A multi-modal robotic shoulder mechanism

Abstract

The application provides a multi-mode robot shoulder joint mechanism, comprising a shaft base, a first joint module, a second joint module, a third joint module, a constant velocity universal joint and a terminal output flange. The first joint module and the third joint module are coaxially arranged on the shaft base; the first joint module is provided with a hollow hole penetrating along an axis, and the output end of the third joint module is fixedly connected with a third joint module output torque shaft, the third joint module output torque shaft is fixedly connected with the constant velocity universal joint after penetrating through the hollow hole of the first joint module, and the constant velocity universal joint is connected with the terminal output flange; the first joint module drives the terminal output flange to rotate around an X axis, the second joint module drives the terminal output flange to rotate around a Y axis, and the third joint module drives the terminal output flange to rotate around a Z axis through the constant velocity universal joint. The application has a compact structure, achieves the lightweight overall target, and reduces the torque and inertia of the related load motor.

Description

Technical Field

[0001] This application relates to various fields such as humanoid bionic robotic arms and collaborative arms, and specifically to a multimodal robot shoulder joint mechanism. Background Technology

[0002] With the development of humanoid robots and artificial intelligence, humanoid robots have become a leader in technological innovation and a new engine for economic growth both domestically and internationally. Currently, robotic arms are being used in increasingly diverse applications, placing higher demands on their dexterity, safety, and lightweight design. Traditional collaborative robotic arms can no longer meet functional requirements. Humanoid seven-axis robotic arms, while approaching the dexterity of human upper limbs, are currently available on the market. However, some robotic arms on the market often have shortcomings in configuration and weight, are large in size, and have complex structures, limiting their application scenarios. Summary of the Invention

[0003] In view of one of the deficiencies in the prior art, the purpose of this application is to provide a multimodal robot shoulder joint mechanism.

[0004] In a first aspect, this application provides a multimodal robot shoulder joint mechanism, comprising: a shaft base, a first joint module, a second joint module, a third joint module, a constant velocity universal joint, and an end effector flange;

[0005] The first joint module and the third joint module are mounted on the shaft base and are arranged coaxially.

[0006] The first joint module has a hollow hole that runs through the axis. The output end of the third joint module is fixedly connected to a third joint module output torque shaft. The third joint module output torque shaft passes through the hollow hole of the first joint module and is fixedly connected to the constant velocity universal joint. The constant velocity universal joint is connected to the end output flange.

[0007] The first joint module drives the end output flange to rotate around the X-axis, the second joint module drives the end output flange to rotate around the Y-axis, and the third joint module drives the end output flange to rotate around the Z-axis through the constant velocity universal joint.

[0008] Optionally, it also includes a first output socket and a second output socket;

[0009] The first output socket includes a first connecting plate and a first annular connecting portion, the first annular connecting portion being connected to the output end of the first joint module.

[0010] One end of the first connecting plate is connected to the first annular connecting part, and the second joint module is disposed at the other end of the first connecting plate and can rotate around the X-axis with the first output seat;

[0011] The second output socket includes a second connecting plate and a second annular connecting part. The output end of the second joint module passes through the first connecting plate and is connected to one end of the second connecting plate. The other end of the second connecting plate is connected to the second annular connecting part. The end output flange is rotatably connected to the second annular connecting part.

[0012] One end of the first output socket is connected to the output end of the first joint module, the second joint module is disposed at the other end of the first output socket, one end of the second output socket is connected to the output end of the second joint module, and the end output flange is rotatably disposed at the other end of the second output socket.

[0013] Optionally, one end of the first connecting plate is fixedly connected to the first annular connecting portion, and one end of the second connecting plate is connected to the second annular connecting portion. Both the first output socket and the second output socket have an "L" shaped structure and are integrally formed.

[0014] Optionally, the constant velocity universal joint includes a first torque shaft and a second torque shaft;

[0015] One end of the third joint module output torque shaft connected to the constant velocity universal joint can extend into the first torque shaft and be fixedly connected through a pin hole.

[0016] One end of the second torque shaft can extend from the second annular connection to the end output flange and connect to the end output flange to drive the end output flange to rotate around the Z-axis.

[0017] Optionally, a first bearing, a connecting flange, and a spline nut are provided between the outer peripheral arm of the second torque shaft and the inner peripheral wall of the second annular connecting part;

[0018] The spline nut is sleeved on the second torque shaft, the connecting flange is sleeved on the spline nut and connected to the end output flange, the first bearing is sleeved on the connecting flange, and the first bearing is fixedly connected to the inner ring of the second annular connecting part;

[0019] During operation, the second torque shaft drives the spline nut to rotate, the spline nut drives the connecting flange to rotate, and the connecting flange drives the end output flange to rotate.

[0020] Optionally, multiple rolling grooves are evenly spaced circumferentially between the second torque shaft and the spline nut;

[0021] The rolling groove is arranged along the axial direction of the second torsion shaft and the spline nut;

[0022] The rolling groove is provided with a number of balls, which are used to allow the second torque shaft and the spline nut to move axially.

[0023] Optionally, the constant velocity universal joint includes a first star-shaped sleeve, a second star-shaped sleeve, a first cage, a second cage, a housing, and a rolling part;

[0024] The other end of the first torque shaft is fixed to the first star-shaped sleeve; the other end of the second torque shaft is fixed to the second star-shaped sleeve; the rolling part has two sets, which are respectively assembled between the mating surface of the first star-shaped sleeve and the outer shell, and between the mating surface of the second star-shaped sleeve and the outer shell, and the first retainer and the second retainer respectively circumferentially limit the rolling part of the corresponding set.

