Joint module and robot control equipment

Abstract

The invention provides a joint module and robot control equipment, and relates to the field of robot control. The joint module comprises a shell, a connecting shaft and an encoder assembly. The housing is configured to be connected with an articulated arm. The shell is provided with a mounting cavity and a mounting hole communicated with the mounting cavity. The connecting shaft is configured to be connected with the other joint arm, and the connecting shaft is rotationally installed in the installation hole. And the encoder assembly is arranged in the mounting cavity so as to detect the rotation angle of the connecting shaft relative to the shell. Compared with a steering engine, the joint module can realize connection and relative position detection of the two joint arms, and is lower in cost, smaller in size, smaller in weight and smaller in power consumption.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and more specifically, to a joint module and a robot control device. Background Technology

[0002] Multi-degree-of-freedom (DOF) robotic arms are widely used in various fields due to their high flexibility and precision. Humanoid robots, because of their human-like shape, typically integrate multiple multi-DOF robotic arms, such as arms. Humanoid robots integrating multiple multi-DOF robotic arms can perform more complex movements. Especially when paired with isomorphic controllers, they can follow the movements of corresponding parts of the operator's body.

[0003] In existing technologies, the joints of the two articulated arms of a robot control device that is isomorphically designed with a multi-degree-of-freedom robotic arm are generally connected and their relative positions are detected using servo motors.

[0004] However, servo motors are expensive, bulky, and heavy, making them unsuitable for use as wearable devices in robot control equipment. Furthermore, the high power of servo motors results in high power consumption for robot control equipment. Summary of the Invention

[0005] The present invention aims to provide a joint module and robot control device that can achieve the connection of two articulated arms and the detection of their relative positions, while having the advantages of lower cost than servo motors, and smaller size, weight and power consumption.

[0006] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides a joint module for connecting two articulated arms of a robot control device and for detecting the relative position between the two articulated arms, the joint module comprising: A housing is configured to connect to one of the articulated arms, the housing having a mounting cavity and a mounting hole communicating with the mounting cavity; A connecting shaft is configured to connect to another of the said articulated arms, the connecting shaft being rotatably mounted in the mounting hole; An encoder assembly disposed in the mounting cavity to detect the rotation angle of the connecting shaft relative to the housing.

[0007] In an optional implementation, the encoder assembly includes a Hall element and a magnet; The magnet is disposed at one end of the connecting shaft located in the mounting cavity; The Hall element corresponds to the magnet and is spaced apart from it, and the Hall element is fixed relative to the housing.

[0008] In an optional implementation, the encoder assembly further includes a circuit board; An opening is formed on the side of the housing away from the mounting hole, and the circuit board is mounted in the opening and fixed to the housing; The Hall element is disposed on the circuit board.

[0009] In an optional embodiment, the joint module further includes a bushing and a retaining ring; The connecting shaft has a first segment and a second segment connected together, the diameter of the first segment being larger than the diameter of the second segment; The first segment is configured to connect to the articulated arm; The bushing has an inner hole that matches the diameter of the second section, and the outer diameter of the bushing matches the mounting hole. The bushing is installed in the mounting hole, and the second section is rotatably installed in the inner hole; The second section is provided with a retaining ring groove on the inner side of the bushing; The retaining ring is engaged in the retaining ring groove.

[0010] In an optional embodiment, the joint module further includes an elastic reset element; The elastic reset member is disposed in the mounting cavity and is connected to both the connecting shaft and the housing. The elastic reset member drives the connecting shaft to rotate and reset relative to the housing.

[0011] In an optional embodiment, the elastic reset element includes a coil spring; The coil spring is disposed on the outer periphery of the portion of the connecting shaft that extends into the mounting cavity, and the inner connecting portion of the coil spring is connected to the connecting shaft, while the outer connecting portion of the coil spring is connected to the housing. The coil spring can also limit the maximum rotation angle of the connecting shaft relative to the housing.

