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 first 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. Rotation of the robot joints is effectively supported, 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 in the prior art, which results in high energy consumption, 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 comprising a first structural member, a second structural member and an elastic device, the first structural member and the second structural member being connected through a first rotating shaft, and the elastic device being connected with the first structural member and the second structural member; the motor controls the rotation of the first structural member, and 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 rotating direction of the first structural member, so as to slow down the rotating speed of the first structural member.

[0005] In some embodiments, the elastic device comprises an elastic support assembly; both sides of the first structural member are provided with a first guide rail, and a group of the elastic support assemblies are connected between each first guide rail and the second structural member; the elastic support assembly comprises a first spring, a sliding block and a support rod; the upper end of the first spring is connected with the first guide rail, and the lower end can be in contact with the sliding block; the sliding block is in sliding connection with the first guide rail; one end of the support rod is in rotational connection with the sliding block, and the other end is in rotational connection with the second structural member; when the first structural member rotates, the first spring can provide a support force for the first structural member.

[0006] In some embodiments, the support force is calculated according to the following formula:

[0007]

[0008] Wherein, k: the first spring elastic coefficient; l1: support rod length; l2: the support rod and the second structure piece connection to the first pivot distance; a: the support slider and the support rod connection with the first pivot horizontal distance; theta: the first structure piece and the vertical direction angle during rotation; theta0: the first structure piece and the vertical direction angle in the initial state; x0: the first spring pre-compression amount.

[0009] In some embodiments, the first guide rail is provided with a first limiting part, the first spring lower end extends out of the first limiting part, and the slider sliding can realize contact and separation with the first spring lower end.

[0010] In some embodiments, the elastic device includes a second spring; the second structure piece is provided with a second guide rail, and the first structure piece is in sliding connection with the second guide rail; the second spring is installed on the second guide rail on both sides of the first structure piece; and when the first structure piece rotates, the second spring can be extruded, and the second spring can provide support force for the first structure piece.

[0011] In some embodiments, both sides of the first structure piece are provided with a baffle, both sides of the second structure piece are provided with the second guide rail matched with the baffle, the baffle is provided with a first mounting hole, and the second guide rail is in sliding connection with the first mounting hole.

[0012] In some embodiments, the second structure piece is provided with a third guide rail close to the second guide rail, the third guide rail is in sliding connection with the second structure piece, a third spring is installed on the third guide rail on both sides of the first structure piece, and when the first structure piece rotates, the second spring and the third spring can be extruded, and the second spring and the third spring can provide support force for the first structure piece.

[0013] In some embodiments, the calculation formula of the support force F(theta) is as follows:

[0014]

[0015] Wherein, k1: the third spring elastic coefficient; k2: the second spring elastic coefficient; r1: third spring radius; r2: the second spring radius; theta: the first structure piece and the vertical direction angle during rotation; theta0: the first structure piece and the vertical direction angle in the initial state; x1: the third spring pre-compression amount; x2: the second spring pre-compression amount; and phi: the second spring end close to the first structure piece and the first pivot center line and the vertical direction angle. 01 : third spring elasticity pre-compression amount; theta 02 : the second spring pre-compression amount; phi: the second spring end close to the first structure piece and the first pivot center line and the vertical direction angle.

[0016] In some embodiments, the elastic device comprises a torsion spring assembly; two sets of the torsion spring assembly are arranged on two sides of the first structural member; the torsion spring assembly comprises a first torsion spring and a second torsion spring, the first torsion spring comprises a first torsion arm and a second torsion arm, the second torsion spring comprises a third torsion arm and a fourth torsion arm, the first torsion arm and the third torsion arm are connected to the first structural member, and the second torsion arm and the fourth torsion arm are connected to the second structural member; when the first structural member rotates, the combined force of the first torsion arm and the third torsion arm can provide a support force opposite to the rotation direction for the first structural member.

[0017] In some embodiments, when the first structural member rotates towards the first torsion spring, the calculation formula of the support force F(θ) is as follows:

[0018]

[0019] Wherein, k1: the elastic coefficient of the first torsion spring on the first side of the first structural member; k2: the elastic coefficient of the first torsion spring on the second side of the first structural member; θ: the included angle between the first structural member and the vertical direction during rotation; θ 01 : the pre-compression amount of the elasticity of the first torsion spring on the first side of the first structural member; θ 02 : the pre-compression amount of the first torsion spring on the first side of the first structural member; l: the distance between the action point of the first torsion spring and the center of the first rotation shaft.

[0020] In some embodiments, a first force storage area is formed between the first torsion arm and the second torsion arm, when the first torsion arm rotates towards the first force storage area, the first torsion arm forms a rebound force; a second force storage area is formed between the third torsion arm and the fourth torsion arm, when the third torsion arm rotates towards the second force storage area, the third torsion arm forms a rebound force; the first force storage area and the second force storage area are opposite in direction.

