Robotic joint

Abstract

The application discloses a robot joint, which comprises a mounting base, a decoupling mechanism, a decoupling base, a decoupling wheel rotatably arranged on the decoupling base around a first axis and rotationally connected with the mounting base, a decoupling shaft rotatably arranged on the decoupling base around a second axis, the first axis and the second axis intersecting, a decoupling wire connecting the decoupling wheel and the decoupling shaft, and a driving assembly adapted to drive the decoupling wheel to move to drive the decoupling shaft to rotate around the first axis and / or the second axis through the decoupling wire. According to the robot joint, the decoupling wire connected with the decoupling wheel and the decoupling shaft respectively is arranged, the rigidity of the transmission structure between the decoupling wheel and the decoupling shaft can be reduced, the wear of the transmission structure can be reduced, and the transmission precision of the transmission structure can be improved, so that the movement precision of the robot joint can be improved, and the impact resistance of the robot joint can be improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot joint. Background Technology

[0002] In related technologies, existing robot joints generally use gear transmission structures for multi-degree-of-freedom decoupling. However, gear transmission structures have high rigidity and wear during operation, resulting in large transmission backlash during long-term operation. This means that the transmission error is large and the joint is easily damaged when subjected to external impacts, resulting in poor motion accuracy of the robot parts using the joint and difficulty in withstanding large impacts. There is room for improvement. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a robot joint that has high operational precision and strong impact resistance.

[0004] A robot joint according to an embodiment of the present invention includes: a mounting base; a decoupling mechanism, the decoupling mechanism including: a decoupling seat; a decoupling wheel rotatably disposed on the decoupling seat about a first axis and rotatably connected to the mounting base; a decoupling shaft rotatably disposed on the decoupling seat about a second axis, the first axis and the second axis intersecting; a decoupling line connecting the decoupling wheel and the decoupling shaft; and a drive assembly adapted to drive the decoupling wheel to rotate the decoupling shaft about the first axis and / or the second axis via the decoupling line.

[0005] According to embodiments of the present invention, the robot joint, by setting decoupling lines respectively connected to the decoupling wheel and the decoupling shaft, allows the decoupling shaft to rotate individually or simultaneously in different directions under the drive of the decoupling lines. This increases the degrees of freedom of the decoupling shaft, enables multi-degree-of-freedom decoupling of the decoupling shaft, improves the flexibility of the robot joint's movement, reduces the rigidity of the transmission structure between the decoupling wheel and the decoupling shaft, reduces wear on the transmission structure, and improves the transmission accuracy of the transmission structure. Consequently, this improves the movement accuracy of the robot joint, enhances its impact resistance, and increases the reliability and stability of its movement.

[0006] According to some embodiments of the present invention, the decoupling seat includes: two oppositely arranged support platforms, the two support platforms being connected by a plurality of connecting shafts, each support platform having a first clearance hole, the decoupling shaft passing through the first clearance hole and being rotatably connected to the support platform, the two support platforms having a second clearance hole, and the decoupling wheel passing through the second clearance hole and being rotatably connected to the support platform.

[0007] In some embodiments, the two support platforms have a clearance boss on their adjacent sides, the clearance boss having an arc-shaped clearance groove, the two clearance grooves being adapted to form a second clearance hole when the two support platforms are close together, the second clearance hole being adapted to install a bearing sleeved on the decoupling wheel.

[0008] In some embodiments, each of the connecting shafts is provided with two guide members, each guide member having a guide groove. One end of the decoupling line is connected to the decoupling shaft through one of the guide grooves and around the guide member, and the other end of the decoupling line is connected to the decoupling shaft through the other guide groove and around the guide member.

[0009] According to some embodiments of the present invention, the decoupling wheel includes: a first wheel body and a second wheel body, one of the first wheel body and the second wheel body having a first limiting boss, the other of the first wheel body and the second wheel body having a first limiting groove, a portion of the decoupling line extending into the first limiting groove, and the first limiting boss and the first limiting groove being inserted into each other to press the decoupling line.

[0010] According to some embodiments of the present invention, the decoupling wheel includes two decoupling wheels, which are arranged opposite to each other on both sides of the decoupling seat; the decoupling wire includes two decoupling wires, which are respectively wound around the decoupling shaft and arranged centrally symmetrically about the second axis; the driving assembly includes at least two driving members, which are adapted to drive the two decoupling wheels to rotate.