[0012] In an optional embodiment, one end of the connecting shaft that extends into the mounting cavity is provided with a first insertion groove in the axial direction, and the first insertion groove penetrates the side wall of the connecting shaft; An opening is formed on the side of the housing away from the mounting hole, and a second insertion groove is provided on the side wall of the housing located in the mounting cavity along the axial direction of the connecting shaft, and the second insertion groove penetrates the housing on the side located in the opening; The inner connecting part of the coil spring is bent inward and inserted into the first insertion slot; The outer connecting part of the coil spring is bent outward and inserted into the second insertion slot.

[0013] In an optional implementation, the coil springs comprise at least two; In this configuration, a portion of the coil springs spirals clockwise from the inner connecting portion to the outer connecting portion, while another portion of the coil springs spirals counterclockwise from the inner connecting portion to the outer connecting portion.

[0014] In an optional embodiment, the joint module further includes an FPC connection bar; The FPC connection bar has a first connection part, a winding part and a second connection part connected in sequence, and the first connection part is connected to the encoder assembly; The winding portion is spirally coiled around the periphery of the connecting shaft located on the outside of the housing.

[0015] Secondly, the present invention provides a robot control device for controlling the movement of a multi-degree-of-freedom robotic arm, wherein the multi-degree-of-freedom robotic arm has a plurality of motion arms connected in sequence, and the robot control device includes a control arm, wherein the control arm has a plurality of joint arms corresponding to the motion arms, and adjacent joint arms are connected by a joint module as described in any of the foregoing embodiments.

[0016] In an optional embodiment, the robot control device further includes a support member; One of the articulated arms at the end of the control arm is connected to the support member via the articulated module; The support member is provided with a threaded hole that matches the thread of the support platform.

[0017] The beneficial effects of the joint module and robot control device provided in the embodiments of the present invention include: A joint module for connecting two articulated arms of a robot control device and detecting the relative position between the two articulated arms, the joint module comprising: The joint module provided in this application includes a housing, a connecting shaft, and an encoder assembly. The housing has a mounting cavity and a mounting hole communicating with the mounting cavity, and the connecting shaft is rotatably mounted in the mounting hole. The encoder assembly is disposed in the mounting cavity. During assembly, the housing is connected to one articulated arm, and the connecting shaft is connected to another articulated arm, thereby connecting the two articulated arms. Simultaneously, the encoder assembly can detect the rotation angle of the connecting shaft relative to the housing, thus acquiring information such as the rotation angle of the two articulated arms. Compared to a servo motor, it eliminates the need for a motor and reduction gear, resulting in a simpler overall structure and lower cost, size, and power consumption compared to a motor. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the robot control device provided in this embodiment; Figure 2 A schematic diagram of a multi-degree-of-freedom robotic arm for a humanoid robot; Figure 3 This is a schematic diagram of the joint module provided in this embodiment; Figure 4 This is a cross-sectional view of the joint module provided in this embodiment; Figure 5 This is a schematic diagram of the exploded structure of the joint module provided in this embodiment from one perspective; Figure 6 This is an exploded view of the joint module provided in this embodiment. Figure 7 This is a schematic diagram of the FPC connection row structure of the joint module provided in this embodiment; Figure 8 This is a schematic diagram of the control arm of the robot control device provided in this embodiment.