[0021] In some embodiments, the elastic device comprises a third torsion spring and a fourth torsion spring; the third torsion spring and the fourth torsion spring are arranged on two sides of the first structural member, the third torsion spring comprises a first torsion arm and a second torsion arm, the fourth torsion spring comprises a third torsion arm and a fourth torsion arm, the first torsion arm and the third torsion arm are connected to the first structural member, and the second torsion arm and the fourth torsion arm are connected to the second structural member; when the first structural member rotates, the combined force of the first torsion arm and the third torsion arm can provide a support force for the first structural member.

[0022] In some embodiments, when the first structural member rotates towards the third torsion spring, the calculation formula of the support force F(θ) is as follows:

[0023]

[0024] Wherein, k1: the elastic coefficient of the third torsion spring; θ: the angle between the first structural member and the vertical direction during rotation; θ0: the pre-compression amount of the third torsion spring elasticity; l: the distance between the third torsion spring action point and the center of the first rotating shaft.

[0025] In some embodiments, a first force storage area is formed between the first torsion arm and the second torsion arm, and the first torsion arm forms a resilient force when it rotates towards the first force storage area; a second force storage area is formed between the third torsion arm and the fourth torsion arm, and the third torsion arm forms a resilient force when it rotates towards the second force storage area; the first force storage area and the second force storage area are oppositely oriented.

[0026] In some embodiments, a second limiting part is arranged on the second structural member and abuts against the first torsion arm, and the second limiting part is arranged away from the first force storage area; a third limiting part is arranged on the second structural member and abuts against the third torsion arm, and the third limiting part is arranged away from the second force storage area.

[0027] In some embodiments, the motor is arranged at the proximal end or the distal end and is connected with the first structural member.

[0028] The present disclosure can provide elastic force and elastic limiting in the case of swing or static of the robot joint by arranging springs with 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 rotating 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 rotating 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.

[0029] 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 specifically described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0030] In the drawings, which are not necessarily drawn to scale, like numerals describe similar components throughout the several views. Like numerals having different letter extensions can represent different instances of like components. The drawings illustrate generally, by way of example, various embodiments discussed herein and are not intended to limit the disclosure to the embodiments pictured. The same reference numerals in different drawings can identify the same or similar components. Such embodiments are examples only, and are not intended to be limiting. The figures are intended to be illustrative, and not restrictive, of the disclosure. The drawings set forth herein are intended to be illustrative and not restrictive of the disclosure. Illustrative embodiments of the present disclosure and various modifications thereof, which are explained in the detailed description, are included in the scope of the disclosure. In the drawings:

[0031] Figure 1 is an exploded view of a robot joint structure provided by a first embodiment of the present disclosure;

[0032] Figure 2 is a cross-sectional view of the robot joint structure provided by the first embodiment of the present disclosure Figure 1 ;

[0033] Figure 3 is a cross-sectional view of the robot joint structure provided by the first embodiment of the present disclosure Figure 2 ;

[0034] Figure 4 is an exploded view of a robot joint structure provided by a second embodiment of the present disclosure;

[0035] Figure 5 is a partial view of the robot joint structure provided by the second embodiment of the present disclosure;

[0036] Figure 6 is a cross-sectional view of the robot joint structure provided by the second embodiment of the present disclosure;

[0037] Figure 7 is a cross-sectional view of the robot joint structure provided by the second embodiment of the present disclosure;

[0038] Figure 8 is an exploded view of a robot joint structure provided by a third embodiment of the present disclosure;

[0039] Figure 9 is a partial view of the robot joint structure provided by the third embodiment of the present disclosure;

[0040] Figure 10 is a cross-sectional view of the robot joint structure provided by the third embodiment of the present disclosure;

[0041] Figure 11 is an exploded view of a robot joint structure provided by a fourth embodiment of the present disclosure;

[0042] Figure 12 is a schematic view of a limiting part of a robot joint structure provided by a fourth embodiment of the present disclosure;

[0043] Figure 13 is a schematic view of an opening of a robot joint structure provided by a fourth embodiment of the present disclosure;

[0044] Figure 14 is a sectional view of a robot joint structure provided by a fourth embodiment of the present disclosure;

[0045] Figure 15 is a schematic view of a motor of a robot provided by a fifth embodiment of the present disclosure, wherein the motor is installed at a proximal end;

[0046] Figure 16 is a schematic view of a motor of a robot provided by a fifth embodiment of the present disclosure, wherein the motor is installed at a distal end; wherein the above-mentioned figures include the following reference signs: Figures 1 to 16

[0047] 100 - first structural member; 101 - first limiting part; 102 - first guide rail; 103 - baffle; 104 - second limiting part; 105 - third limiting part; 106 - slide; 107 - opening; 200 - second structural member; 201 - first recess; 202 - first mounting part; 203 - second guide rail; 204 - third guide rail; 205 - second recess; 300 - elastic support assembly; 301 - first spring; 302 - sliding block; 303 - support rod; 304 - abutting part; 305 - second spring; 306 - first torsion spring; 307 - second torsion spring; 308 - first torsion arm; 309 - second torsion arm; 310 - third torsion spring; 311 - fourth torsion spring; 312 - third spring; 400 - motor; 500 - first rotation shaft. DETAILED DESCRIPTION

[0048] In the following, specific embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, but are not intended to limit the present disclosure.