[0011] In some embodiments, the drive assembly further includes: a drive wheel rotatably disposed on the mounting base; and a drive line fixed to at least one of the drive wheel and the decoupling wheel, the drive line being adapted to wind around the drive wheel and the decoupling wheel, wherein the drive member is adapted to drive the drive wheel to rotate so as to drive the decoupling wheel to rotate via the drive line.

[0012] In some embodiments, the decoupling wheel includes: a first wheel body and a third wheel body, one of the first wheel body and the third wheel body having a second limiting boss, the other of the first wheel body and the third wheel body having a second limiting groove, a portion of the transmission line extending into the second limiting groove, and the second limiting boss and the second limiting groove being inserted into each other to press the transmission line.

[0013] In some embodiments, the drive assembly further includes a worm gear and a worm, the worm being disposed at the output end of the drive member, the worm gear being rotatably disposed on the mounting base and meshing with the worm, and the worm gear and the transmission wheel rotating coaxially.

[0014] In some embodiments, the mounting base includes: a mounting plate; a plurality of mounting brackets, the plurality of mounting brackets being respectively connected to the mounting plate, and the worm gear, the transmission wheel and the decoupling wheel being rotatably connected to the mounting brackets respectively.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a schematic diagram of the structure of a robot joint according to some embodiments of the present invention;

[0018] Figure 2 This is a schematic diagram of the decoupling mechanism according to some embodiments of the present invention;

[0019] Figure 3 This is an exploded view of a decoupling mechanism according to some embodiments of the present invention;

[0020] Figure 4 This is a partial structural schematic diagram of a decoupling mechanism according to some embodiments of the present invention;

[0021] Figure 5 This is an exploded view of the decoupling wheel according to some embodiments of the present invention from one perspective;

[0022] Figure 6 This is an exploded view of the decoupling wheel according to some embodiments of the present invention from another perspective;

[0023] Figure 7 This is a schematic diagram of the structure of a drive component according to some embodiments of the present invention;

[0024] Figure 8 This is a schematic diagram of the structure of the mounting base according to some embodiments of the present invention.

[0025] Figure label:

[0026] Robot joint 100,

[0027] Mounting base 10, mounting plate 11, mounting bracket 12, first bracket 121, second bracket 122, third bracket 123, fourth bracket 124.

[0028] Decoupling mechanism 20, decoupling seat 21, support platform 211, first clearance hole 2111, clearance boss 212, clearance groove 2121, second clearance hole 2122, connecting shaft 213, guide member 214, guide groove 2141, limiting member 215.

[0029] Decoupling wheel 22, first wheel body 221, first limiting boss 2211, second limiting groove 2212, second wheel body 222, first limiting groove 2221, third wheel body 223, second limiting boss 2231, decoupling shaft 23, decoupling line 24.

[0030] Drive assembly 30, drive component 31, worm gear 32, worm wheel 33, transmission wheel 34, transmission line 35. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0032] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] The following is for reference. Figures 1-8 A robot joint 100 according to an embodiment of the present invention is described.

[0035] like Figures 1-8As shown, the robot joint 100 according to an embodiment of the present invention includes: a mounting base 10, a decoupling mechanism 20 and a drive assembly 30. The decoupling mechanism 20 may include a decoupling seat 21, a decoupling wheel 22, a decoupling shaft 23 and a decoupling line 24. The decoupling wheel 22 is rotatably disposed on the decoupling seat 21. The decoupling wheel 22 can rotate about a first axis and can be rotatably connected to the mounting base 10. That is, the decoupling mechanism 20 can rotate relative to the mounting base 10 about the first axis through the decoupling wheel 22.

[0036] The decoupling shaft 23 is rotatably mounted on the decoupling seat 21, and the decoupling shaft 23 can rotate around the second axis, that is, the decoupling shaft 23 can rotate relative to the mounting seat 10 around the second axis. The rotation of the decoupling seat 21 can drive the decoupling shaft 23 to rotate relative to the mounting seat 10 around the first axis, so that the decoupling shaft 23 can rotate relative to the mounting seat 10 around the first axis and the second axis respectively, and the decoupling shaft 23 can rotate relative to the mounting seat 10 around the first axis and the second axis simultaneously.