[0020] Icons: 100-Joint Module; 110-Housing; 111-Mounting Cavity; 112-Mounting Hole; 113-Opening; 114-Second Insertion Slot; 130-Connecting Shaft; 131-First Section; 132-Second Section; 133-Retaining Ring Groove; 134-Threaded Connection Hole; 135-First Insertion Slot; 150-Encoder Assembly; 151-Hall Element; 152-Magnet; 153-Circuit Board; 160-Bushing; 161-Flange; 170-Retaining Ring; 180-Reset Part; 181-Coil Spring; 182-Inner Connecting Part; 183-Outer Connecting Part; 184-Baffle; 190-FPC Connecting Row; 191-First Connecting Part; 192-Winding Part; 193-Second Connecting Part; 200-Multi-DOF Robotic Arm; 210-Motion Arm; 211-First Motion Arm; 212-Second Motion Arm; 213-Third motion arm; 214-Fourth motion arm; 215-Fifth motion arm; 216-Sixth motion arm; 217-Seventh motion arm; 218-End effector; 300-Robot control device; 310-Control arm; 311-Articulated arm; 312-First articulated arm; 313-Second articulated arm; 314-Third articulated arm; 315-Fourth articulated arm; 316-Fifth articulated arm; 317-Sixth articulated arm; 318-Seventh articulated arm; 319-Eighth articulated arm; 320-Grip; 331-First articulated module; 332-Second articulated module; 333-Third articulated module; 334-Fourth articulated module; 335-Fifth articulated module; 336-Sixth articulated module; 337-Seventh articulated module; 338-Eighth articulated module; 350-Support member; 351-Threaded hole. Detailed Implementation

[0021] In existing technologies, servo motors are generally used at the joints between the two articulated arms of robot control devices that are designed isomorphically to multi-degree-of-freedom robotic arms to achieve connection and relative position detection.

[0022] However, servo motors are expensive, bulky, and heavy, making them unsuitable for use as wearable devices in robot control equipment. Furthermore, the high power of servo motors results in high power consumption for robot control equipment.

[0023] To address the aforementioned problems, this invention provides a joint module and robot control device that can achieve connection of two articulated arms and relative position detection, while being lower in cost, size, weight and power consumption compared to servo motors.

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0027] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this 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 this invention.

[0028] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0029] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0030] The following detailed description of the overall structure, working principle, and technical effects of the joint module and robot control device provided by the present invention, through embodiments and in conjunction with the accompanying drawings, is a practical example.

[0031] Please refer to Figure 1 and Figure 2 The robot control device 300 provided by the present invention is applied to the control of a multi-degree-of-freedom robotic arm 200 and can be used as a wearable device to control the multi-degree-of-freedom robotic arm 200 to follow the body's movements.

[0032] It should be noted that the robot control device 300 is a remote control used by the operator to control the movements of the multi-degree-of-freedom robotic arm 200. The robot control device 300 is generally used in conjunction with the multi-degree-of-freedom robotic arm 200. The multi-degree-of-freedom robotic arm 200 typically has multiple sequentially connected motion arms 210. The multi-degree-of-freedom robotic arm 200 can be a three-degree-of-freedom robotic arm, a four-degree-of-freedom robotic arm, a five-degree-of-freedom robotic arm, a six-degree-of-freedom robotic arm, or a seven-degree-of-freedom robotic arm, etc. For example, the arm of a humanoid robot is a seven-degree-of-freedom robotic arm, with seven sequentially connected motion arms 210 and an end effector 218 connected to the end. These components work together to achieve various complex movements similar to those of a human arm.

[0033] Please refer to Figures 1 to 8 In this embodiment, the robot control device 300 includes a control arm 310, which has multiple articulated arms 311 corresponding to the motion arm 210. Adjacent articulated arms 311 are connected via a joint module 100. An operator can hold the end of the control arm 310 and swing it to move the corresponding articulated arm 311. The joint module 100 can detect the rotation angle between two connected articulated arms 311 to control the movement of the motion arm 210 corresponding to the multi-degree-of-freedom robotic arm 200.

[0034] Furthermore, the robot control device 300 also includes a support member 350. A joint arm 311 at the end of the control arm 310 is connected to the support member 350 via a joint module 100, and the support member 350 is provided with a threaded hole 351 that matches the thread of the support platform.

[0035] In this embodiment, by providing a threaded hole 351 in the support member 350, in one mode of use, the support member 350 is fixed to the support platform through the threaded hole 351, and the operator holds the control arm 310 at the end for operation.

[0036] Furthermore, the support 350 is also equipped with a detachable shoulder strap (not shown). In one mode of use, the operator can attach the shoulder strap to the support 350, carry the robot control device 300 on their chest or back, and operate it by hand at the end of the control arm 310.