[0025] Optionally, the outer peripheral surface of the first star-shaped sleeve is provided with a first arc-shaped groove extending along the X-axis, and the corresponding rolling part can roll along the X-axis in the first arc-shaped groove; the outer peripheral surface of the second star-shaped sleeve is provided with a second arc-shaped groove extending along the Z-axis, and the corresponding rolling part can roll along the Z-axis in the second arc-shaped groove; the inner peripheral surface of the outer shell is provided with a double-track arc-shaped groove adapted to the two sets of rolling parts, and the two sets of rolling parts roll along corresponding tracks respectively;

[0026] Both the first cage and the second cage are provided with elongated grooves extending along the Y-axis, and the corresponding rolling part can roll along the Y-axis in the elongated grooves to compensate for axial movement.

[0027] Optionally, it also includes a first bearing housing and a second bearing, wherein the first bearing housing is connected to the first output housing, the outer ring of the second bearing is connected to the first bearing housing, and the inner ring of the second bearing is connected to the first torque shaft, for providing rotational support for the first torque shaft.

[0028] Optionally, the first joint module, the second joint module, and the third joint module are all flat joint modules that integrate an axial flux motor and a cycloidal wheel reducer.

[0029] The order of the first joint module and the third joint module on the X-axis can be adjusted; the second joint module is connected to the output end of the first joint module via a long seat; the output torque short axis of the third joint module is connected to the output end of the third joint module.

[0030] This application provides a multimodal robot shoulder joint mechanism, which employs a combination of a first joint module, a second joint module, a third joint module, and a constant velocity universal joint. By coaxially mounting the first and third joint modules on a shaft base, and providing a hollow hole in the first joint module for the output torque shaft of the third joint module to pass through and connect to the constant velocity universal joint, the three joint modules can respectively drive the end-effector to rotate around the X, Y, and Z axes. The structure is compact, effectively saving space, enabling the robot shoulder joint to have multi-degree-of-freedom flexible movement capabilities, achieving complex posture adjustments, meeting diverse task requirements, and improving the robot's operational flexibility and adaptability.

[0031] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0032] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0033] Figure 1 This is a schematic diagram illustrating the structure of a shoulder joint mechanism for a multimodal robot according to an exemplary embodiment;

[0034] Figure 2 This is a schematic cross-sectional view of a shoulder joint mechanism for a multimodal robot according to an exemplary embodiment.

[0035] Figure 3 This is a schematic diagram illustrating the angular position change of two torsion shafts in a constant velocity universal joint according to an exemplary embodiment.

[0036] Figure 4 This is a schematic diagram of the structure of a multimodal robot shoulder joint mechanism after the positions of the first joint module and the third joint module on the X-axis have been adjusted according to an exemplary embodiment.

[0037] Figure 5 This is a schematic diagram illustrating an angular position change of a shoulder joint mechanism of a multimodal robot according to an exemplary embodiment;

[0038] Figure 6 This is a schematic diagram illustrating another angular position change of a shoulder joint mechanism of a multimodal robot according to an exemplary embodiment;

[0039] Figure 7 This is a structural diagram of the second output seat of a conventionally configured shoulder joint structure according to an exemplary embodiment;

[0040] Figure 8 This is a structural diagram of the second output seat of a multimodal robot shoulder joint mechanism according to an exemplary embodiment.

[0041] In the diagram: 1. Shaft base; 2. First joint module; 3. First bearing seat; 4. Second joint module; 5. Third joint module; 6. First output seat; 61. First connecting plate; 62. Second annular connecting part; 7. End output flange; 8. Second output seat; 81. Second connecting plate; 82. Second annular connecting part; 9. Fixed flange; 10. Output torque shaft; 11. Retaining ring; 12. First bearing; 13. Second bearing; 14. First torque shaft; 15. First rolling part; 16. Housing; 17. Second torque shaft; 18. First star sleeve; 19. First cage; 20. Second star sleeve; 21. Second cage; 22. Second rolling part; 23. Spline nut; 24. Connecting flange; 41. Second joint module long seat; 42. Base; 43. Third joint module output torque short shaft; 100. Constant velocity universal joint; 200. Rolling groove. Detailed Implementation

[0042] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0043] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0045] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., 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 application according to the specific circumstances.

[0046] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0047] In existing technologies, traditional collaborative robotic arms can no longer meet functional requirements. Humanoid seven-axis robotic arms are functionally close to the dexterity of human upper limbs. However, some robotic arms currently on the market often have shortcomings in configuration and weight, are large in size, and have complex structures, which limits their application scenarios. Based on the above problems, this application provides a multimodal robot shoulder joint mechanism to solve the aforementioned problems.

[0048] Reference Figure 1 As shown in one embodiment of this application, a multimodal robot shoulder joint mechanism includes: a shaft base 1, a first joint module 2, a second joint module 4, a third joint module 5, a constant velocity universal joint 100, and an end output flange 7.