[0037] The first axis and the second axis can intersect, allowing the decoupling axis 23 to rotate in different directions and to have multiple degrees of freedom (such as two degrees of freedom). Since the rotation of the decoupling axis 23 in some directions is driven by the decoupling seat 21, and the movements of the decoupling axis 23 and the decoupling seat 21 do not interfere with each other, the multi-degree-of-freedom decoupling of the decoupling axis 23 can be achieved. This ensures that the decoupling axis 23 can rotate in different directions and can also rotate simultaneously in multiple directions. This improves the reliability of the robot joint 100's movement and enhances the flexibility of the robot joint 100's movement.

[0038] The decoupling line 24 can connect the decoupling wheel 22 and the decoupling shaft 23 respectively. The drive assembly 30 can drive the decoupling wheel 22 to move, so that the decoupling shaft 23 can rotate independently around the first axis through the decoupling line 24. Alternatively, the decoupling line 24 can drive the decoupling shaft 23 to rotate independently around the second axis. Or, the decoupling line 24 can drive the decoupling shaft 23 to rotate simultaneously around the first axis and the second axis. That is, the rotation of the decoupling wheel 22 can drive the decoupling line 24 to move, and the movement of the decoupling line 24 can drive the decoupling shaft 23 to rotate.

[0039] Therefore, by setting the decoupling line 24, the transmission between the decoupling wheel 22 and the decoupling shaft 23 can be realized. The decoupling line 24 can be connected to the decoupling wheel 22 and the decoupling shaft 23 respectively. On the one hand, it can prevent the decoupling line 24 from slipping between the decoupling wheel 22 and the decoupling shaft 23 respectively, which can improve the transmission efficiency and transmission effect of the decoupling line 24 and improve the reliability and stability of the robot joint 100. On the other hand, it can ensure that the decoupling line 24 is in a relatively taut state during the transmission process, which can improve the transmission accuracy of the decoupling line 24 and improve the movement accuracy of the robot joint 100.

[0040] In this application, by adopting the aforementioned transmission structure (such as the wire harness structure of the decoupling line 24), compared with the solution using a transmission structure such as gears, it has lower rigidity, higher flexibility, and less wear during transmission. This can reduce the transmission error of the transmission structure and improve the transmission accuracy of the transmission structure. At the same time, it allows the transmission structure to move or deform when the transmission end (such as the decoupling shaft 23) is subjected to external impact to attenuate the impact, which can prevent the transmission structure from being damaged when subjected to impact and improve the impact resistance of the robot joint 100.

[0041] According to an embodiment of the present invention, the robot joint 100, by providing decoupling lines 24 respectively connected to the decoupling wheel 22 and the decoupling shaft 23, allows the decoupling shaft 23 to rotate individually or simultaneously in different directions under the drive of the decoupling lines 24. This increases the degrees of freedom of the decoupling shaft 23, enables multi-degree-of-freedom decoupling of the decoupling shaft 23, improves the flexibility of the robot joint 100, reduces the rigidity of the transmission structure between the decoupling wheel 22 and the decoupling shaft 23, reduces wear on the transmission structure, and improves the transmission accuracy of the transmission structure. Consequently, this improves the activity accuracy of the robot joint 100, enhances its impact resistance, and increases the reliability and stability of its activity.

[0042] like Figure 2 , Figure 3 and Figure 4 As shown, according to some embodiments of the present invention, the decoupling seat 21 may include two support platforms 211, which may be arranged opposite to each other and connected by a plurality of connecting shafts 213. Each support platform 211 may have a first clearance hole 2111, and the decoupling shaft 23 may pass through the first clearance hole 2111. The decoupling shaft 23 may be rotatably connected to the support platform 211, so that the decoupling shaft 23 may rotate about a second axis relative to the decoupling seat 21.

[0043] The two support platforms 211 can have a second clearance hole 2122, that is, the two support platforms 211 can cooperate to form the second clearance hole 2122. The decoupling wheel 22 can pass through the second clearance hole 2122, and the decoupling wheel 22 can be rotatably connected to the support platform 211, so that the entire decoupling seat 21 can rotate to drive the decoupling shaft 23 to rotate around the first axis, thereby improving the reliability and stability of the rotation of the decoupling shaft 23, improving the reliability and stability of the robot joint 100's movement, and improving the flexibility of the robot joint 100's movement. It is understood that a bearing can be provided in the first clearance hole 2111, with the outer ring of the bearing contacting the inner wall of the first clearance hole 2111 and the inner ring of the bearing contacting the outer wall of the decoupling shaft 23, which can reduce the friction between the decoupling shaft 23 and the decoupling seat 21.