[0037] Furthermore, the two sides of the support member 350 are connected to two control arms 310 via joint modules, which can control the movements of the two arms of the humanoid robot or the two separate multi-degree-of-freedom robotic arms 200.

[0038] It should be noted that the support component 350 has an assembly cavity on its inner side, in which batteries, circuit boards 153, etc. can be installed.

[0039] Please refer to Figures 3 to 6In this embodiment, the joint module 100 includes a housing 110, a connecting shaft 130, and an encoder assembly 150. The housing 110 has a mounting cavity 111 and a mounting hole 112 communicating with the mounting cavity 111. The connecting shaft 130 is rotatably mounted in the mounting hole 112. The encoder assembly 150 is disposed in the mounting cavity 111. The housing 110 is configured to be connected to one joint arm 311, the connecting shaft 130 is configured to be connected to another joint arm 311, and the encoder assembly 150 is used to detect the rotation angle of the connecting shaft 130 relative to the housing 110.

[0040] The joint module 100 provided in this embodiment includes a housing 110, a connecting shaft 130, and an encoder assembly 150. The housing 110 is provided with a mounting cavity 111 and a mounting hole 112 communicating with the mounting cavity 111. The connecting shaft 130 is rotatably mounted in the mounting hole 112. The encoder assembly 150 is disposed in the mounting cavity 111. During assembly, the housing 110 is connected to one joint arm 311, and the connecting shaft 130 is connected to another joint arm 311, thereby realizing the connection of the two joint arms 311. At the same time, the encoder assembly 150 can detect the rotation angle of the connecting shaft 130 relative to the housing 110, thereby obtaining information such as the rotation angle of the two joint arms 311. Compared with a servo motor, it lacks a motor and reduction mechanism, resulting in a simpler overall structure and lower cost, size, and power consumption compared to a motor.

[0041] Please refer to Figures 3 to 6 Furthermore, the encoder assembly 150 includes a Hall element 151 and a magnet 152. The magnet 152 is disposed at one end of the connecting shaft 130 located in the mounting cavity 111. The Hall element 151 corresponds to the magnet 152 and is spaced apart from it. The Hall element 151 is fixed relative to the housing 110.

[0042] In this embodiment, the encoder assembly 150 is formed by using Hall element 151 and magnet 152, which enables non-contact detection and also provides high detection accuracy.

[0043] Furthermore, the encoder assembly 150 also includes a circuit board 153. An opening 113 is formed on the side of the housing 110 away from the mounting hole 112, the circuit board 153 is mounted in the opening 113, and the housing 110 is fixed. A Hall element 151 is disposed on the circuit board 153.

[0044] In this embodiment, by setting up a circuit board 153, the Hall element 151 and the magnet 152 can be arranged correspondingly and at intervals through the circuit board 153, and the fixing, power supply and transmission of electrical signals of the Hall element 151 can be better realized.

[0045] Specifically, the circuit board 153 is installed on the side of the housing 110 where the opening 113 is provided, and is fixed to the housing 110 by screws. In some other embodiments of this application, the circuit board 153 can also be pre-fixed to the housing 110 by means of positioning posts, snap-fit ​​structures, etc., and when the housing 110 is connected to the articulated arm 311, the three are fixed together by screws.

[0046] Please refer to Figures 3 to 6 In this embodiment, the joint module 100 further includes a bushing 160 and a retaining ring 170. The connecting shaft 130 has a first segment 131 and a second segment 132, the diameter of the first segment 131 being larger than the diameter of the second segment 132. The first segment 131 is configured to connect to the joint arm 311. The bushing 160 has an inner hole adapted to the diameter of the second segment 132, and the outer diameter of the bushing 160 is adapted to the mounting hole 112. The bushing 160 is mounted in the mounting hole 112, and the second segment 132 is rotatably mounted in the inner hole. A retaining ring groove 133 is provided on the inner side of the second segment 132 within the bushing 160. The retaining ring 170 is engaged in the retaining ring groove 133. A magnet 152 is disposed at the end of the second segment 132.

