiting part 202 is disposed between the second spring 410 and the third spring 420. One end of the second spring 410 is connected to the first structural member 100, and the other end contacts the limiting part 202. One end of the third spring 420 is connected to the first structural member 100, and the other end contacts the limiting part 202. Contact; within the set rotation range of the first structural member 100, the resultant force of the second spring 410 and the third spring 420 can provide a supporting force for the first structural member 100; when the first structural member 100 rotates, it compresses the second spring 410 or the third spring 420, and the resultant force of the second spring 410 and the third spring 420 can provide a supporting force for the first structural member 100, the supporting force being opposite to the rotation direction, and the resultant force of the second spring 410 and the third spring 420 being less than the pressure exerted by the first structural member 100 on the second spring 410 and the third spring 420.

[0094] In some embodiments, under natural conditions, the second spring 410 and the third spring 420 have the same elastic force, and the elastic forces on both sides of the first structural member 100 cancel each other out.

[0095] Furthermore, in this embodiment, a limiting spring 300 is also provided. The limiting spring 300 is disposed on one side of the rotating shaft 800. One end of the limiting spring 300 is connected to the second structural member 200, and the other end is in contact with the first structural member 100, for limiting the rotation of the first structural member 100.

[0096] Alternatively, in this embodiment, such as Figure 25 As shown, the first structural member 100 is provided with a first protrusion 103, and the second structural member 200 is provided with a second protrusion 204. When the first structural member 100 rotates around the rotating shaft 800, the first protrusion 103 can interfere with the second protrusion 204, thereby limiting the rotation angle of the first structural member 100 and playing a limiting role. Furthermore, the first protrusion 103 or the second protrusion 204 is provided with a buffer member 205 to provide buffering when the first protrusion 103 and the second protrusion 204 collide. Preferably, the buffer member is made of an elastic material.

[0097] In the embodiment, when the motor 700 drives the first structural member 100 to rotate, the third spring 420 provides elastic supporting force for the first structural member 100, reducing the consumption of electric energy of the motor 700. In the embodiment, the limiting portion 202 can support other shapes as long as it can limit the second spring 410 and the third spring 420.

[0098] Preferably, in some embodiments, as shown in Figure 7 , Figure 8 and Figure 9 , the end of the first structural member 100 is provided with a first mounting hole for connecting with the rotating shaft 800, a first mounting groove 101 is formed around the first mounting hole, the second spring 410 and the third spring 420 are arranged along the circumference of the first mounting groove 101; the end of the second structural member 200 is provided with a limiting portion 202, the end of the limiting portion 202 extends between the second spring 410 and the third spring 420, when the motor 700 drives the first structural member 100 to rotate, the third spring 420 can generate pressure on the limiting portion 202, thereby generating supporting force on the first structural member 100, overcoming part of the pressure from the first structural member 100, thereby saving the energy consumption of the motor 700.

[0099] Alternatively, in some embodiments, as shown in Figure 6 , the robot joint further comprises a connecting member 900, the connecting member 900 comprises a first connecting member 910, a second mounting hole is formed in the limiting portion 202, one end of the first connecting member 910 passes through the second mounting hole, the second spring 410 and the third spring 420 are respectively mounted on the two sides of the first connecting member 910, when the motor 700 drives the first structural member 100 to rotate, the third spring 420 can generate pressure on the limiting portion 202, thereby generating supporting force on the first structural member 100, overcoming part of the pressure from the first structural member 100, thereby saving the energy consumption of the motor 700.

[0100] The second spring 410 and / or the third spring 420 can provide supporting force when the first structural member 100 rotates, and the positive direction of the variable is clockwise rotation around the rotating shaft 800. Assuming that the radius of the circular arc where the axis of the second spring 410 and the third spring 420 is located is r, the supporting force on the first structural member 100 is as follows:

[0101] (1) When the lower end of the second spring 410 and the lower end of the third spring 420 are both free and in contact with the limiting block 202 in the natural state, i.e., the lower end of the second spring 410 and the lower end of the third spring 420 are not hard connected with the limiting block, the support force when the first structural member rotates is equal to:

[0102]

[0103] wherein F(θ) is the support force borne by the first structural member 100, k1 is the elastic coefficient of the second spring 410, k2 is the elastic coefficient of the third spring 420, x1, x2 are respectively the pre-compression amount of the second spring 410 and the third spring 420 (x1≥0, x2≥0), θ1 is the included angle corresponding to the pre-compression amount of the second spring 410; θ2 is the included angle corresponding to the pre-compression amount of the third spring 420; θ is the included angle formed between the first structural member 100 and the vertical direction, and the included angle is an acute angle; it should be noted that k1x1=k2x2 should be satisfied, i.e., the elastic forces of the left and right springs should be equal in the natural state.