[0049] The first joint module 2 and the third joint module 5 are mounted on the shaft base 1 and are arranged coaxially. The first joint module 2 has a hollow hole that runs through the axis. The output end of the third joint module 5 is fixedly connected to the output torque shaft 10 of the third joint module 5. The output torque shaft 10 of the third joint module 5 passes through the hollow hole of the first joint module 2 and is fixedly connected to the constant velocity universal joint 100. The constant velocity universal joint 100 is connected to the end output flange 7. The first joint module 2 drives the end output flange 7 to rotate around the X-axis, the second joint module 4 drives the end output flange 7 to rotate around the Y-axis, and the third joint module 5 drives the end output flange 7 to rotate around the Z-axis through the constant velocity universal joint 100.

[0050] Specifically, the first joint module 2 and the third joint module 5 are coaxially mounted on the shaft base 1. The output end of the third joint module 5 is fixedly connected to the output torque shaft 10 of the third joint module 5. After the torque shaft passes through the hollow hole along the axis of the first joint module 2, it is fixedly connected to the constant velocity universal joint 100. Then, the power transmission link is established through the constant velocity universal joint 100 and the end output flange 7. During operation, the first joint module 2 starts and outputs power to drive the end output flange 7 to rotate around the X-axis. The second joint module 4 independently drives the end output flange 7 to rotate around the Y-axis. The third joint module 5 accurately transmits power to the end output flange 7 through the constant velocity universal joint 100, causing it to rotate around the Z-axis. The three joint modules work together to realize the multi-directional angle adjustment of the end output flange 7.

[0051] The embodiments described above optimize the structural space occupied by the coaxial layout of the first joint module 2 and the third joint module 5 and the design of the torsion shaft, making the overall mechanism more compact. Combined with the constant velocity universal joint 100 transmission, the accuracy and stability of the power transmission of the third joint module 5 are ensured, compensating for axial movement during the motion process and adapting to multi-angle motion requirements. The design of driving the three joints to rotate around the X / Y / Z axes respectively realizes multi-modal motion such as extension, abduction, internal and external rotation, meeting different spatial operation scenarios. At the same time, the layout of the dual joint modules fixed to the shaft base 1 reduces the center of mass and end-effector load inertia of the mechanism. Combined with the compact structural design, the goal of lightweighting is achieved, effectively reducing the overall power consumption of the robot, extending the battery life, and adapting to the dexterous operation requirements of humanoid robot arms and collaborative arms.

[0052] It should be noted that when the output torque shaft 10 of the third joint module 5 passes through the hollow hole of the first joint module 2, a "non-contact coaxial arrangement" is adopted, meaning that the inner diameter of the hollow hole of the first joint module 2 is larger than the outer diameter of the output torque shaft 10 of the third joint module 5. For example, a hollow servo motor can be used as the first joint module 2. Only the external output components rotate through the output torque shaft 10 of the third joint module 5; it will not drive the hollow hole of the first joint module 2 to rotate synchronously.

[0053] Reference Figures 5 to 6 As shown, in some specific embodiments of this application, the system also includes a first output socket 6 and a second output socket 8.

[0054] The first output base 6 includes a first connecting plate 61 and a first annular connecting portion 62. The first annular connecting portion 62 is connected to the output end of the first joint module 2. One end of the first connecting plate 61 is connected to the first annular connecting portion 62. The second joint module 4 is disposed at the other end of the first connecting plate 61 and can rotate around the X-axis with the first output base 6. The second output base 8 includes a second connecting plate 81 and a second annular connecting portion 82. The output end of the second joint module 4 passes through the first connecting plate 61 and is connected to one end of the second connecting plate 81. The other end of the second connecting plate 81 is connected to the second annular connecting portion 82. The end output flange 7 is rotatably connected to the second annular connecting portion 82. One end of the first output base is connected to the output end of the first joint module. The second joint module is disposed at the other end of the first output base. One end of the second output base is connected to the output end of the second joint module. The end output flange is rotatably disposed at the other end of the second output base.

[0055] The first joint module 2 and the third joint module 5 are coaxially arranged. The third joint module 5 directly drives the end output flange 7 to rotate around the Z-axis through the constant velocity universal joint 100, while the first joint module 2 indirectly drives the end output flange 7 to rotate around the X-axis through the first output seat 6. They are independent of each other and do not interfere with each other.

[0056] Specifically, the first output seat 6 is fixedly connected to the output end of the first joint module 2 through its first annular connecting part 62, and the second joint module 4 is assembled on the first connecting plate 61 of the first output seat 6, forming a linkage structure of "first joint module 2-first output seat 6-second joint module 4"; the second output seat 8 is fixed to the output end of the second joint module 4 through its second connecting plate 81, and the end output flange 7 is rotatably engaged with the second annular connecting part 82 of the second output seat 8. At the same time, the end output flange 7 establishes a power connection with the third joint module 5 through the constant velocity universal joint 100. During operation, after the first joint module 2 is started, it drives the first output seat 6 to rotate around the X-axis. The first output seat 6 synchronously drives the second joint module 4, the constant velocity universal joint 100, and the end output flange 7 on it to rotate around the X-axis together. The second joint module 4 independently outputs power to drive the second output seat 8 to rotate around the Y-axis, which in turn drives the end output flange 7 to rotate around the Y-axis synchronously. The third joint module 5 transmits power to the end output flange 7 through the constant velocity universal joint 100, driving it to rotate around the Z-axis. The three joint modules achieve multi-dimensional coordinated movement of the end output flange 7 through the connection and cooperation of the first output seat 6 and the second output seat 8.