[0049] It should be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the above description should not be taken as limiting, but is merely as an example of the embodiments. Those skilled in the art will think of other modifications within the scope and spirit of the present disclosure.

[0050] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and serve to explain the principles of the present disclosure together with the general description of the present disclosure given above and the detailed description of the embodiments given below.

[0051] These and other characteristics of the present disclosure will become apparent from the following description of the preferred forms given, by way of non-limiting example, with reference to the attached drawings.​

[0052] It should also be understood that, although the present disclosure has been described in relation to the particular embodiments, many other modifications and / or alternative arrangements can be utilized by those skilled in the art once given the benefit of the present disclosure without departing from the scope of the present disclosure as set forth in the claims.

[0053] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings, in which:

[0054] Specific embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings. However, it would be appreciated that the disclosed embodiments are only examples of the present disclosure, which can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that can obscure the present disclosure. 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 employ the present disclosure in substantially any appropriate detailed structure.

[0055] It is to be noted that the terms "first", "second", and the like, used in the description and the claims of the present disclosure as well as above description of the drawings, are used to differentiate between similar objects, rather than to describe a particular sequential or chronological order. It is to be understood that the use of these terms in the description is not to be construed to limit the scope of the embodiments of the present disclosure as set forth in the claims. Furthermore, the terms "comprise" (or other variations such as "comprises" or "comprising") as well as "have" (or other variations such as "has" or "having") are not intended to exclude further additives, components, etc. from the described embodiments.

[0056] The specification can use phrases such as "in one embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments", which can refer to one or more of the same or different embodiments of the present disclosure.

[0057] The first embodiment of this disclosure provides a robot for use in a robot ankle joint, including a robot body, a motor 400, and a robot joint structure disposed on the robot body. The robot joint structure includes 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 by a first rotating shaft 500, and the elastic device is connected to both the first structural member 100 and the second structural member 200. The motor 400 controls the rotation of the first structural member 100. When the first structural member 100 rotates, the elastic device provides a supporting force to the first structural member 100, and the supporting force is opposite to the rotation direction of the first structural member 100, thereby slowing down the rotation speed of the first structural member 100. The elastic device and the motor 400 disposed on the robot cooperate to control the rotation angle of the first structural member 100, thereby reducing the energy consumption of the motor 400.

[0058] In this embodiment, within the set rotation range of the first structural member 100, the elastic device provides a supporting force to the first structural member 100. This supporting force is opposite to the rotation direction of the first structural member 100, 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 400 and the elastic device form an elastic actuator to overcome the weight of the first structural member 100.

[0059] The force component acts to control the rotation speed of the first structural member 100 until the first structural member reaches the set rotation angle; in this embodiment, by setting the elastic device, it can cooperate with the motor 400 to control the rotation of the first structural member 100, thus saving the energy consumption of the motor 400.

[0060] In some embodiments, such as Figure 15 As shown, the motor 400 is located at the first rotating shaft 500, or, as... Figure 16 As shown, the motor 400 is located at the far end and connected to the first structural member 100. The motor 400 drives the first structural member 100 to rotate through the transmission mechanism.

[0061] like Figure 1 , Figure 2 and Figure 3As shown, the elastic device comprises elastic support assemblies 300, the first structural member 100 and the second structural member 200 are connected through a first rotating shaft 500, the first structural member 100 can make planar circumferential motion around the first rotating shaft 500, both sides of the first structural member 100 are provided with the elastic support assemblies 300, both sides of the first structural member 100 are provided with first guide rails 102, the first guide rails 102 are provided with first limiting portions 101, the elastic support assemblies 300 comprise first springs 301, sliding blocks 302 and support rods 303, the upper ends of the first springs 301 are connected with the first guide rails 102, the first springs 301 are arranged above the first limiting portions 101, the sliding blocks 302 are arranged below the first limiting portions 101 and are used for limiting the motion of the sliding blocks 302, the lower ends of the first springs 301 pass through the first limiting portions 101 and are in contact with the upper ends of the sliding blocks 302, one end of the support rod 303 is rotationally connected with the sliding block 302 and the other end is rotationally connected with the second structural member 200. Within the set rotating range of the first structural member 100, the first spring 301 can provide support force for the first structural member 100, can assist the motor 400 to overcome the gravity of the first structural member 100 and saves the power consumption of the motor 400. The support force is smaller than the pressure applied by the first structural member 100 to each first spring 301.