[0044] like Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the side of the two support platforms 211 that is close to each other may have a relief boss 212. The relief boss 212 may have an arc-shaped relief groove 2121. The two relief grooves 2121 may form a second relief hole 2122 when the two support platforms 211 are close together. The second relief hole 2122 may be used to install a bearing. The decoupling wheel 22 may pass through the bearing, that is, the outer ring of the bearing contacts the inner wall of the second relief hole 2122. The inner ring of the bearing contacts the decoupling wheel 22, which can reduce the friction between the decoupling wheel 22 and the decoupling seat 21, thereby improving the reliability and stability of the rotation of the decoupling shaft 23, improving the reliability and stability of the movement of the robot joint 100, and improving the flexibility of the movement of the robot joint 100.

[0045] like Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, each connecting shaft 213 may be provided with two guide members 214. The guide member 214 may have a guide groove 2141. One end of the decoupling line 24 can be connected to the decoupling shaft 23 through one guide groove 2141 and around the guide member 214. The other end of the decoupling line 24 can be connected to the decoupling shaft 23 through another guide groove 2141 and around the guide member 214. This can guide the decoupling line 24 and change the direction of movement of the decoupling line 24.

[0046] Furthermore, since part of the decoupling line 24 is connected to the decoupling wheel 22, the rotation of the decoupling wheel 22 can drive the decoupling shaft 23 to rotate around the first axis and the second axis respectively or simultaneously through the decoupling line 24. This can achieve multi-degree-of-freedom decoupling of the decoupling shaft 23, which can improve the flexibility of the robot joint 100. At the same time, it can limit the movement of the decoupling line 24, which can improve the reliability and stability of the robot joint 100.

[0047] It is understandable that the guide 214 can be a bearing, and the guide groove 2141 can be located on the outer ring of the bearing. Based on the goal of guiding the decoupling line 24, control errors caused by friction or inconsistent paths can be avoided, and the flexibility and accuracy of the robot joint 100 can be improved. In addition, the guide 214 can be a pulley block, a spring tensioner, or a magnetorheological damper, and the decoupling wheel 22 can be a clamping roller mechanism or a piezoelectric wire clamp, etc., which can achieve tensioning and guiding of the decoupling line 24, and improve the tension stability and response speed requirements of the decoupling line 24 under different applications, thereby improving the flexibility of the robot joint 100.

[0048] like Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, each connecting shaft 213 may also be provided with a limiting member 215. The limiting member 215 may be located between two guide members 214, and the limiting member 215 may contact the two guide members 214 respectively, thereby limiting the guide members 214, preventing the decoupling line 24 from moving along the axial direction of the connecting shaft 213, improving the guiding effect of the decoupling line 24, improving the reliability and stability of the transmission of the decoupling line 24, and thus improving the reliability and stability of the robot joint 100 movement.

[0049] like Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, according to some embodiments of the present invention, the decoupling wheel 22 may include a first wheel body 221 and a second wheel body 222. The first wheel body 221 may have a first limiting boss 2211, and the second wheel body 222 may have a first limiting groove 2221. Alternatively, the first wheel body 221 may have a first limiting groove 2221, and the second wheel body 222 may have a first limiting boss 2211. A portion of the decoupling line 24 may extend into the first limiting groove 2221, and the first limiting boss 2211 and the first limiting groove 2221 may be inserted and engaged to press the decoupling line 24, which can improve the connection effect between the decoupling line 24 and the decoupling wheel 22, facilitate operation, and facilitate disassembly and assembly.

[0050] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to some embodiments of the present invention, the decoupling wheel 22 may include two, and the two decoupling wheels 22 may be arranged opposite to each other on both sides of the decoupling seat 21, which can improve the reliability and stability of the rotation of the decoupling seat 21 and improve the reliability and stability of the movement of the robot joint 100. The decoupling line 24 may include two, and each decoupling wheel 22 may be connected to a part of a decoupling line 24.