[0047] In this embodiment, a bushing 160 is used to achieve a rotatable connection between the connecting shaft 130 and the housing 110. The bushing 160 improves wear resistance and ensures rotational accuracy. The retaining ring 170 prevents the connecting shaft 130 from disengaging.

[0048] Furthermore, a threaded connection hole 134 is provided at the periphery of the end of the first segment 131, which is used to connect with the articulated arm 311.

[0049] Specifically, bushing 160 is a self-lubricating bushing, such as a graphite bushing. Bushing 160 is a bushing 160 with a flange 161. The flange 161 is clamped on the inner end face of the first section 131 and the side of the housing 110 where the mounting hole 112 is provided. It can be limited by the retaining ring 170.

[0050] Please refer to Figures 3 to 6 Furthermore, the joint module 100 also includes an elastic reset member 180. The elastic reset member 180 is disposed in the mounting cavity 111 and is connected to both the connecting shaft 130 and the housing 110. The elastic reset member 180 drives the connecting shaft 130 to rotate and reset relative to the housing 110.

[0051] This embodiment, by providing an elastic reset member 180, allows the connecting shaft 130 to reset relative to the housing 110 after the external force is removed, thus making it more convenient to use.

[0052] It should be noted that the reset component 180 can be configured according to requirements, and can be a torsion spring, a spring sheet, a coil spring 181, or a tension spring, etc.

[0053] Specifically, the elastic reset member 180 includes a coil spring 181. The coil spring 181 is disposed on the outer periphery of the portion of the connecting shaft 130 that extends into the mounting cavity 111, and the inner connecting portion 182 of the coil spring 181 is connected to the connecting shaft 130, and the outer connecting portion 183 of the coil spring 181 is connected to the housing 110. The coil spring 181 can also limit the maximum rotation angle of the connecting shaft 130 relative to the housing 110.

[0054] In this embodiment, the elastic reset element 180 is set as a coil spring 181, which can achieve reset at a lower cost. Most importantly, it can also achieve limiting, eliminating the need for a separate limiting structure and simplifying the overall structure.

[0055] It should be noted that the principle of the coil spring 181 in achieving the limiting is as follows: after the coil spring 181 is twisted inward to a certain angle, it will tighten and can no longer rotate, thus achieving the limiting in one direction. When rotating in the opposite direction, the coil spring 181 becomes larger and its outer side will abut against the side wall of the mounting cavity 111, thus achieving the limiting in the other direction. In this way, the limiting of rotation on both sides is achieved as a whole.

[0056] Please refer to Figures 3 to 6 Furthermore, the end of the connecting shaft 130 extending into the mounting cavity 111 has a first insertion groove 135 recessed axially, and the first insertion groove 135 penetrates the side wall of the connecting shaft 130. An opening 113 is formed on the side of the housing 110 away from the mounting hole 112. A second insertion groove 114 is provided on the side wall of the housing 110 located in the mounting cavity 111 along the axial direction of the connecting shaft 130, and the second insertion groove 114 penetrates the side of the housing 110 located at the opening 113. The inner connecting portion 182 of the coil spring 181 is bent inward and inserted into the first insertion groove 135. The outer connecting portion 183 of the coil spring 181 is bent outward and inserted into the second insertion groove 114.

[0057] In this embodiment, a first insertion groove 135 is provided on the connecting shaft 130, and a second insertion groove 114 is provided on the housing 110. The insertion method makes it easier to install the coil spring 181.

[0058] Please refer to Figures 3 to 6 Specifically, the coil spring 181 includes at least two, wherein one portion of the coil spring 181 is spiraled clockwise from the inner connecting portion 182 to the outer connecting portion 183, and the other portion of the coil spring 181 is spiraled counterclockwise from the inner connecting portion 182 to the outer connecting portion 183.

[0059] In this embodiment, some of the coil springs 181 are spiraled clockwise from the inner connecting part 182 to the outer connecting part 183, while the other part of the coil springs 181 are spiraled counterclockwise from the inner connecting part 182 to the outer connecting part 183. In this way, the connecting shaft 130 is subjected to relatively balanced forces when rotating clockwise and counterclockwise relative to the housing 110, thus making it easier to control.