[0104] (2) When the lower end of the second spring 410 and the lower end of the third spring 420 are both hard connected with the limiting block 202, i.e., there is a possibility that the second spring 410 is stretched, the support force is equal to:

[0105]

[0106] wherein F(θ) is the support force borne by the first structural member 100, k1 is the elastic coefficient of the second spring 410, k2 is the elastic coefficient of the third spring 420, x1, x2 are respectively the pre-compression amount of the second spring 410 and the third spring 420 (x1≥0, x2≥0), θ1 is the included angle corresponding to the pre-compression amount of the second spring 410; θ2 is the included angle corresponding to the pre-compression amount of the third spring 420; θ is the included angle formed between the first structural member 100 and the vertical direction, and the included angle is an acute angle; it should be noted that k1x1=k2x2 should be satisfied, i.e., the elastic forces of the left and right springs should be equal in the natural state.

[0107] The present disclosure can provide support force in the case of swinging or static of the robot joint by setting springs or torsion springs of different shapes and positions at the robot joint, and can effectively assist the motor to overcome the gravity component of the first structural member, thereby saving the consumption of motor power.

[0108] The third embodiment of the present disclosure provides a robot, comprising a robot body, a motor 700 and a robot joint structure arranged on the robot body, the robot joint structure comprising a first structural member 100, a second structural member 200 and an elastic device, the first structural member 100 and the second structural member 200 being connected through a rotating shaft 800, the elastic device being arranged between the first structural member 100 and the second structural member 200, the first structural member 100 being capable of rotating around the rotating shaft 800, the elastic device cooperating with the motor 700 arranged on the robot to control the rotation angle of the first structural member 100, thereby reducing the energy consumption of the motor 700.

[0109] In the present embodiment, within the set rotation range of the first structural member 100, the elastic device provides a support force for the first structural member 100, the support force being opposite to the rotation direction of the first structural member 100, for slowing down the rotation speed of the first structural member 100 and better controlling the rotation angle of the first structural member 100; specifically, when the first structural member rotates, the motor 700 and the elastic device form an elastic driver, overcoming the gravity component of the first structural member 100 to control the rotation speed of the first structural member 100 until the first structural member reaches the set rotation angle; the present embodiment can control the rotation of the first structural member 100 by cooperating with the motor 700 through the arrangement of the elastic device, thereby saving the energy consumption of the motor 700.

[0110] As shown in Figure 9 , Figure 10 and Figure 11 , the elastic device comprises a second spring 410 and a third spring 420, the first structural member 100 and the second structural member 200 are connected through the rotating shaft 800, the first structural member 100 is capable of performing planar circular motion around the rotating shaft 800; the second structural member 200 is provided with a limiting portion 202; one end of the second spring 410 is connected with the first structural member 100, and the other end has a first spacing with the limiting portion 202; one end of the third spring 420 is connected with the first structural member 100, and the other end has a second spacing with the limiting portion 202; within the set rotation range of the first structural member 100, the second spring 410 and the third spring 420 can provide a support force for the first structural member 100, the support force being smaller than the pressure exerted by the first structural member 100 on the second spring 410 and the third spring 410.

[0111] In some embodiments, in a natural state, the elastic forces of the second spring 410 and the third spring 420 are the same, and the elastic forces on both sides of the first structural member 100 are offset.

[0112] Furthermore, in this embodiment, a limiting spring 300 is also provided. The limiting spring 300 is disposed on the side of the second spring 410. One end of the limiting spring 300 is connected to the second structural member 200, and the other end is in contact with the first structural member 100, for limiting the first structural member 100 from rotating to the side of the second spring 410.

[0113] Alternatively, in this embodiment, such as Figure 25 As shown, the first structural member 100 is provided with a first protrusion 103, and the second structural member 200 is provided with a second protrusion 204. When the first structural member 100 rotates around the pivot 800, the first protrusion 103 can interfere with the second protrusion 204, thereby limiting the rotation angle of the first structural member 100. Furthermore, the first protrusion 103 or the second protrusion 204 is provided with a buffer 205 to provide buffering when the first protrusion 103 collides with the second protrusion 204. Preferably, the buffer is made of an elastic material.