[0051] Two decoupling lines 24 can be wound around the decoupling shaft 23 respectively, and the two decoupling lines 24 can be arranged in a centrally symmetrical manner around the second axis. The drive assembly 30 can include at least two drive members 31, and the at least two drive members 31 can drive the two decoupling wheels 22 to rotate. This can improve the power of the drive assembly 30 and increase the output torque of the robot joint 100. While keeping the output torque constant, it is beneficial to reduce the size of the robot joint 100, which is conducive to the miniaturization of the robot joint 100 and facilitates its arrangement.

[0052] The two decoupling wheels 22 can rotate in the same direction and at the same speed, so that the torques applied by the two decoupling lines 24 to the decoupling shaft 23 are equal and opposite, and both decoupling lines 24 are in a relatively taut state. This allows the rotation of the two decoupling wheels 22 to drive the entire decoupling seat 21 to rotate around the first axis, i.e., the decoupling shaft 23 to rotate around the first axis. Of course, the two decoupling wheels 22 can also rotate in opposite directions at the same speed, so that the torques applied by the two decoupling lines 24 to the decoupling shaft 23 are equal and in the same direction. This allows the rotation of the two decoupling wheels 22 to drive the decoupling shaft 23 to rotate around the second axis. In addition, the two decoupling wheels 22 can rotate in the same direction but at different speeds, so that the decoupling shaft 23 can rotate around the first axis and the second axis simultaneously. This operation is simple and can improve the flexibility of the robot joint 100.

[0053] It is understood that the robot joint 100 of this application can be a finger joint, and the robot's fingers can be mounted on the end of the decoupling axis 23 away from the mounting bracket 12 (e.g., Figure 1 (as shown in the front end), and the finger can move in a direction perpendicular to the decoupling axis 23 (e.g. Figure 1 Extending in the forward and backward direction (as shown), in the initial state, the arm and palm can hang naturally with the palm facing backward. The two decoupling wheels 22 rotate in the same direction and at the same speed, which can drive the fingers to swing forward or backward around the first axis (such as the pitching motion of the fingers). The two decoupling wheels 22 can rotate in opposite directions at the same speed, which can drive the fingers to swing left or right around the second axis (such as the lateral swinging motion of the fingers). Of course, the two decoupling wheels 22 can rotate in the same direction but at different speeds, which can drive the fingers to make more complex movements and improve the flexibility of the robot joint 100.

[0054] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the driving element 31 can be a drive motor, which can be an actuator such as a servo motor, a linear driver, or a shape memory alloy driver, to adapt to application scenarios with different size and precision requirements. Furthermore, without affecting the decoupling control effect, the number of drive motors can be greater, for example, there can be three drive motors.

[0055] Two of the drive motors can drive a worm gear 33 to rotate, which can improve the redundancy and redundancy control accuracy of the robot joint 100, and improve the reliability and stability of the robot joint 100. In addition, the drive component 30 may also include multiple encoders, which can detect the rotation angle of the decoupling mechanism 20. The drive component 31 can control the decoupling mechanism 20 through the feedback of the detection structure, which can improve the control accuracy of the robot joint 100.

[0056] like Figure 1 , Figure 2 and Figure 7 As shown, in some embodiments, the drive assembly 30 may further include a drive wheel 34 and a drive line 35. The drive wheel 34 may be mounted on the mounting base 10 and may rotate relative to the mounting base 10. The drive line 35 may be fixed on the drive wheel 34, or the drive line 35 may be fixed on the decoupling wheel 22, or the drive line 35 may be fixed on both the drive wheel 34 and the decoupling wheel 22. In this case, the drive member 31 may drive the drive wheel 34 to rotate so as to drive the decoupling wheel 22 to rotate via the drive line 35.

[0057] Compared to solutions using gears or other transmission structures, the transmission line 35 and decoupling line 24 have higher flexibility and lower rigidity. This allows the transmission structure (such as the transmission line 35 and decoupling line 24) to move or deform when subjected to external impacts at the transmission end (such as the decoupling shaft 23), thus attenuating the impact. In other words, after being subjected to external impacts, the transmission structure can rely on its own tension to achieve a certain degree of fault tolerance rather than rigid damage, thereby preventing damage to the transmission structure when subjected to impacts. This can improve the impact resistance of the robot joint 100 and extend its service life. It is understood that this transmission structure can also adopt other decoupling designs such as differential gears, flexible linkages, or elastic mechanisms to reduce costs.