[0062] Specifically, in the initial state, the support forces of the first structural member 100 from the first springs 301 on both sides are the same, when rotating, for example, when the motor 400 drives the first structural member 100 to rotate to the front side, the sliding block 302 at the rear side of the first structural member 100 slides downward and gradually separates from the first spring 301 at the rear side of the first structural member 100, the first spring 301 at the front side can provide support force for the first structural member 100, thereby saving the power of the motor 400.

[0063] Specifically, in some embodiments, the first limiting portion 101 is provided with a channel, the lower end of the first spring 301 is provided with an abutting portion 304, the lower end of the abutting portion 304 extends out of the channel, in the initial state of the first structural member 100, the abutting portion 304 abuts against the upper end of the sliding block 302, thereby providing support force for the first structural member 100, when rotating, the motor 400 drives the first structural member 100 to rotate to one side, the abutting portion 304 on the other side separates from the sliding block 302, at this time, the first structural member 100 is only subjected to the support force of one side.

[0064] Specifically, the second structural member 200 is provided with a first recess 201, the first structural member 100 is arranged inside the first recess 201 and connected with the side wall of the first recess 201 through a first rotating shaft 500; more specifically, the second structural member 200 is provided with a first mounting portion 202 on each side, and the first mounting portion 202 is connected with the support rod 303.

[0065] Here, taking the backward rotation of the first structural member 100 as an example, the calculation method of the elastic support force is described. At this time, the direction of the elastic support force is opposite to the rotating direction of the first joint structural member 100, and the calculation formula is as follows:

[0066]

[0067] Wherein:

[0068] k: the elastic coefficient of the first spring 301;

[0069] l1: the length of the support rod 303;

[0070] l2: the distance from the connection between the support rod 303 and the second structural member 200 to the first rotating shaft 500;

[0071] a: the horizontal distance between the connection between the support sliding block 302 and the support rod 303 and the first rotating shaft 500;

[0072] θ: the included angle between the first structural member 100 and the vertical direction during rotation;

[0073] θ0: the included angle between the first structural member 100 and the vertical direction in the initial state.

[0074] x0: the pre-compression amount of the first spring 301.

[0075] The present disclosure can provide elastic force and elastic limit by arranging springs with different shapes and positions at the robot joint, and can provide elastic force and elastic limit when the robot joint swings or is stationary. The spring or torsion spring can be combined with the motor to form an elastic driver, which can jointly adjust the rotating 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 rotating 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.

[0076] The second embodiment of the present disclosure provides a robot which can be used in a robot ankle joint, comprising a robot body, a motor 400 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 first rotating shaft 500, and the elastic device being connected with the first structural member 100 and the second structural member 200; the motor 400 controls the rotation of the first structural member 100, and when the first structural member 100 rotates, the elastic device provides a support force for the first structural member 100, and the support force is opposite to the rotation direction of the first structural member 100, for slowing down the rotation speed of the first structural member 100. The elastic device cooperates with the motor 400 arranged on the robot to control the rotation angle of the first structural member 100, thereby reducing the energy consumption of the motor 400.

[0077] 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 400 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, 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 400 through the arrangement of the elastic device, thereby saving the energy consumption of the motor 400.

[0078] In some embodiments, as shown in Figure 15 , the motor 400 is arranged at the first rotating shaft 500, or, as shown in Figure 16 , arranged at the distal end and connected with the first structural member 100, and the motor 400 drives the first structural member 100 to rotate through a transmission mechanism.

[0079] As shown in Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the elastic device comprises a second spring 305, the first structural member 100 and the second structural member 200 are connected through a first rotating shaft 500, the first structural member 100 can make planar circumferential motion around the first rotating shaft 500; the second structural member 200 is provided with a second guide rail 203, the first structural member 100 is slidably connected with the second guide rail 203; the second spring 305 is installed on the second guide rail 203 at both sides of the first structural member 100, the first structural member 100 can extrude the first spring 301 when rotating, the second spring 305 can provide the first structural member 100 with a support force opposite to the rotating direction, which can help the motor 400 overcome the gravity of the first structural member 100 and save the power consumption of the motor 400. The support force is smaller than the pressure applied by the first structural member 100 to the first spring 301.

[0080] Specifically, in the initial state, the first structural member 100 receives the same support force from the first spring 301 at both sides, when rotating, for example, when the motor 400 drives the first structural member 100 to rotate to the front side, the first spring 301 located at the front side of the first structural member 100 can provide the first structural member 100 with a support force, thereby saving the power of the motor 400.

[0081] Further, in the embodiment, the first structural member 100 is provided with a baffle 103, the baffle 103 is provided with a first mounting hole, the second guide rail 203 is slidably connected with the first mounting hole; more specifically, the second structural member 200 is provided with the second guide rail 203 at each side, which can balance the force received by the first structural member 100 at both sides.