[0057] It should be noted that the second joint module 4 is fixed on the first connecting plate 61 of the first output seat 6, and its output end (such as the output flange 7) is rigidly fixed to the second connecting plate 81 of the second output seat 8 by bolts, forming a direct drive chain from the second joint module 4 to the second output seat 8 (rigid rotating arm) to the end output flange 7 (that is, the end output flange 7 is driven to rotate through the second output seat 8), without the need for additional rotating arms, hinge shafts or gear pairs.

[0058] The first connecting plate 61 of the first output seat 6 is rigidly connected to the second connecting plate 81, but the first connecting plate 61 and the second connecting plate 81 do not contact each other. For example, they can be connected by bearings (that is, the second joint module 4 is fixed to the first connecting plate 61 by bearings; the output of the second joint module 4 is connected to the inner ring of the bearing and passes through the bearing to connect to the second connecting plate 81). The second connecting plate 81 can rotate under the drive of the second joint module 4. When the third joint module rotates around the X-axis, it will not change the rotational independence of the second output seat 8 around the Y-axis.

[0059] In the above embodiments of this application, the first output seat 6 adopts an integrated structure of "first connecting plate 61 + first annular connecting part 62", which realizes a stable connection between the first joint module 2 and the second joint module 4, and drives the second joint module 4 to rotate around the X-axis with the first output seat 6, avoiding power transmission loss caused by splicing multiple parts; the integrated structure of "second connecting plate 81 + second annular connecting part 82" of the second output seat 8 provides a reliable carrier for the power output of the second joint module 4, and provides stable rotation support for the end output flange 7 through the second annular connecting part 82, reducing the risk of shaking of the end flange in multi-directional movement.

[0060] It should be noted that when facing multi-angle movement, when the second output seat 8 rotates around the X-axis under the drive of the first output seat 6, the second joint module 4 is fixed on the first output seat 6 and can operate simultaneously. The second output seat 8, combined with the constant velocity universal joint 100, enables the end output flange 7 to move around the Y-axis without conflicting with the X-axis movement. Secondly, the third joint module 5, through the constant velocity universal joint 100, independently controls the end output flange 7 to achieve active X-axis movement, enabling the end output flange 7 to adjust multi-angle movement simultaneously.

[0061] In a specific embodiment of this application, for example: when the drive end output flange 7 rotates around the X-axis, the output end of the second joint module 4 drives the second output seat 8 to rotate 90°, and the second torque shaft 17 will follow suit and rotate 90°. The second torque shaft 17 is coaxial with the first torque shaft 14. The third joint module 5 drives the output torque shaft 10 of the third joint module 5 to rotate. The output torque shaft 10 of the third joint module 5 is fixed to the first torque shaft 14. The output torque shaft 10 of the third joint module 5 drives the constant velocity universal joint 100 to rotate as a whole (the constant velocity universal joint 100 can be understood as a coupling). The second torque shaft 17 drives the end output flange 7 to rotate around the X-axis. The second torque shaft 17 and the spline nut 23 only have axial movement freedom, that is, the two parts can produce axial displacement. The spline nut 23 is fixedly connected to the connecting flange 24 and the end output flange 7.

[0062] In some specific embodiments of this application, one end of the first connecting plate 61 is fixedly connected to the first annular connecting part 62, one end of the second connecting plate 81 is connected to the second annular connecting part 82, and both the first output seat 6 and the second output seat 8 are L-shaped structures and are integrally formed.

[0063] In the above embodiments of this application, both the first output seat 6 and the second output seat 8 adopt an L-shaped structure of "connecting plate + annular connecting part" to eliminate the assembly gap and stress concentration problems of multi-part splicing, improve the structural rigidity and deformation resistance of the output seat, reduce vibration and power transmission loss during joint movement, and extend the service life of the mechanism; at the same time, the L-shaped structure makes the installation position of the first joint module 2 and the second joint module 4 fit more closely and the movement trajectory more reasonable, avoiding spatial interference when multiple parts are linked.

[0064] Reference Figures 5 to 6 As shown, for example, when the drive end output flange 7 rotates around the Y-axis, the output end of the first joint module 2 drives the first output seat 6 to rotate 90°, the constant velocity universal joint 100 rotates 90° around the X-axis, the first torque shaft 14 will rotate 90° accordingly, and the third joint module 5 will rotate 90° simultaneously. The first torque shaft 14 is fixed to the output torque shaft 10 of the third joint module 5, and the output torque shaft 10 of the third joint module 5 is fixed to the first torque shaft 14. The output torque shaft 10 of the third joint module 5 drives the constant velocity universal joint 100 to rotate as a whole (the constant velocity universal joint 100 can be understood as a coupling). The second torque shaft 17 drives the end output flange 7 to rotate around the Y-axis. The second torque shaft 17 and the spline nut 23 only have axial movement freedom, that is, the two parts can produce axial displacement. The spline nut 23 is fixedly connected to the connecting flange 24 and the end output flange 7.

[0065] Reference Figures 2 to 3As shown, in some specific embodiments of this application, the constant velocity universal joint 100 includes a first torque shaft 14 and a second torque shaft 17.

[0066] One end of the output torque shaft 10 of the third joint module 5, which is connected to the constant velocity universal joint 100, can extend into the first torque shaft 14 and be fixedly connected through a pin hole; one end of the second torque shaft 17 can extend from the second annular connection part 82 to the end output flange 7 and be connected to the end output flange 7 to drive the end output flange 7 to rotate around the Z-axis.