[0114] In this embodiment, when the motor 700 drives the first structural member 100 to rotate, the third spring 420 provides elastic support to the first structural member 100, reducing the power consumption of the motor 700. The weight of the second spring 410 and the third spring 420 is negligible here. In this embodiment, the limiting part 202 can support other shapes, as long as it provides a limiting effect on the second spring 410 and the third spring 420.

[0115] Preferably, in some embodiments, the end of the first structural member 100 is provided with a first mounting hole for connection with the rotating shaft 800, and a first mounting groove 101 is formed around the first mounting hole. The second spring 410 and the third spring 420 are arranged inside the first mounting groove 101 along its length direction. The end of the second structural member 200 is provided with a limiting part 202, and the end of the limiting part 202 extends between the second spring 410 and the third spring 420. When the motor 700 drives the first structural member 100 to rotate, the third spring 420 can exert pressure on the limiting part, thereby generating a supporting force on the first structural member 100, overcoming part of the pressure from the first structural member 100, thereby saving energy consumption of the motor 700.

[0116] Or, in some embodiments, further comprising a connecting piece 900, the connecting piece 900 comprising a first connecting piece 910, a second mounting hole is formed on the limiting part 202, one end of the first connecting piece 910 passes out of the second mounting hole, and the second spring 410 and the third spring 420 are respectively mounted on both sides of the first connecting piece 910, when the motor 700 drives the first structural part 100 to rotate, the third spring 420 can generate a pressure on the limiting part, thereby generating a supporting force on the first structural part 100, overcoming a part of the pressure from the first structural part 100, thereby saving the energy consumption of the motor 700.

[0117] The third spring 420 can provide elastic force for the robot joint when it is stationary or swings forward and backward, by setting the third spring 420 with different elastic coefficients, different elastic forces can be provided, and the elastic force is calculated as follows (the positive direction of the following formula variable is counterclockwise rotation around the shaft):

[0118] Suppose the radius of the arc where the axis of the second spring 410 and the third spring 420 is located is r, the reserved angle corresponding to the first interval is θ left , the reserved angle corresponding to the second interval is θ right (θ left > 0, θ right > 0), then:

[0119]

[0120] Where F(θ) is the elastic force borne by the first structural part 100, k1 is the elastic coefficient of the second spring 410, and k2 is the elastic coefficient of the third spring 420, which are not necessarily the same;

[0121] θ 01 and θ 02 are the pre-compression amounts of the second spring 410 and the third spring 420 respectively (θ 01 ≥ 0, θ 02 ≥ 0), and θ is the included angle between the first structural part 100 and the vertical direction, which is an acute angle.

[0122] The present disclosure can provide supporting force when the robot joint swings or is stationary by setting springs or torsion springs of different shapes and positions at the robot joint, which can effectively assist the motor to overcome the gravity component of the first structural part and save the consumption of motor power.

[0123] The fourth embodiment of the present disclosure provides a robot, comprising a robot body and a robot joint structure arranged on the robot body, the robot joint structure comprising a first structural member 100, a second structural member 200 and an elastic device, the first structural member 100 and the second structural member 200 being connected through a rotating shaft 800, the elastic device being arranged between the first structural member 100 and the second structural member 200, the first structural member 100 being able to rotate around the rotating shaft 800, the elastic device cooperating with a motor 700 arranged on the robot to control the rotation angle of the first structural member 100, thereby reducing the energy consumption of the motor 700.

[0124] In the present embodiment, within a set rotation range of the first structural member 100, the elastic device provides a support force for the first structural member 100, the support force being opposite to the rotation direction of the first structural member 100, for slowing down the rotation speed of the first structural member 100 and better controlling the rotation angle of the first structural member 100; specifically, when the first structural member rotates, the motor 700 and the elastic device overcome the gravity component of the first structural member 100 to control the rotation speed of the first structural member 100 until the first structural member reaches a set rotation angle; the present embodiment can save the energy consumption of the motor 700 by arranging the elastic device to cooperate with the motor 700 to control the rotation of the first structural member 100.