[0082] Further, in some embodiments, a third guide rail 204 is further provided close to the second guide rail 203, the third guide rail 204 is slidably connected with the baffle 103, a third spring 312 is installed on the third guide rail 204 at both sides of the baffle 103, the first structural member 100 can extrude the second spring 305 and the third spring 312 when rotating, the third spring 312 and the second spring 301 can provide the first structural member 100 with a support force opposite to the rotating direction, the support force is smaller than the pressure applied by the first structural member 100 to the third spring 312 and the second spring 305.

[0083] Specifically, in the embodiment, the second structural member 200 is provided with a first recess 201, the first recess 201 is provided with a second mounting hole, the first structural member 100 is connected with the second mounting hole through the first rotating shaft 500.

[0084] The robot joint mechanism of the present disclosure can provide elastic support force for the robot joint when it is stationary or swings forward and backward. By setting springs with different elastic coefficients, different forces can be provided. Here, the first structure 100 is taken as an example to describe the calculation method of the support force. At this time, the direction of the support force is opposite to the rotation direction of the first structure 100, and the support force F(θ) calculation formula is as follows:

[0085]

[0086] The meanings of the parameters are as follows (see Figure 7 ):

[0087] k1: elastic coefficient of the third spring 312; k2: elastic coefficient of the second spring 305; r1: radius of the third spring 312; r2: radius of the second spring 305; θ: included angle between the first structure 100 and the vertical direction during rotation; θ 01 : pre-compression amount of the elasticity of the third spring 312; θ 02 : pre-compression amount of the second spring 305; φ: included angle between the line connecting the end of the second spring 305 close to the first structure 100 and the center of the first rotating shaft 500 and the vertical direction.

[0088] The present disclosure can provide elastic force and elastic limit by setting springs with different shapes and positions at the robot joint, so as to provide support force for the first structure, overcome the gravity of the first structure, slow down the rotation speed of the first structure, and make the first structure 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.

[0089] The third embodiment of the present disclosure provides a robot, which can be used in a robot ankle joint, comprising a robot body, a motor 400 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 first rotating shaft 500, and the elastic device being connected with the first structural member 100 and the second structural member 200; the motor 400 controls the rotation of the first structural member 100, and when the first structural member 100 rotates, the elastic device provides a support force for the first structural member 100, and the support force is opposite to the rotation direction of the first structural member 100, for slowing down the rotation speed of the first structural member 100. The elastic device cooperates with the motor 400 arranged on the robot to control the rotation angle of the first structural member 100, thereby reducing the energy consumption of the motor 400.

[0090] 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 400 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, 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 400 through the arrangement of the elastic device, thereby saving the energy consumption of the motor 400.

[0091] In some embodiments, as shown in Figure 15 , the motor 400 is arranged at the first rotating shaft 500, or, as shown in Figure 16 , is arranged at the distal end and connected with the first structural member 100, and the motor 400 drives the first structural member 100 to rotate through a transmission mechanism.

[0092] As shown in Figure 8 , Figure 9 and Figure 10As shown, the robot joint structure comprises a first structural member 100, a second structural member 200 and a torsion spring assembly, the first structural member 100 and the second structural member 200 are connected through a first rotation shaft 500, the first structural member 100 can make planar circular motion around the first rotation shaft 500; the torsion spring assembly is arranged on both sides of the first structural member 100, the torsion spring assembly comprises a first torsion spring 308 and a second torsion spring 309, the first torsion spring 306 comprises a first torsion arm 308 and a second torsion arm 309, the second torsion spring 309 comprises a third torsion arm 312 and a fourth torsion arm 313, the first torsion arm 308 and the third torsion arm 312 are both connected with the first structural member 100, the second torsion arm 309 and the fourth torsion arm 313 are both connected with the second structural member 200; when the first structural member 100 rotates, the resultant force of the first torsion arm 308 and the third torsion arm 312 can provide a support force opposite to the rotation direction for the first structural member 100, which can help the motor 400 overcome the gravity of the first structural member 100 and save the power consumption of the motor 400. The support force is smaller than the pressure exerted by the first structural member 100 on the first torsion arm 308 or the third torsion arm 312, and the direction of the pressure is the same as the rotation direction.

[0093] Specifically, in the initial state, the first structural member 100 on both sides receives the same support force from the first torsion arm 306, and when rotating, for example, when the motor 400 drives the first structural member 100 to rotate to the front side, the first torsion spring 306 can provide a support force for the first structural member 100, thereby saving the power of the motor 400.

[0094] Further, in the embodiment, a first force storage area A is formed between the first torsion arm 308 and the second torsion arm 309 of the first torsion spring 306, when the first torsion arm 308 rotates to the first force storage area A, the first torsion arm 308 forms a rebound force, which can provide a support for the first structural member 100; a second force storage area B is formed between the third torsion arm 312 and the fourth torsion arm 313 of the second torsion spring 307, when the third torsion arm 312 rotates to the first force storage area B, the third torsion arm 312 forms a rebound force, which can provide a support force for the first structural member 100; the first force storage area A and the second force storage area B are opposite in direction, such a structural design can ensure that when the first structural member 100 rotates to either side, the first torsion arm 308 or the third torsion arm 312 can store force, thereby providing a support force for the first structural member 100, which is used to assist the motor 400 to overcome part of the gravity of the first structural member 100.