[0067] Specifically, the output torque shaft 10 of the third joint module 5 extends axially into the first torque shaft 14 of the constant velocity universal joint 100 at one end, and is circumferentially fixed by inserting a pin through the pre-set coaxial pin hole of both, thus establishing a power transmission link between the third joint module 5 and the constant velocity universal joint 100; the second torque shaft 17 of the constant velocity universal joint 100 extends axially at one end, passes through the second annular connecting part 82 of the second output seat 8, and is fixedly connected to the end output flange 7.

[0068] During operation, the third joint module 5 starts and outputs rotational power, which is transmitted to the first torque shaft 14 through the output torque shaft 10. The second torque shaft 17 is then rotated synchronously through the internal transmission structure of the constant velocity universal joint 100. The second torque shaft 17 then drives the end output flange 7 to rotate stably around the Z-axis. At the same time, it works in conjunction with the first joint module 2 to drive the first output seat 6 to move around the X-axis and the second joint module 4 to drive the second output seat 8 to move around the Y-axis, thereby achieving multi-dimensional collaborative positioning of the end output flange 7.

[0069] In the above embodiments of this application, the output torque shaft 10 of the third joint module 5 is first inserted into the first torque shaft 14 and fixed by a pin hole, which improves the coaxiality and stability of the connection, avoids circumferential movement during power transmission, and ensures the accuracy of torque transmission. The design of the second torque shaft 17 extending directly from the second annular connection part 82 to the end output flange 7 realizes the structure of embedded connection and extended transmission, avoids spatial interference between the constant velocity universal joint 100 and the second output seat 8 and the end output flange 7, reduces the overall volume of the mechanism, and improves the reliability and accuracy of multimodal motion of the shoulder joint.

[0070] In some specific embodiments of this application, the second torsion shaft 17 and the first torsion shaft 14 of the constant velocity universal joint 100 rotate ±45° around their respective center positions about the Y-axis.

[0071] Reference Figure 2 As shown, in some specific embodiments of this application, a first bearing 12, a connecting flange 24, and a spline nut 23 are provided between the outer peripheral arm of the second torque shaft 17 and the inner peripheral wall of the second annular connecting part 82.

[0072] Spline nut 23 is fitted onto the second torque shaft 17, connecting flange 24 is fitted onto spline nut 23 and connected to the end output flange 7, first bearing 12 is fitted onto connecting flange 24, and first bearing 12 is fixedly connected to the inner ring of the second annular connecting part 82.

[0073] During operation, the second torque shaft 17 drives the spline nut 23 to rotate, the spline nut 23 drives the connecting flange 24 to rotate, and the connecting flange 24 drives the end output flange 7 to rotate.

[0074] Specifically, a spline nut 23, a connecting flange 24, and a first bearing 12 are sequentially fitted onto the outer peripheral wall of the second torque shaft 17. The spline nut 23 and the second torque shaft 17 form an axially compensated transmission fit. The second torque shaft 17 is connected to the spline nut 23, the spline nut 23 is fixedly connected to the connecting flange 24, the connecting flange 24 is fixedly connected to the end output flange 7, the connecting flange 24 is connected to the inner hole of the first bearing 12, and the outer ring of the first bearing 12 is fixedly connected to the inner hole of the second annular connecting part 82 of the second output seat 8.

[0075] During operation, the power of the third joint module 5 is transmitted to the second torque shaft 17 via the constant velocity universal joint 100. The second torque shaft 17 drives the spline nut 23 to rotate synchronously. The spline nut 23 drives the connecting flange 24 to rotate, and the connecting flange 24 in turn drives the end output flange 7 to rotate around the Z-axis.

[0076] In some specific embodiments of this application, a plurality of rolling grooves 200 are evenly spaced circumferentially between the second torque shaft 17 and the spline nut 23; the rolling grooves 200 are arranged along the axial direction of the second torque shaft 17 and the spline nut 23; a plurality of balls are provided in the rolling grooves 200 to allow axial movement between the second torque shaft 17 and the spline nut 23.

[0077] Specifically, the second torque shaft 17 has a precision rolling groove 200 feature, and the spline nut 23 also has a precision rolling groove 200 feature. The mating surfaces of the second torque shaft 17 and the spline nut 23 form a complete rolling groove 200, and multiple axially extending rolling grooves 200 are evenly spaced along the circumference. The rolling groove 200 of the spline nut 23 contains a number of balls, which roll within the rolling groove 200 of the spline nut 23. Similarly, the rolling groove 200 of the second torque shaft 17 also rolls within the rolling groove 200, and the rolling groove 200 embeds a number of balls, forming a ball spline fit structure.

[0078] During operation, the rotational power transmitted by the third joint module 5 drives the second torque shaft 17 to rotate. The second torque shaft 17 transmits torque synchronously to the spline nut 23 through the balls in the rolling groove 200, causing the spline nut 23 to rotate synchronously with the second torque shaft 17. When the second joint module 4 drives the second output seat 8 to rotate around the Y-axis, causing an axial relative displacement requirement between the second torque shaft 17 and the spline nut 23, the balls can roll smoothly along the axially extending rolling groove 200, driving the spline nut 23 to move flexibly relative to the second torque shaft 17 along the axial direction, thus achieving axial position compensation while completing torque transmission.