[0058] In some embodiments, the transmission wheel 34 and the decoupling wheel 22 can be configured with a constant reduction ratio, which can effectively maintain the length of the transmission line 35 and achieve high stability control of the movement of the decoupling mechanism 20. That is, through the precise design of the transmission ratio, the transmission line 35 can respond instantaneously between the transmission wheel 34 and the decoupling wheel 22 while maintaining its length. This ensures that the entire decoupling mechanism 20 has no interference or slack in any posture, thereby improving the reliability and stability of the robot joint 100 movement.

[0059] like Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7 As shown, in some embodiments, the decoupling wheel 22 may include a first wheel body 221 and a third wheel body 223. The first wheel body 221 may have a second limiting boss 2231, and the third wheel body 223 may have a second limiting groove 2212. Alternatively, the first wheel body 221 may have a second limiting groove 2212, and the third wheel body 223 may have a second limiting boss 2231. A portion of the transmission line 35 may extend into the second limiting groove 2212, and the second limiting boss 2231 and the second limiting groove 2212 may be inserted and engaged to press the transmission line 35, which can improve the connection effect between the transmission line 35 and the decoupling wheel 22, facilitate operation, and facilitate disassembly and assembly.

[0060] Understandably, the multiple wheels in the decoupling wheel 22 can be integrally molded for easy processing. The transmission line 35 and the decoupling line 24 extending into the decoupling wheel 22 can be clamped and fixed to the decoupling wheel 22 by fasteners for easy disassembly and assembly, and can refine the control precision of the wire harness movement. In addition, the decoupling shaft 23 can be designed as a hollow structure or a detachable modular structure for easy maintenance and expansion.

[0061] like Figure 1 , Figure 2 and Figure 7 As shown, in some embodiments, the drive assembly 30 may further include a worm gear 33 and a worm 32. The worm 32 may be disposed at the output end of the drive member 31, and the worm gear 33 may be disposed on the mounting base 10. The worm gear 33 may rotate relative to the mounting base 10, and the worm gear 33 may mesh with the worm 32. The worm gear 33 and the transmission wheel 34 rotate coaxially.

[0062] The output shaft of the drive unit 31 can drive the worm gear 32 to rotate, thereby driving the worm wheel 33 to rotate. The transmission wheel 34 can rotate together with the worm wheel 33 to drive the decoupling wheel 22 to rotate through the transmission line 35. Thus, at least two drive units 31 cooperate to achieve multi-degree-of-freedom decoupling of the decoupling shaft 23 and to control the rotation of the decoupling shaft 23 in different directions. This simplifies the structure, reduces costs, and facilitates operation.

[0063] It should be noted that the worm gear 33 and the worm 32 can cooperate to form a reduction mechanism, which can increase the torque output from the drive component 31 to the transmission wheel 34 and reduce the rotational speed of the drive component 31 to the transmission wheel 34. This enables stable control of the decoupling mechanism 20 under high load and high precision conditions, improves the reliability and stability of the robot joint 100's movement, and improves the movement accuracy of the robot joint 100. At the same time, it has a self-locking characteristic, which is beneficial for maintaining the posture of the robot joint 100 and reducing energy consumption.

[0064] like Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, in some embodiments, the mounting base 10 may include a mounting plate 11 and multiple mounting brackets 12. The multiple mounting brackets 12 may be connected to the mounting plate 11 respectively. The multiple mounting brackets 12 may include a first bracket 121, a second bracket 122, a third bracket 123 and a fourth bracket 124. The decoupling wheel 22 may be rotatably connected to the first bracket 121, the transmission wheel 34 may be rotatably connected to the second bracket 122, the worm gear 33 may be rotatably connected to the third bracket 123, and the driving component 31 may be fixed on the fourth bracket 124. This can realize the connection of multiple components of the robot joint 100, ensure the normal operation of the robot joint 100, and facilitate disassembly and assembly.

[0065] The worm gear 33 and the transmission wheel 34 can be fixed on the same transmission shaft, which can be rotatably connected to the second bracket 122 and the third bracket 123 respectively, ensuring that the worm gear 33 and the transmission wheel 34 rotate synchronously. It is understood that the installation positions of the mounting bracket 12, the decoupling mechanism 20 and the drive component 30 can be adjusted according to requirements to adapt to the usage scenarios of various robot structures (such as bionic hands, grippers and feet).