[0095] Further, in the embodiment, the first structure 100 is provided with a second groove 205, and the first torsion arm 308 is connected to the sidewall of the second groove 205; the second structure 200 is provided with two second mounting holes, and the second torsion arm 308 is connected to the second mounting hole.

[0096] The robot joint mechanism can provide a support force for the robot joint when it is static or swings forward and backward. By arranging the first torsion spring 306 and the second torsion spring 307 with different elastic coefficients, different support forces can be provided. Here, the first structure 1 is taken as an example to describe the calculation method of the support force when it rotates to the rear side. At this time, the direction of the support force is opposite to the rotating direction of the first structure 100, and the calculation formula of the support force F(θ) is as follows:

[0097]

[0098] Wherein, the parameters have the following meanings:

[0099] k1: the elastic coefficient of the first torsion spring 306 located on the left side of the first structure;

[0100] k2: the elastic coefficient of the first torsion spring 306 located on the right side of the first structure;

[0101] θ: the included angle between the first structure 100 and the vertical direction during rotation;

[0102] θ 01 : the pre-compression amount of the first torsion spring 306 located on the left side of the first structure;

[0103] θ 02 : the pre-compression amount of the first torsion spring 306 located on the right side of the first structure;

[0104] l: the distance between the action point of the first torsion spring 306 and the center of the first rotating shaft 500.

[0105] The present disclosure can provide elastic force and elastic limit in the case of swinging or being static of the robot joint by arranging springs with different shapes and positions at the robot joint. The spring or the torsion spring can be combined with the motor to form an elastic driver, which can jointly adjust the rotating posture of the first structure, i.e. can provide a support force for the first structure, overcome the gravity of the first structure, slow down the rotating speed of the first structure, and make the first structure 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.

[0106] The fourth embodiment of the present disclosure provides a robot which can be used in a robot ankle joint, comprising a robot body, a motor 400 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 first rotating shaft 500, and the elastic device being connected with the first structural member 100 and the second structural member 200; the motor 400 controls the rotation of the first structural member 100, and when the first structural member 100 rotates, the elastic device provides a support force for the first structural member 100, and the support force is opposite to the rotation direction of the first structural member 100, for slowing down the rotation speed of the first structural member 100. The elastic device cooperates with the motor 400 arranged on the robot to control the rotation angle of the first structural member 100, thereby reducing the energy consumption of the motor 400.

[0107] 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 400 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, 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 400 through the arrangement of the elastic device, thereby saving the energy consumption of the motor 400.

[0108] In some embodiments, as shown in Figure 15 , the motor 400 is arranged at the first rotating shaft 500, or, as shown in Figure 16 , arranged at the distal end and connected with the first structural member 100, and the motor 400 drives the first structural member 100 to rotate through a transmission mechanism.

[0109] As shown in Figure 11 , Figure 12 , Figure 13 and Figure 14As shown, the robot joint structure comprises a first structural member 100, a second structural member 200, a third torsional spring 310 and a fourth torsional spring 311, the first structural member 100 and the second structural member 200 are connected through a first rotation shaft 500, the first structural member 100 can make planar circumferential motion around the first rotation shaft 500; the third torsional spring 310 and the fourth torsional spring 311 are coaxially arranged with the first rotation shaft 500, the third torsional spring 310 and the fourth torsional spring 311 are separately arranged on two sides of the first structural member 100, the third torsional spring 310 comprises a first torsional arm 308 and a second torsional arm 309, the fourth torsional spring 311 comprises a third torsional arm 312 and a fourth torsional arm 313, the first torsional arm 308 and the third torsional arm 312 are both connected with the first structural member 100, the second torsional arm 309 and the fourth torsional arm 313 are both connected with the second structural member 200; when the first structural member 100 rotates, the resultant force of the first torsional arm 308 and the third torsional arm 312 can provide a support force opposite to the rotation direction for the first structural member 100, which can help the motor 400 overcome the gravity of the first structural member 100, thereby saving the power consumption of the motor 400. The support force is smaller than the pressure applied by the first structural member 100 to the first torsional arm 308 or the third torsional arm 312, and the direction of the pressure is the same as the rotation direction.