[0125] As shown in Figure 12 , Figure 13 and Figure 14 , the elastic device comprises a second spring 410 and a third spring 420, the first structural member 100 and the second structural member 200 are connected through a rotating shaft 800, the first structural member 100 is able to make planar circular motion around the rotating shaft 800; the second structural member 200 is provided with a limiting portion 202; one end of the second spring 410 is connected with the first structural member 100, and the other end is in contact with the limiting portion 202; one end of the third spring 420 is connected with the first structural member 100, and the other end is connected with the limiting portion 202; within a set rotation range of the first structural member 100, the second spring 410 and the third spring 420 can provide a support force for the first structural member 100, the support force being smaller than the pressure exerted by the first structural member 100 on the second spring 410 and the third spring 410.

[0126] In some embodiments, in a natural state, the elastic forces of the second spring 410 and the third spring 420 are the same, and the elastic forces on both sides of the first structural member 100 are counteracted.

[0127] Furthermore, in this embodiment, a limiting spring 300 is also provided. The limiting spring 300 is disposed on the side of the second spring 410. One end of the limiting spring 300 is connected to the second structural member 200, and the other end is in contact with the first structural member 100, for limiting the first structural member 100 from rotating to the side of the second spring 410.

[0128] Alternatively, in this embodiment, such as Figure 25 As shown, the first structural member 100 is provided with a first protrusion 103, and the second structural member 200 is provided with a second protrusion 204. When the first structural member 100 rotates around the pivot 800, the first protrusion 103 can interfere with the second protrusion 204, thereby limiting the rotation angle of the first structural member 100. Furthermore, the first protrusion 103 or the second protrusion 204 is provided with a buffer 205 to provide buffering when the first protrusion 103 collides with the second protrusion 204. Preferably, the buffer is made of an elastic material.

[0129] In this embodiment, when the motor 700 drives the first structural member 100 to rotate, the third spring 420 provides elastic support to the first structural member 100, reducing the power consumption of the motor 700. The weight of the second spring 410 and the third spring 420 is negligible here. In this embodiment, the limiting part 202 can support other shapes, as long as it provides a limiting effect on the second spring 410 and the third spring 420.

[0130] Preferably, in some embodiments, the end of the first structural member 100 is provided with a first mounting hole for connecting with the rotating shaft 800, a first mounting slot 101 is formed around the first mounting hole, the second spring 410 and the third spring 420 are arranged along the circumference of the first mounting slot 101 inside the first mounting slot 101; the end of the second structural member 200 is provided with a limiting portion 202, the end of the limiting portion 202 extends between the second spring 410 and the third spring 420; further, a second mounting slot is formed around the first mounting hole, the fourth spring 411 and the fifth spring 421 are arranged along the circumference of the second mounting slot inside the second mounting slot, the end of the limiting portion 202 extends between the fourth spring 411 and the fifth spring 421, one end of the fourth spring 411 is connected with the first structural member 100, and the other end of the fourth spring 411 is in contact with or has a distance from the limiting portion 202; one end of the fifth spring 421 is connected with the first structural member 100, and the other end of the fifth spring 421 is in contact with or has a distance from the limiting portion 202; when the motor 700 drives the first structural member 100 to rotate, the limiting portion 202 can be subjected to a pressure action by the third spring 420 and the fifth spring 421, thereby generating a supporting force on the first structural member 100, overcoming a part of the pressure from the first structural member 100, thereby saving the energy consumption of the motor 700.

[0131] Alternatively, in some embodiments, a connecting member 900 is further included, the connecting member 900 includes a first connecting member 910, a second mounting hole is formed on the limiting portion 202, one end of the first connecting member 910 passes out of the second mounting hole, the second spring 410 and the third spring 420 are respectively mounted on the two sides of the first connecting member 910; further, a second connecting member 920 is further included, one end of the second connecting member 920 passes out of the limiting portion 202, the fourth spring 411 and the fifth spring 421 are respectively mounted on the two sides of the second connecting member 920, one end of the fourth spring 411 is connected with the first structural member 100, and the other end of the fourth spring 411 is in contact with or has a distance from the limiting portion 202; one end of the fifth spring 421 is connected with the first structural member, and the other end of the fifth spring 421 is in contact with or has a distance from the limiting portion 202; when the motor 700 drives the first structural member 100 to rotate, the limiting portion 202 can be subjected to a pressure action by the third spring 420 and the fifth spring 421, thereby generating a supporting force on the first structural member 100, overcoming a part of the pressure from the first structural member 100, thereby saving the energy consumption of the motor 700.