[0079] In the above embodiments of this application, the axial rolling grooves 200 and balls are evenly distributed circumferentially on the mating surfaces of the second torsion shaft 17 and the spline nut 23, which avoids jamming or stress concentration during power transmission. The rolling of the balls achieves low-friction axial relative movement, compensates for the axial movement generated during multi-joint linkage, and ensures the accuracy of the rotation of the end output flange 7 around the Z-axis.

[0080] In some specific embodiments of this application, the constant velocity universal joint 100 includes a first star-shaped sleeve 18, a second star-shaped sleeve 20, a first retainer 19, a second retainer 21, a housing 16, and a rolling part.

[0081] The other end of the first torque shaft 14 is fixed to the first star-shaped sleeve 18; the other end of the second torque shaft 17 is fixed to the second star-shaped sleeve 20; there are two sets of rolling parts, which are respectively assembled between the mating surfaces of the first star-shaped sleeve 18 and the outer shell 16, and between the mating surfaces of the second star-shaped sleeve 20 and the outer shell 16; the first retainer 19 and the second retainer 21 respectively provide circumferential limiting for the corresponding rolling parts.

[0082] In some specific embodiments of this application, the outer peripheral surface of the first star-shaped sleeve 18 is provided with a first arc-shaped groove extending along the X-axis, and the corresponding rolling part can roll in the first arc-shaped groove along the X-axis; the outer peripheral surface of the second star-shaped sleeve 20 is provided with a second arc-shaped groove extending along the Z-axis, and the corresponding rolling part can roll in the second arc-shaped groove along the Z-axis; the inner peripheral surface of the outer shell 16 is provided with a double-track arc-shaped groove adapted to the two sets of rolling parts, and the two sets of rolling parts roll along the corresponding tracks respectively; the first retainer 19 and the second retainer 21 are both provided with long waist grooves extending along the Y-axis, and the corresponding rolling parts can roll in the long waist grooves along the Y-axis to compensate for axial movement.

[0083] The rolling part includes a first rolling part 15 and a second rolling part 22.

[0084] Specifically, the first torque shaft 14 is connected to the second bearing 13 hole, and the first torque shaft 14 can rotate around the X-axis. The first star-shaped sleeve 18 is fixedly connected to the first torque shaft 14. The first rolling part 15 is connected to the first star-shaped sleeve 18, the first retainer 19, and the outer shell 16 respectively. The first star-shaped sleeve 18 has a first arc-shaped groove, and the first rolling part 15 rolls along the X-axis in the first arc-shaped groove of the first star-shaped sleeve 18. The first retainer 19 has a long waist groove, and the first rolling part 15 rolls along the Y-axis in the long waist groove of the first retainer 19. The outer shell 16 has... The double-track arc groove has a first rolling part 15 that rolls along the X-axis within the double-track arc groove of the outer shell 16. The second rolling part 22 is connected to the second star-shaped sleeve 20, the second retainer 21, and the outer shell 16. The second retainer 21 has a long waist groove, and the second rolling part 22 rolls along the Y-axis within the long waist groove of the second retainer 21. The second star-shaped sleeve 20 has a second arc groove, and the second rolling part 22 rolls along the Z-axis within the second arc groove of the second star-shaped sleeve 20. The second star-shaped sleeve 20 is fixedly connected to the second torsion shaft 17, and is adapted to the movement of the first joint around the X-axis and the second joint around the Y-axis, thus realizing multi-dimensional coordinated transmission.

[0085] In the above embodiments of this application, by setting the constant velocity universal joint 100 as a symmetrical structure with double star-shaped sleeves, double sets of rolling parts, and double cages, and by combining the X-axis arc groove of the first star-shaped sleeve 18, the Z-axis arc groove of the second star-shaped sleeve 20, and the double-rail arc groove of the outer shell 16, the constant velocity transmission of power when the motion is superimposed in different directions is ensured, and the end motion deviation caused by speed fluctuation is avoided. Through the cooperation of the Y-axis long waist groove of the cage and the rolling part, the axial movement generated by multi-joint linkage is compensated, the risk of motion interference is avoided, and the stability and dexterity of the shoulder joint multimodal motion are improved.

[0086] It should be noted that the housing 16 of the constant velocity universal joint 100 is rotatable. When the first torque shaft 14 rotates, the housing 16 rotates synchronously, simultaneously driving the second torque shaft 17 to rotate. The first torque shaft 14 and the second torque shaft 17 rotate at the same speed. For example, when the speed of the first torque shaft 14 is 30 r / min, the speed of the second torque shaft 17 is also 30 r / min. The first torque shaft 14 and the second torque shaft 17 can rotate around their respective center points, the Y-axis. The constant velocity universal joint 100 is a universal coupling that can transmit power at the same speed to input and output at different angles.