[0066] In some embodiments, multiple components within the decoupling mechanism 20 can be integrally formed using 3D printing, which can reduce assembly errors of the decoupling mechanism 20 and facilitate the assembly and disassembly of the robot joint 100. Alternatively, multiple components within the decoupling mechanism 20 can be constructed using composite materials (such as carbon fiber + TPU) to create flexible and reliably tensioned paths, which can improve the impact resistance of the robot joint 100 and increase its lightweight level. Furthermore, the decoupling mechanism 20 and drive assembly 30 of this application can be connected through a standard interface, allowing them to be extended as modules for other multi-degree-of-freedom bionic joints, enabling rapid structural reconfiguration and system-level splicing, thereby improving system integration efficiency.

[0067] Other configurations and operations of the robot joint 100 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here. In the description of the present invention, "first feature" and "second feature" may include one or more of the features. The up-down direction, left-right direction, and front-back direction are defined according to the up-down direction, left-right direction, and front-back direction shown in the figures.

[0068] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features not in direct contact but through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0070] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot joint, characterized in that, include: Mounting base; Decoupling mechanism, the decoupling mechanism comprising: Decoupling socket; A decoupling wheel is rotatably disposed on the decoupling seat about a first axis, and the decoupling wheel is rotatably connected to the mounting seat; A decoupling shaft is rotatably disposed on the decoupling seat about a second axis, wherein the first axis and the second axis intersect. A decoupling line connecting the decoupling wheel and the decoupling shaft; A drive assembly adapted to drive the decoupling wheel to rotate the decoupling shaft about a first axis and / or a second axis via the decoupling line; The decoupling wheel includes two decoupling wheels, which are arranged opposite to each other on both sides of the decoupling seat; the decoupling wire includes two decoupling wires, which are respectively wound around the decoupling shaft and arranged centrally symmetrically around the second axis; the driving assembly includes at least two driving members, which are adapted to drive the two decoupling wheels to rotate. The drive assembly further includes: a drive wheel rotatably disposed on the mounting base; and a drive line fixed to at least one of the drive wheel and the decoupling wheel, the drive line being adapted to wind around the drive wheel and the decoupling wheel, wherein the drive member is adapted to drive the drive wheel to rotate so as to drive the decoupling wheel to rotate via the drive line; The decoupling wheel includes a first wheel body and a third wheel body, one of the first wheel body and the third wheel body having a second limiting boss, the other of the first wheel body and the third wheel body having a second limiting groove, a portion of the transmission line extending into the second limiting groove, and the second limiting boss and the second limiting groove being inserted into each other to press the transmission line.

2. The robot joint according to claim 1, characterized in that, The decoupling base includes: Two support platforms are arranged opposite each other and connected by multiple connecting shafts. Each support platform has a first clearance hole. The decoupling shaft passes through the first clearance hole and is rotatably connected to the support platform. The two support platforms have a second clearance hole. The decoupling wheel passes through the second clearance hole and is rotatably connected to the support platform.

3. The robot joint according to claim 2, characterized in that, The two support platforms have a clearance boss on their adjacent sides, the clearance boss having an arc-shaped clearance groove, the two clearance grooves being adapted to form a second clearance hole when the two support platforms are close together, the second clearance hole being adapted to install a bearing sleeved on the decoupling wheel.

4. The robot joint according to claim 2, characterized in that, Each of the connecting shafts is provided with two guide members, each guide member having a guide groove. One end of the decoupling line is connected to the decoupling shaft through one of the guide grooves and around the guide member, and the other end of the decoupling line is connected to the decoupling shaft through the other guide groove and around the guide member.

5. The robot joint according to claim 1, characterized in that, The decoupling wheel includes: a first wheel body and a second wheel body, one of the first wheel body and the second wheel body having a first limiting boss, the other of the first wheel body and the second wheel body having a first limiting groove, a portion of the decoupling line extending into the first limiting groove, and the first limiting boss and the first limiting groove being inserted into each other to press the decoupling line.

6. The robot joint according to claim 1, characterized in that, The drive assembly further includes a worm gear and a worm, the worm being disposed at the output end of the drive component, the worm gear being rotatably disposed on the mounting base and meshing with the worm, and the worm gear and the transmission wheel rotating coaxially.

7. The robot joint according to claim 6, characterized in that, The mounting base includes: Mounting plate; Multiple mounting brackets are provided, each of which is connected to the mounting plate. The worm gear, the transmission wheel, and the decoupling wheel are rotatably connected to the mounting brackets.

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