[0132] The second spring 410, the third spring 420, the fourth spring 411 and the fifth spring 421 can provide elastic force for the robot joint when swinging forward and backward or being static, and by setting springs with different elastic coefficients, different forces can be provided. In the embodiment, the support force borne by the first structural member can be obtained according to the calculation formula of the second embodiment and the third embodiment, which will not be described herein again.

[0133] The present disclosure can provide support force when the robot joint swings or is static by setting springs or torsion springs with different shapes and positions at the robot joint, and can effectively assist the motor to overcome the gravity component of the first structural member, thereby saving the consumption of motor power.

[0134] The fifth embodiment of the present disclosure provides a robot, which comprises a robot body, a motor 700 and a robot joint structure arranged on the robot body, the robot joint structure comprising a first structural member 100, a second structural member 200 and an elastic device, the first structural member 100 and the second structural member 200 being connected through a rotating shaft 800, the elastic device being arranged between the first structural member 100 and the second structural member 200, the first structural member 100 being rotatable about the rotating shaft 800, and the elastic device and the motor 700 arranged on the robot cooperatively control the rotation angle of the first structural member 100, thereby reducing the energy consumption of the motor 700.

[0135] In the embodiment, the elastic device provides support force for the first structural member 100 within a set rotation range of the first structural member 100, the support force being opposite to the rotation direction of the first structural member 100, and being used for slowing down the rotation speed of the first structural member 100 and better controlling the rotation angle of the first structural member 100; specifically, when the first structural member rotates, the motor 700 and the elastic device form an elastic driver, overcome the gravity component of the first structural member 100, control the rotation speed of the first structural member 100, and until the first structural member reaches a set rotation angle; the embodiment can control the rotation of the first structural member 100 cooperatively with the motor 700 by setting the elastic device, thereby saving the energy consumption of the motor 700.

[0136] As Figure 15 , Figure 16 and Figure 17As shown, the elastic device includes a first torsion spring 430 and a second torsion spring 440. The first torsion spring 430 and the second torsion spring 440 are coaxially mounted with the rotating shaft 800. The first torsion spring and the second torsion spring 440 each include a torsion spring body and a first torsion arm 430a and a second torsion arm 430b disposed at both ends of the torsion spring body. The torsion spring body is coaxially disposed with the rotating shaft 800. The first torsion arm 430a is connected to the first structural member 100, and the second torsion arm 430b is connected to the second structural member 200. When the first structural member 100 rotates, the first torsion arm 430a provides support force for the first structural member 100.

[0137] In some embodiments, the first structural member 100 has a third mounting hole, and the first torsion arm 430a is mounted in the third mounting hole; the second structural member 200 has a fourth mounting hole, and the second torsion arm 430b is mounted in the fourth mounting hole.

[0138] Or, such as Figure 19 As shown, in some other embodiments, the first structural member 100 is provided with a first mounting portion 102, and the first torsion arm 430a is mounted on the first mounting portion 102; the second structural member 200 is provided with a second mounting portion 103, and the second torsion arm 430b is mounted on the second mounting portion 103.

[0139] Furthermore, such as Figure 18 As shown, the included angle between the first torsion arm 430a and the second torsion arm 430b can be 180 degrees, an obtuse angle, or other angles.

[0140] Furthermore, in this embodiment, a limiting spring 300 is also provided. The limiting spring 300 is located near the first torsion arm 430a. One end of the limiting spring 300 is connected to the second structural member 200, and the other end is in contact with the first structural member 100, which is used to limit the first structural member 100 from rotating to the non-storage side of the first torsion spring.

[0141] In this embodiment, when the motor 700 drives the first structural member 100 to rotate, the first torsion spring 430 provides elastic support for the first structural member 100, reducing the power consumption of the motor 700.

[0142] The first torsion spring 430 can provide elastic force for the robot joint when it is stationary or swinging back and forth. By setting springs with different elastic coefficients, different forces can be provided. The calculation method is as follows (the positive direction of the variables in the following formulas is clockwise rotation around the axis):

[0143] Let the distance from the point of application of the first torsion spring 430 to the axis of rotation be l, then

[0144]

[0145] Wherein, F(θ) is the elastic force of the first structural member 100, k1, k2 respectively represent the elastic coefficients of the first torsion spring and the second torsion spring installed on both sides of the first structural member 100, θ 01 , θ 02 respectively represent the spring pre-compression (both can be 0), k1, k2, θ 01 , θ 02 are not necessarily the same and can be adjusted according to actual conditions, and θ is the included angle between the first structural member 100 and the vertical direction, which is an acute angle.