[0087] like Figure 2The diagram shows a cross-sectional view of a multimodal robot shoulder joint mechanism. The third joint module 5 is fixedly connected to the fixing flange 9 of the third joint module 5. The fixing flange 9 of the third joint module 5 and the first joint module 2 are fixedly connected to the shaft base 1, respectively. The first bearing seat 3 is fixedly connected to the second bearing 13. The first bearing seat 3 is fixedly connected to the first output seat 6. The first output seat 6 is fixedly connected to the output end of the first joint module 2. The second joint module 4 is fixedly connected to the first output seat 6. The second output seat 8 is fixedly connected to the output end of the second joint module 4. The first bearing 12 is fixedly connected to the second output seat 8. The output torque shaft 10 of the third joint module 5 is fixedly connected to the output end of the third joint module 5. The first torque shaft 14 is fixedly connected to the output torque shaft 10 of the third joint module 5. The first torque shaft 14 is connected to the second bearing 13. The retaining ring 11 is connected to the first torque shaft 14. The first star-shaped sleeve 18 is fixedly connected to the first torque shaft 14. The first rolling part 15 is connected to the first star-shaped sleeve 18, the first retainer 19, and the outer shell 16 respectively. The second rolling part 22 is connected to the second star-shaped sleeve 20, the second retainer 21, and the outer shell 16 respectively. The second star-shaped sleeve 20 is fixedly connected to the second torque shaft 17. The second torque shaft 17 is connected to the spline nut 23. The spline nut 23 is fixedly connected to the connecting flange 24. The connecting flange 24 is fixedly connected to the end output flange 7. The connecting flange 24 is connected to the first bearing 12. The first bearing 12 is fixedly connected to the inner hole of the second output seat 8.

[0088] In summary, the output torque shaft 10 of the third joint module 5 and the end output flange 7 rotate at the same speed at any time. The speed and power output by the third joint module 5 are transmitted to the end output flange 7 through the constant velocity universal joint 100. The spline nut 23 can compensate for the axial movement caused by the rotation of the second torque shaft 17 around the Y-axis. The second joint module 4 drives the end output flange 7 to rotate around the Y-axis, and the first joint module 2 drives the end output flange 7 to rotate around the X-axis. The end output flange 7 outputs different angles to reach different positions and angles through the cooperation of the first joint module 2, the second joint module 4, and the third joint module 5.

[0089] In some specific embodiments of this application, the shoulder joint mechanism further includes a first bearing seat 3 and a second bearing 13. The first bearing seat 3 is connected to the first output seat 6, the outer ring of the second bearing 13 is connected to the first bearing seat 3, and the inner ring of the second bearing 13 is connected to the first torque shaft 14 to provide rotational support for the first torque shaft 14.

[0090] In the above embodiments of this application, the first bearing housing 3 is fixedly connected to the first output housing 6. The second bearing 13 forms a precise rotational support structure through the cooperation of its outer ring with the first bearing housing 3 and its inner ring with the first torque shaft 14. This provides stable radial and axial support for the first torque shaft 14, suppressing radial runout and axial movement of the first torque shaft 14 during high-speed rotation and multi-joint linkage. It ensures the coaxiality of the first torque shaft 14 with the internal star-shaped sleeve and rolling part of the constant velocity universal joint 100, avoiding meshing deviation or increased friction caused by shaft shaking during power transmission. The rolling friction characteristics of the bearing reduce the rotational resistance of the first torque shaft 14, reducing power loss and component wear, and extending the overall service life of the mechanism. At the same time, this support structure moves synchronously with the first output housing 6, adapting to the rotational requirements of the first joint module 2 around the X-axis, without interfering with multi-dimensional motion coordination. Moreover, the structure has a compact layout, requiring no additional redundant space, thus optimizing the space utilization of the mechanism.

[0091] In some specific embodiments of this application, the first joint module 2, the second joint module 4, and the third joint module 5 are all flat joint modules that integrate an axial flux motor and a cycloidal wheel reducer.

[0092] The order of the first joint module 2 and the third joint module 5 on the X-axis can be adjusted; the second joint module long seat 41 is connected to the output end of the first joint module 2; the output torque short shaft 43 of the third joint module 5 is connected to the output end of the third joint module 5.

[0093] Reference Figure 4 As shown, the first joint module 2 and the third joint module 5 can be adjusted in position along the X-axis. The first joint module 2 and the third joint module 5 are fixedly connected to the base 42. The long seat 41 of the second joint module is fixedly connected to the output end of the first joint module 2. The output torque short shaft 43 of the third joint module 5 is fixedly connected to the output end of the third joint module 5. The first torque shaft 14 is fixedly connected to the output torque short shaft 43 of the third joint module 5. The second joint module 4 is fixedly connected to the long seat 41 of the second joint module. The remaining components are... Figure 1 The statement is consistent and will not be repeated. Figure 4 Configuration is Figure 1 Derived configurations, their functions and Figure 1 The above is consistent and will not be repeated.

[0094] In this application, reference is made to Figures 7 to 8 As shown, Figure 7 In the traditional configuration, the third joint module 5 is adjusted to be closer to the end, and the end output flange 7 is fixedly connected to the output end of the third joint module 5. Figure 8In this application's configuration, all dots and lines represent moving parts. The origin of the coordinate system is located at the center of the end face of the base 1. The overall mass of the moving part (i.e., the second output seat 8) is 2680g, and its moment of inertia about the X-axis is 7745kg / mm². The overall mass of the moving part (i.e., the second output seat 8) is 2108g, and its moment of inertia about the X-axis is 2941kg / mm². The mass ratio is 2108 / 2680 = 0.79, and the moment of inertia ratio is 2941 / 7745 = 0.38. The rotational torque T = J ε, where J is the moment of inertia and ε is the angular acceleration. From the formula, it can be seen that the smaller J is, the smaller the driving torque required by the motor. In this example, the torque required to drive the moving part (second output seat 8) is approximately 38% of the torque required by the moving part. In summary, the moving part of this application is not only lighter in mass, but also has a significantly reduced relative moment of inertia. The overall configuration has two joint modules fixed to a shaft base 1, with one joint module at the moving end. The advantage of this configuration is that the center of mass of the entire configuration is close to the fixed end.