[0060] Furthermore, the number of coil springs 181 for clockwise and counterclockwise spirals is equal, and other parameters are basically the same, the difference being the spiral direction. For example, there is one coil spring 181 for both clockwise and counterclockwise spirals, so that whether rotating clockwise or counterclockwise, one is winding up while the other is unwinding, thus forming a basically symmetrical force curve, which is easier to operate.

[0061] Furthermore, the superposition of multiple coil springs 181 can increase the restoring force. As the rotation angle increases, the restoring force gradually increases, thereby achieving force feedback, which makes it easier for the operator to operate. The setting of coil springs 181 can also make the force on each joint arm 311 of the control arm 310 uniform.

[0062] Furthermore, to prevent multiple coil springs 181 from interfering with each other, a baffle 184 can be set to separate them, thereby preventing them from interfering with each other.

[0063] Please refer to Figures 3 to 6 In this embodiment, the joint module 100 further includes an FPC connection bar 190. The FPC connection bar 190 has a first connection portion 191, a winding portion 192, and a second connection portion 193 connected in sequence. The first connection portion 191 is connected to the encoder assembly 150. The winding portion 192 is spirally coiled around the periphery of the connecting shaft 130 located outside the housing 110.

[0064] In this embodiment, an FPC connector 190 is provided to power and communicate with the encoder assembly 150. The FPC connector 190 is configured as a first connecting part 191, a winding part 192, and a second connecting part 193 connected in sequence. The winding part 192 is spirally coiled around the periphery of the connecting shaft 130 located outside the housing 110, thereby giving the FPC connector 190 a degree of freedom in the rotation direction of the connecting shaft 130. This avoids the problem of the FPC connector 190 breaking during the movement of the articulated arm 311, allowing wiring to be carried out along the inner side of the articulated arm 311, preventing wires from being exposed on the outer side of the articulated arm 311, and making it more aesthetically pleasing.

[0065] It should be noted that the winding portion 192 is strip-shaped in its unfolded state. The first connecting portion 191 and the second connecting portion 193 are respectively vertically connected to the two ends of the winding portion 192 and extend in opposite directions. When assembled to the connection point of the two articulated arms 311 of the control arm 310, the first connecting portion 191 is connected to the circuit board 153 and fixed relative to the housing 110. The outer side wall of the housing 110 is provided with a through receiving groove along the axial direction, and the first connecting portion 191 passes through the receiving groove to one side of the circuit board 153. The second connecting portion 193 is fixed relative to the connecting shaft 130. Specifically, the second connecting portion 193 can be inserted into the articulated arm 311 connected to the connecting shaft 130 and fixed to the articulated arm 311.

[0066] Secondly, the end of the winding portion 192 connected to the second connecting portion 193 begins to wind, so that the second connecting portion 193 extends toward the joint arm 311 along the outside of the connecting shaft 130.

[0067] Please refer to Figures 1 to 8 In this embodiment, the multi-degree-of-freedom robotic arm 200 (i.e., the arm of a humanoid robot) has seven motion arms 210 and an end effector 218. The seven motion arms 210 are, in order, a first motion arm 211, a second motion arm 212, a third motion arm 213, a fourth motion arm 214, a fifth motion arm 215, a sixth motion arm 216, and a seventh motion arm 217. The first motion arm 211 is mounted on the robot's torso via a first motor to enable the humanoid robot's arm to swing in the forward and backward direction. The first motion arm 211 is the humanoid robot's shoulder. The second motion arm 212 is mounted on the first motion arm 211 via a second motor to enable the arm to swing in the left and right direction. The third motion arm 213 is mounted on the second motion arm 212 via a third motor to enable the rotation of the upper arm. The fourth motion arm 214 is mounted on the third motion arm via a fourth motor to reproduce the bending of the forearm. The fifth motion arm 215 is mounted on the fourth motion arm 214 via a fifth motor to reproduce the rotation of the forearm. The sixth moving arm 216 is connected to the fifth moving arm 215 via a sixth motor, and the seventh moving arm 217 is connected to the sixth moving arm 216 via a seventh motor, thus replicating the forward and backward and left and right bending of the wrist joint. The end effector 218 is mounted on the seventh moving arm 217.