[0110] Further, in the embodiment, the first torsional arm 308 and the second torsional arm 309 of the third torsional spring 310 form a first force storage area A, when the first torsional arm 308 rotates towards the first force storage area A, the first torsional arm 308 forms a rebound force; the third torsional arm 312 and the fourth torsional arm 313 of the fourth torsional spring 311 form a second force storage area B, when the third torsional arm 312 rotates towards the second force storage area B, the third torsional arm 312 forms a rebound force, the first force storage area A and the second force storage area B are opposite in direction, such a structure design can ensure that when the first structural member 100 rotates to either side, the first torsional spring 306 or the second torsional spring 307 can store force, thereby providing support force for the first structural member 100, for assisting the motor 400 to overcome part of the gravity of the first structural member 100.

[0111] In the embodiment, when the first structural member 100 rotates, the first torsional arm 308 can provide a support force opposite to the rotation direction for the first structural member 100, and the support force is smaller than the pressure applied by the first structural member 100 to the first torsional arm 308.

[0112] Specifically, in the initial state, the first structure 100 is supported by the same force from the first torsion arm 306, and when rotating, for example, when the motor 400 drives the first structure 100 to rotate to the front side, the third torsion spring 310 can provide support force for the first structure 100, thereby saving power for the motor 400.

[0113] Further, in the embodiment, the second structure 200 is provided with a second limiting part 104 on the side away from the first force storage area A, the second limiting part 104 abuts against the first torsion arm 308 of the third torsion spring 310; the second structure 200 is provided with a third limiting part 105 on the side away from the second force storage area B, the third limiting part 105 abuts against the first torsion arm 309 of the fourth torsion spring 310, so that the third torsion spring 310 and the fourth torsion spring 311 have a pre-compression amount, and when the first structure 100 rotates, the third torsion spring 310 or the fourth torsion spring 311 can generate a larger support force on the first structure.

[0114] Further, in the embodiment, the first structure 100 is further provided with two slideways 106 matched with the second limiting block 104 and the third limiting block 105, the second limiting block 104 and the third limiting block 105 are in sliding connection with the slideways 106, and when the first structure 100 rotates, the second limiting block 104 or the third limiting block 105 can avoid interfering with the rotating action.

[0115] Further, in the embodiment, the first structure 100 is provided with an opening 107 for mounting the third torsion spring 310 and the fourth torsion spring 311.

[0116] The robot joint mechanism of the present disclosure can provide support force for the robot joint when it is static or rotates forward or backward, and by providing the third torsion spring 310 and the fourth torsion spring 311 with different elastic coefficients, different forces can be provided. Here, taking the backward rotation of the first structure 100 as an example, the calculation method of the support force is described. At this time, the direction of the support force is opposite to the direction of the rotation of the first structure 100, and the calculation formula of the support force F(θ) is as follows:

[0117]

[0118] Wherein the meanings of the parameters are as follows (see Figure 16 ):

[0119] k1: elastic coefficient of the third torsion spring 310;

[0120] θ: included angle between the first structure 100 and the vertical direction during rotation;

[0121] θ0: the pre-compression amount of the elasticity of the third torsion spring 310;

[0122] l: the distance between the action point of the third torsion spring 310 and the center of the first rotating shaft 500.

[0123] The present disclosure can provide elastic force and elastic limit in the case of swing or static of the robot joint by setting springs with different shapes and positions at the robot joint. The spring or torsion spring can form an elastic driver in combination with the motor to jointly adjust the rotating posture of the first structure, i.e., to provide support force for the first structure, overcome the gravity of the first structure, slow down the rotating speed of the first structure, and rotate the first structure 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.

[0124] 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.

[0125] 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.

[0126] In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment" and the like mentioned in the specification refer to the 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 description 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.

[0127] 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.

[0128] 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 changes. 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 robot body, a motor and a robot joint structure arranged on the robot body, the robot joint structure comprising a first structural member, a second structural member and an elastic device, the first structural member and the second structural member being connected through a first rotating shaft, the elastic device being 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 rotating direction of the first structural member, for slowing down the rotating speed of the first structural member.

2. The robot of claim 1, wherein, The elastic device comprises a spring support assembly; both sides of the first structural member are provided with a first guide rail, and a group of spring support assemblies are connected between each first guide rail and the second structural member; the spring support assembly comprises a first spring, a sliding block and a support rod; the upper end of the first spring is connected with the first guide rail, and the lower end can be in contact with the sliding block; the sliding block is slidingly connected with the first guide rail; one end of the support rod is rotationally connected with the sliding block, and the other end is rotationally connected with the second structural member; when the first structural member rotates, the first spring can provide a support force for the first structural member.

3. The robot of claim 2, wherein, The calculation formula of the support force is as follows: Wherein, k: the elastic coefficient of the first spring; l1: the length of the support rod; l2: the distance from the connection of the support rod and the second structural member to the first rotating shaft; a: the horizontal distance from the connection of the support sliding block and the support rod to the first rotating shaft; θ: the included angle between the first structural member and the vertical direction in the rotating process; θ0: the included angle between the first structural member and the vertical direction in the initial state; x0: the pre-compression amount of the first spring.