[0146] The present disclosure can provide a supporting force when the robot joint swings or is stationary by setting springs or torsion springs of different shapes and positions at the robot joint, and can effectively assist the motor to overcome the gravity component of the first structural member, thereby saving the consumption of motor power.

[0147] The sixth embodiment of the present disclosure provides a robot, which comprises a robot body, a motor 700 and a robot joint structure arranged on the robot body, the robot joint structure comprising a first structural member 100, a second structural member 200 and an elastic device, the first structural member 100 and the second structural member 200 being connected through a rotating shaft 800, the elastic device being arranged between the first structural member 100 and the second structural member 200, the first structural member 100 being able to rotate around the rotating shaft 800, and the elastic device cooperating with the motor 700 arranged on the robot to control the rotation angle of the first structural member 100, thereby reducing the energy consumption of the motor 700.

[0148] In the present embodiment, the elastic device provides a supporting force for the first structural member 100 within the set rotation range of the first structural member 100, the supporting force being opposite to the rotation direction of the first structural member 100, for slowing down the rotation speed of the first structural member 100 and better controlling the rotation angle of the first structural member 100; specifically, when the first structural member rotates, the motor 700 and the elastic device form an elastic driver, overcome the gravity component of the first structural member 100, control the rotation speed of the first structural member 100, and until the first structural member reaches the set rotation angle; the present embodiment can cooperate with the motor 700 to control the rotation of the first structural member 100 by setting the elastic device, thereby saving the energy consumption of the motor 700.

[0149] As Figure 20 , Figure 21 and Figure 22As shown, the robot joint structure includes a first structural member 100, a second structural member 200, and a first torsion spring 430. The first structural member 100 and the second structural member 200 are connected by a pivot 800. The first structural member 100 can perform planar circular motion around the pivot 800. The first torsion spring 430 is coaxially mounted with the pivot 800. The first torsion arm 430a of the first torsion spring 430 is connected to the first structural member 100, and the second torsion arm 430b is connected to the second structural member 200. The first torsion spring 430 can provide support force for the first structural member 100.

[0150] In some embodiments, the first structural member 100 has a third mounting hole, and the first torsion arm 430a is mounted in the third mounting hole; the second structural member 200 has a fourth mounting hole, and the second torsion arm 430b is mounted in the fourth mounting hole.

[0151] Or, such as Figure 19 As shown, in some other embodiments, the first structural member 100 is provided with a first mounting portion 102, and the upper end of the first torsion spring 430 is mounted on the first mounting portion 102; the second structural member 200 is provided with a second mounting portion 103, and the lower end of the first torsion spring 430 is mounted on the second mounting portion 103.

[0152] Furthermore, such as Figure 18 As shown, the included angle between the first torsion arm 430a and the second torsion arm 430b can be 180 degrees, an obtuse angle, or other angles.

[0153] Furthermore, in this embodiment, a limiting spring 300 is also provided. The limiting spring 300 is located near the first torsion arm 430a. One end of the limiting spring 300 is connected to the second structural member 200, and the other end is in contact with the first structural member 100, for limiting the first structural member 100 from rotating to the side of the first torsion arm 430a.

[0154] In this embodiment, when the motor 700 drives the first structural member 100 to rotate, the first torsion spring 430 provides elastic support for the first structural member 100, reducing the power consumption of the motor 700.

[0155] The first torsion spring can provide elastic force to the robot joint when it is stationary or swinging back and forth. By setting first torsion springs 430 with different elastic coefficients, different forces can be provided. The elastic force is calculated as follows (the positive direction of the variables in the following formulas is clockwise rotation around the axis):

[0156] Let the distance from the point of application of the spring to the axis of rotation be l, then

[0157]

[0158] F(θ) = k1(θ - θ0) where F(θ) is the elastic force of the first structure 100, k1 represents the elastic coefficient of the first torsion spring, θ0 represents the pre-compression amount of the first torsion spring 430 (both can be 0), which can be adjusted according to actual conditions, and θ is the included angle between the first structure 100 and the vertical direction, which is an acute angle.

[0159] The present disclosure can provide a supporting force in the case of swinging or static of the robot joint by setting springs or torsion springs of different shapes and positions at the robot joint, and can effectively assist the motor to overcome the gravity component of the first structure, thereby saving the consumption of motor power.