[0068] Please refer to Figures 1 to 8In this embodiment, there are seven articulated arms 311, namely, the first articulated arm 312, the second articulated arm 313, the third articulated arm 314, the fourth articulated arm 315, the fifth articulated arm 316, the sixth articulated arm 317, the seventh articulated arm 318, and the eighth articulated arm 319. There are eight articulated modules 100, namely, the first articulated module 331, the second articulated module 332, the third articulated module 333, the fourth articulated module 334, the fifth articulated module 335, the sixth articulated module 336, the seventh articulated module 337, and the eighth articulated module 338. The support member 350 is connected to the first articulated arm 312 through the first articulated module 331, and the first articulated arm 312 is connected to the second articulated arm 313 through the articulated module 100. The third articulated arm 314 is connected to the second articulated arm 313 through the third articulated module 333. The fourth articulated arm 315 is connected to the third articulated arm 314 through the fourth articulated module 334. The fifth articulated arm 316 is connected to the fourth articulated arm 315 via the fifth articulated module 335. The sixth articulated arm 317 is connected to the fifth articulated arm 316 via the sixth articulated module 336, and the seventh articulated arm 318 is connected to the sixth articulated arm 317 via the seventh articulated module 337. The eighth articulated arm 319 is connected to the seventh articulated arm 318 via the eighth articulated module 338.

[0069] Among them, the first joint arm 312 corresponds to the first moving arm 211, the second joint arm 313 corresponds to the second moving arm 212, the third joint arm 314 corresponds to the third moving arm 213, the fourth joint arm 315 corresponds to the fourth moving arm 214, the fifth joint arm 316 corresponds to the fifth moving arm 215, the sixth joint arm 317 corresponds to the sixth moving arm 216, the seventh moving arm 217 corresponds to the seventh joint arm 318, and the eighth joint arm 319 corresponds to the end effector 218.

[0070] Furthermore, the seventh joint arm 318 is provided with a handle 320. When in use, the operator holds the handle 320 and can drive the first joint arm 312 to the seventh joint arm 318 to move through arm movements, thereby controlling the multi-degree-of-freedom robotic arm 200. The operator can also drive the end effector 218 (e.g., dexterous hand, gripper, suction cup) by moving the eighth joint arm 319 with their fingers.

[0071] In summary, the joint module 100 provided in this embodiment includes a housing 110, a connecting shaft 130, and an encoder assembly 150. The housing 110 is provided with a mounting cavity 111 and a mounting hole 112 communicating with the mounting cavity 111. The connecting shaft 130 is rotatably mounted in the mounting hole 112. The encoder assembly 150 is disposed in the mounting cavity 111. During assembly, the housing 110 is connected to one joint arm 311, and the connecting shaft 130 is connected to another joint arm 311, thereby realizing the connection of the two joint arms 311. At the same time, the encoder assembly 150 can detect the rotation angle of the connecting shaft 130 relative to the housing 110, thereby acquiring information such as the rotation angle of the two joint arms 311. Compared with a servo motor, it lacks a motor and reduction mechanism, resulting in a simpler overall structure and lower cost, size, and power consumption compared to a motor.

[0072] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A joint module for connecting two articulated arms (311) of a robot control device and detecting the relative position between the two articulated arms (311), characterized in that, The joint module includes: The housing (110) is configured to be connected to one of the articulated arms (311), the housing (110) having a mounting cavity (111) and a mounting hole (112) communicating with the mounting cavity (111). A connecting shaft (130) is configured to connect to another articulated arm (311), the connecting shaft (130) being rotatably mounted in the mounting hole (112). An encoder assembly (150) is disposed in the mounting cavity (111) to detect the rotation angle of the connecting shaft (130) relative to the housing (110).