4. The robot of claim 2, wherein, A first limiting part is arranged on the first guide rail, the lower end of the first spring extends out of the first limiting part, and the sliding of the sliding block can realize contact and separation with the lower end of the first spring.

5. The robot of claim 1, wherein, The elastic device comprises a second spring; a second guide rail is arranged on the second structural member, and the first structural member is slidingly connected with the second guide rail; the second spring is installed on the second guide rail on both sides of the first structural member; when the first structural member rotates, the second spring can be extruded, and the second spring can provide a support force for the first structural member.

6. The robot of claim 5, wherein, Both sides of the first structural member are provided with a baffle, both sides of the second structural member are provided with the second guide rail matched with the baffle, a first mounting hole is arranged on the baffle, and the second guide rail is slidingly connected with the first mounting hole.

7. The robot of claim 5, wherein, A third guide rail is arranged on the second structural member close to the second guide rail, the third guide rail is slidingly connected with the second structural member, a third spring is installed on the third guide rail on both sides of the first structural member, and the second spring and the third spring can be extruded when the first structural member rotates, and the second spring and the third spring can provide a support force for the first structural member.

8. The robot of claim 7, wherein, The calculation formula of the support force F(θ) is as follows: Wherein, k1: the third spring elastic coefficient; k2: the second spring elastic coefficient; r1: third spring radius; r2: the second spring radius; θ: the first structure and the vertical direction during the rotation process Angle; θ 01 : the third spring elastic pre-compression amount; θ 02 : the second spring pre-compression amount; φ: the second spring end close to the first structure and the first rotation axis center of the line with the vertical direction Angle.

9. The robot of claim 1, wherein, The elastic device comprises a torsion spring assembly; two groups of the torsion spring assembly are arranged on two sides of the first structural member; the torsion spring assembly comprises a first torsion spring and a second torsion spring, the first torsion spring comprises a first torsion arm and a second torsion arm, the second torsion spring comprises a third torsion arm and a fourth torsion arm, the first torsion arm and the third torsion arm are connected with the first structural member, and the second torsion arm and the fourth torsion arm are connected with the second structural member; when the first structural member rotates, the resultant force of the first torsion arm and the third torsion arm can provide a support force opposite to the rotating direction for the first structural member.

10. The robot of claim 9, wherein, When the first structural member rotates towards the first torsion spring, the calculation formula of the support force F(θ) is as follows: Wherein, k1: the elastic coefficient of the first torsion spring on the first side of the first structural member; k2: the elastic coefficient of the first torsion spring on the second side of the first structural member; θ: the included angle between the first structural member and the vertical direction during rotation; θ 01 : the pre-compression of the first torsion spring on the first side of the first structural member; θ 02 : the pre-compression of the first torsion spring on the first side of the first structural member; l: the distance between the action point of the first torsion spring and the center of the first rotating shaft.

11. The robot of claim 9, wherein, The first torsion arm and the second torsion arm form a first force storage area, when the first torsion arm rotates towards the first force storage area, the first torsion arm forms a rebound force; the third torsion arm and the fourth torsion arm form a second force storage area, when the third torsion arm rotates towards the second force storage area, the third torsion arm forms a rebound force; the first force storage area and the second force storage area are opposite in direction.

12. The robot of claim 1, wherein, The elastic device comprises a third torsion spring and a fourth torsion spring; the third torsion spring and the fourth torsion spring are arranged on two sides of the first structural member, the third torsion spring comprises a first torsion arm and a second torsion arm, the fourth torsion spring comprises a third torsion arm and a fourth torsion arm, the first torsion arm and the third torsion arm are connected with the first structural member, and the second torsion arm and the fourth torsion arm are connected with the second structural member; when the first structural member rotates, the resultant force of the first torsion arm and the third torsion arm can provide a support force for the first structural member.

13. The robot of claim 12, wherein, When the first structural member rotates towards the third torsion spring, the calculation formula of the support force F(θ) is as follows: Wherein, k1: the elastic coefficient of the third torsion spring; θ: the included angle between the first structural member and the vertical direction during rotation; θ0: the pre-compression amount of the third torsion spring elasticity; l: the distance between the third torsion spring action point and the center of the first rotating shaft.

14. The robot of claim 12, wherein, The first torsion arm and the second torsion arm form a first force storage area, when the first torsion arm rotates towards the first force storage area, the first torsion arm forms a rebound force; the third torsion arm and the fourth torsion arm form a second force storage area, when the third torsion arm rotates towards the second force storage area, the third torsion arm forms a rebound force; the first force storage area and the second force storage area are opposite in direction.

15. The robot of claim 14, wherein, The second structural member is provided with a second limiting portion abutting against the first torsion arm, and the second limiting portion is arranged away from the first force storage area; the second structural member is provided with a third limiting portion abutting against the third torsion arm, and the third limiting portion is arranged away from the second force storage area.

16. The robot of claim 14, wherein, The motor is arranged at the proximal end or the distal end and is connected with the first structural member.

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