[0095] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0096] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A multi-modal robotic shoulder mechanism, characterized by, The utility model relates to a kind of articulated robot, including: Shaft base, first joint module, second joint module, third joint module, constant velocity universal joint and end output flange; The first joint module and the third joint module are coaxially arranged on the shaft base; The first joint module is provided with a hollow hole along the axis, and the output end of the third joint module is fixedly connected with a third joint module output torque shaft, which passes through the hollow hole of the first joint module and is fixedly connected with the constant velocity universal joint, and the constant velocity universal joint is connected with the end output flange; The inner diameter of the hollow hole of the first joint module is greater than the outer diameter of the output torque shaft of the third joint module; The first joint module drives the end output flange to rotate around the X-axis, the second joint module drives the end output flange to rotate around the Y-axis, and the third joint module drives the end output flange to rotate around the Z-axis through the constant velocity universal joint; It also includes a first output seat and a second output seat, the first output seat includes a first connecting plate and a first annular connecting part, the second output seat includes a second connecting plate and a second annular connecting part, the first output seat and the second output seat are both in the shape of "L" and are integrally formed; The constant velocity universal joint includes a second torque shaft, a connecting flange and a spline female are provided between the outer peripheral arm of the second torque shaft and the inner peripheral wall of the second annular connecting part, the spline female is sleeved on the second torque shaft, and the connecting flange is sleeved on the spline female and connected with the end output flange; A plurality of rolling grooves are uniformly spaced circumferentially between the second torque shaft and the spline female; The rolling grooves are arranged along the axis direction of the second torque shaft and the spline female, and a plurality of balls are arranged in the rolling grooves to allow the second torque shaft and the spline female to move axially.

2. The multi-modal robotic shoulder mechanism of claim 1, wherein, The first annular connecting part is connected with the output end of the first joint module, one end of the first connecting plate is connected with the first annular connecting part, the second joint module is arranged at the other end of the first connecting plate and can rotate around the X-axis with the first output seat; The output end of the second joint module is connected with one end of the second connecting plate through the first connecting plate, the other end of the second connecting plate is connected with the second annular connecting part, and the end output flange is rotatably connected with the second annular connecting part; One end of the first output seat is connected with the output end of the first joint module, the second joint module is arranged at the other end of the first output seat, one end of the second output seat is connected with the output end of the second joint module, and the end output flange is rotatably arranged at the other end of the second output seat.

3. The multi-modal robotic shoulder mechanism of claim 1, wherein, The constant velocity universal joint includes a first torque shaft; One end of the third joint module output torque shaft connected with the constant velocity universal joint can extend into the first torque shaft and be fixedly connected through a pin hole; One end of the second torque shaft can extend from the second annular connecting part to the end output flange and be connected with the end output flange to drive the end output flange to rotate around the Z-axis.

4. A multi-modal robotic shoulder mechanism according to claim 3, wherein, A first bearing is arranged between the outer peripheral arm of the second torsion shaft and the inner peripheral wall of the second annular connecting part; The first bearing is arranged on the connecting flange, and the first bearing is fixedly connected with the inner ring of the second annular connecting part; In operation, the second torsion shaft drives the spline female to rotate, the spline female drives the connecting flange to rotate, and the connecting flange drives the end output flange to rotate.

5. The multi-modal robotic shoulder mechanism of claim 3, wherein, The constant velocity joint comprises a first star-shaped sleeve, a second star-shaped sleeve, a first retainer, a second retainer, an outer shell and rolling parts; The other end of the first torsion shaft is fixed with the first star-shaped sleeve, and the other end of the second torsion shaft is fixed with the second star-shaped sleeve; the rolling parts are provided in two groups and are arranged between the mating surfaces of the first star-shaped sleeve and the outer shell and the mating surfaces of the second star-shaped sleeve and the outer shell, and the first retainer and the second retainer are used for circumferentially limiting the corresponding group of rolling parts.

6. A multi-modal robotic shoulder mechanism according to claim 5, wherein, The outer peripheral surface of the first star-shaped sleeve is provided with a first arc-shaped groove extending along the X-axis, and the rolling parts can roll in the first arc-shaped groove along the X-axis; the outer peripheral surface of the second star-shaped sleeve is provided with a second arc-shaped groove extending along the Z-axis, and the rolling parts can roll in the second arc-shaped groove along the Z-axis; and the inner peripheral surface of the outer shell is provided with double-track arc-shaped grooves adapted to the two groups of rolling parts, and the two groups of rolling parts roll along the corresponding tracks, respectively. The first retainer and the second retainer are both provided with long waist grooves extending along the Y-axis, and the rolling parts can roll in the long waist grooves along the Y-axis to compensate for axial movement.

7. The multi-modal robotic shoulder mechanism of claim 3, wherein, A first bearing seat and a second bearing are further included, the first bearing seat is connected with the first output seat, the outer ring of the second bearing is connected with the first bearing seat, and the inner ring of the second bearing is connected with the first torsion shaft, so as to provide rotational support for the first torsion shaft.

8. The multi-modal robotic shoulder mechanism of claim 1, wherein, The first joint module, the second joint module and the third joint module are all flat joint modules integrated with axial flux motors and cycloid reducers; The positions of the first joint module and the third joint module on the X-axis can be adjusted. The output end of the first joint module is connected with the second joint module long seat, and the output torsion short shaft of the third joint module is connected with the output end of the third joint module.

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