[0160] In the above embodiments of the present disclosure, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0161] For the convenience of description, spatial relative terms such as "above", "upper", "top surface", "upper" and the like can be used herein to describe the spatial positional relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "above" other devices or structures will be positioned "below" or "below" other devices or structures. Thus, the example term "above" can include both "above" and "below". The device can also be positioned 90 degrees or in other orientations in other different ways, and the spatial relative description used herein is interpreted accordingly.

[0162] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment" and the like mentioned in the specification refer to specific features, structures or characteristics described in conjunction with the embodiment, which are included in at least one embodiment generally described in the present application. The same expression appears in several places in the specification does not necessarily refer to the same embodiment. Further, when a specific feature, structure or characteristic is described in conjunction with any embodiment, it is claimed that the implementation of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of the present disclosure.

[0163] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0164] The above merely provides preferred embodiments of the present disclosure, and is not used to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present disclosure shall fall into the scope of the present disclosure.

Claims

1. A robot, characterized in that, The system includes a robot body, a motor, and a robot joint structure mounted on the robot body. The robot joint structure includes a first structural member, a second structural member, and an elastic device. The first structural member and the second structural member are connected by a pivot, and the elastic device is connected to both the first structural member and the second structural member. The motor controls the rotation of the first structural member. When the first structural member rotates, the elastic device provides a supporting force to the first structural member, and the supporting force is opposite to the rotation direction of the first structural member, thereby slowing down the rotation speed of the first structural member.

2. The robot according to claim 1, characterized in that, The elastic device includes a first spring, a support rod, and a slider; one end of the support rod is rotatably connected to the first structural member, and the other end is rotatably connected to the slider; a guide rail is provided on the second structural member, and the slider is slidably connected to the guide rail; one end of the first spring is connected to the slider, and the other end is connected to the second structural member, and the slider can compress the first spring by sliding along the guide rail.

3. The robot according to claim 2, characterized in that, The formula for calculating the supporting force is as follows: Wherein, F(θ) is the supporting force of the first spring on the first structural member; x0 is the pre-compression of the first spring; l1 is the length of the support rod; l2 is the distance from the pivot point where the support rod connects to the first structural member, and l1>l2; k is the elastic coefficient of the first spring; θ is the angle formed between the first structural member and the vertical direction, and the angle is acute.

4. The robot according to claim 1, characterized in that, The elastic device includes a second spring and a third spring; the end of the first structural member is provided with a first mounting hole for mounting the rotating shaft; the second spring and the third spring are arranged around the first mounting hole; a limiting portion is provided on the second structural member, the limiting portion extending between the second spring and the third spring; one end of the second spring is connected to the first structural member, and the other end contacts the limiting portion or has a first gap between them; one end of the third spring is connected to the first structural member, and the other end contacts the limiting portion or has a second gap between them; when the first structural member rotates, it compresses the second spring or the third spring, and the combined force of the second spring and the third spring can provide a supporting force for the first structural member.

5. The robot according to claim 4, characterized in that, Taking clockwise rotation around the axis as the positive direction of the variable, and assuming the radius of the arc containing the axes of the second and third springs is r, and the first structural member is in a vertical state under natural conditions, the supporting force on the first structure is as follows: (1) When the lower ends of the second spring and the third spring are both free and in contact with the limiting block in their natural state, the supporting force when the first structural member rotates is equal to: Where F(θ) is the supporting force, k1 is the spring constant of the second spring, and k2 is the spring constant of the third spring. x1 and x2 are the pre-compression amounts of the second spring and the third spring, respectively (x1≥0, x2≥0); θ1 is the included angle corresponding to the pre-compression amount of the second spring; θ2 is the included angle corresponding to the pre-compression amount of the third spring; θ is the included angle formed between the first structural member and the vertical direction, and the included angle is an acute angle; k1x1=k2x2, and the elastic forces of the second spring and the third spring are equal in the natural state; (2) When the lower ends of the second spring and the third spring are both rigidly connected to the limiting part, the supporting force is equal to:

6. The robot according to claim 4, characterized in that, Taking clockwise rotation around the axis as the positive direction of the variable, let r be the radius of the arc containing the axes of the second and third springs, and let θ be the reserved angle corresponding to the first spacing. left The reserved angle corresponding to the second spacing is θ right (θ left >0, θ right >0); In its natural state, the first structural member is vertical, and the second and third springs have the first and second distances respectively with respect to the limiting block, then: Where F(θ) is the supporting force, k1 is the elastic coefficient of the second spring, and k2 is the elastic coefficient of the third spring; θ 01 θ 02 The precompression amounts (θ) of the second spring and the third spring are respectively. 01 ≥0, θ 02 ≥0), where θ is the angle formed between the first structural member and the vertical direction, and the angle is acute.