2. The joint module according to claim 1, characterized in that, The encoder assembly (150) includes a Hall element (151) and a magnet (152). The magnet (152) is disposed at one end of the connecting shaft (130) located in the mounting cavity (111); The Hall element (151) corresponds to the magnet (152) and is spaced apart. The Hall element (151) is fixed relative to the housing (110).

3. The joint module according to claim 2, characterized in that, The encoder assembly (150) also includes a circuit board (153); An opening (113) is formed on the side of the housing (110) away from the mounting hole (112), and the circuit board (153) is mounted in the opening (113) and fixed to the housing (110); The Hall element (151) is disposed on the circuit board (153).

4. The joint module according to claim 1, characterized in that, The joint module also includes a bushing (160) and a retaining ring (170). The connecting shaft (130) has a first segment (131) and a second segment (132) connected together, wherein the diameter of the first segment (131) is larger than the diameter of the second segment (132); The first segment (131) is configured to be connected to the articulated arm (311); The bushing (160) has an inner hole that matches the diameter of the second section (132), and the outer diameter of the bushing (160) matches the mounting hole (112); The bushing (160) is installed in the mounting hole (112), and the second segment (132) is rotatably installed in the inner hole; The second segment (132) is provided with a retaining ring groove (133) on the inner side of the bushing (160). The retaining ring (170) is engaged in the retaining ring groove (133).

5. The joint module according to any one of claims 1-4, characterized in that, The joint module also includes an elastic reset element (180). The elastic reset member (180) is disposed in the mounting cavity (111) and is connected to both the connecting shaft (130) and the housing (110). The elastic reset member (180) drives the connecting shaft (130) to rotate and reset relative to the housing (110).

6. The joint module according to claim 5, characterized in that, The elastic reset member (180) includes a coil spring (181); The coil spring (181) is disposed on the outer periphery of the portion of the connecting shaft (130) that extends into the mounting cavity (111), and the inner connecting part (182) of the coil spring (181) is connected to the connecting shaft (130), and the outer connecting part (183) of the coil spring (181) is connected to the housing (110). The coil spring (181) can also limit the maximum rotation angle of the connecting shaft (130) relative to the housing (110).

7. The joint module according to claim 6, characterized in that, The end of the connecting shaft (130) that extends into the mounting cavity (111) has a first insertion groove (135) recessed in the axial direction, and the first insertion groove (135) penetrates the side wall of the connecting shaft (130). An opening (113) is formed on the side of the housing (110) away from the mounting hole (112). A second insertion groove (114) is provided on the side wall of the housing (110) located in the mounting cavity (111) along the axial direction of the connecting shaft (130). The second insertion groove (114) penetrates the housing (110) on the side of the opening (113). The inner connecting part (182) of the coil spring (181) is bent inward and inserted into the first insertion slot (135); The outer connecting part (183) of the coil spring (181) is bent outward and inserted into the second insertion slot (114).

8. The joint module according to claim 6 or 7, characterized in that, The coil spring (181) comprises at least two, Among them, part of the coil spring (181) is spiraled clockwise from the inner connecting part (182) to the outer connecting part (183), and another part of the coil spring (181) is spiraled counterclockwise from the inner connecting part (182) to the outer connecting part (183).

9. The joint module according to claim 1, characterized in that, The joint module also includes an FPC connection bar (190). The FPC connection bar (190) has a first connection part (191), a winding part (192) and a second connection part (193) connected in sequence, and the first connection part (191) is connected to the encoder assembly (150); The winding portion (192) is spirally coiled around the periphery of the connecting shaft (130) located outside the housing (110).

10. A robot control device for controlling the movements of a multi-degree-of-freedom robotic arm (200), the multi-degree-of-freedom robotic arm (200) having a plurality of sequentially connected motion arms (210), characterized in that, The robot control device includes a control arm (310), which has a plurality of articulated arms (311) corresponding to the motion arm (210), and two adjacent articulated arms (311) are connected by a joint module according to any one of claims 1-9.

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