7. The robot according to any one of claims 4-6, characterized in that, The elastic device further includes a fourth spring and a fifth spring, and the limiting portion extends between the fourth spring and the fifth spring; one end of the fourth spring is connected to the first structural member, and the other end is in contact with the limiting portion or there is a gap; one end of the fifth spring is connected to the first structural member, and the other end is in contact with the limiting portion or there is a gap; when the first structural member rotates, it compresses the fourth spring or the fifth spring.

8. The robot according to claim 7, characterized in that, The first structural member has a first mounting groove around the first mounting hole, and the second spring and the third spring are disposed inside the first mounting groove.

9. The robot according to claim 8, characterized in that, The first structural member is further provided with a second mounting groove around the first mounting groove, and a fourth spring and a fifth spring are provided inside the second mounting groove.

10. The robot according to claim 7, characterized in that, The first structural member is provided with a first connector, which is coaxially arranged with the first mounting hole. The second spring and the third spring are both mounted on the first connector.

11. The robot according to claim 10, characterized in that, The first structural member is also provided with a second connecting member, which is coaxially arranged with the first connecting member, and the fourth spring and the fifth spring are mounted on the second connecting member.

12. The robot according to claim 11, characterized in that, The limiting part has multiple second mounting holes for the first connector and the second connector to pass through.

13. The robot according to claim 1, characterized in that, The elastic device includes a first torsion spring, which includes a torsion spring body and a first torsion arm and a second torsion arm disposed at both ends of the torsion spring body. The torsion spring body is coaxially arranged with the rotating shaft. The first torsion arm is connected to the first structural member, and the second torsion arm is connected to the second structural member. When the first structural member rotates, the first torsion arm provides support force for the first structural member.

14. The robot according to claim 13, characterized in that, Let the distance from the point of action of the first torsion spring to the axis of rotation be l, then Wherein, F(θ) is the elastic force on the first structural member, k1 represents the elastic coefficient of the first torsion spring, θ0 represents the pre-compression of the first torsion spring, and θ is the angle formed between the first structural member and the vertical direction, wherein the angle is an acute angle.

15. The robot according to claim 13, characterized in that, The elastic device includes a second torsion spring, which also includes a torsion spring body and a first torsion arm and a second torsion arm disposed at both ends of the torsion spring body. The torsion spring body is coaxially arranged with the rotating shaft, the first torsion arm is connected to the first structural member, and the second torsion arm is connected to the second structural member. When the first structural member rotates, the first torsion arm provides support force for the first structural member.

16. The robot according to claim 15, characterized in that, Let the distance from the point of action of the first torsion spring to the axis of rotation be l, then Where F(θ) is the supporting force, k1 and k2 represent the elastic coefficients of the first and second torsion springs installed on both sides of the first structural member, respectively, and θ 01 θ 02 These represent the pre-compression amounts of the first and second torsion springs, respectively, and θ is the angle formed between the first structural member and the vertical direction, wherein the angle is an acute angle.

17. The robot according to any one of claims 13-16, characterized in that, The first structural member has a third mounting hole for mounting the first torsion arm, and the second structural member has a fourth mounting hole for mounting the second torsion arm.

18. The robot according to any one of claims 13-16, characterized in that, The first structural member is provided with a first mounting part, and the first torsion arm is mounted on the first mounting part; the second structural member is provided with a second mounting part, and the second torsion arm is mounted on the second mounting part.

19. The robot according to claim 13, characterized in that, The angle between the first torsion arm and the second torsion arm is 180 degrees or an obtuse angle.

20. The robot according to claim 1, characterized in that, The elastic device further includes a limiting spring, one end of which is connected to the first structural member and the other end of which is connected to the second structural member, for limiting the rotation of the first structural member.

21. The robot according to claim 1, characterized in that, The first structural member has a first protrusion, and the second structural member has a second protrusion. The first protrusion and the second protrusion are located on the same side of the rotating shaft, which is used to restrict the rotation of the first structural member to this side.

22. The robot according to claim 21, characterized in that, The first protrusion and / or the second protrusion are provided with a buffer.

23. The robot according to claim 1, characterized in that, The motor is located at the near end or the far end and is connected to the first structural component.

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