A multi-modal robotic elbow joint mechanism

Abstract

The application provides a multi-mode robot elbow joint mechanism, comprising a base, a first joint module, a second joint module, an elbow joint bearing seat, a constant velocity universal joint, a driving part and a terminal output flange. The base has a containing cavity, the first joint module is arranged in the containing cavity, and the second joint module is fixedly connected with the base; one end of the driving part is connected with an output end of the first joint module, and the other end is connected with the elbow joint bearing seat; one end of the constant velocity universal joint is connected with an output end of the second joint module, the other end is connected with the output flange, and the constant velocity universal joint is arranged on the elbow joint bearing seat; the second joint module rotates around an X axis, drives the terminal output flange to rotate around a Z axis through the constant velocity universal joint; the second joint module drives the elbow joint bearing seat to rotate around a Y axis through the driving part, and drives the terminal output flange to rotate around the Y axis. The application drives related elbow joints to make different angle changes through two joint modules, and the overall structure is compact, the load inertia is small, and the required driving torque is reduced.

Description

Technical Field

[0001] This application relates to the field of various humanoid bionic robotic arms and collaborative arms, and specifically to a multimodal robot elbow 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 suffer from limitations in configuration and weight, occupying a large space, having complex structures, and generating significant torque output, thus restricting their application scenarios. Summary of the Invention

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

[0004] A first aspect of this application provides a multimodal robot elbow joint mechanism, comprising: a base, a first joint module, a second joint module, an elbow joint bearing housing, a constant velocity universal joint, a drive component, and an end effector flange;

[0005] The base has a receiving cavity, the first joint module is disposed in the receiving cavity, and the second joint module is connected to the base;

[0006] The input end of the drive unit is connected to the output end of the first joint module, and the output end is connected to the elbow joint bearing seat.

[0007] One end of the constant velocity universal joint is connected to the output end of the second joint module, and the other end is connected to the end output flange and is mounted on the elbow joint bearing seat.

[0008] The second joint module rotates around the X-axis, and drives the end output flange to rotate around the Z-axis through the constant velocity universal joint; the first joint module drives the elbow joint bearing seat to rotate around the Y-axis through the driving component, thereby causing the end output flange to rotate around the Y-axis.

[0009] Optionally, the output end of the first joint module is provided with a first output flange. The first output flange is connected to the elbow joint bearing seat through the driving member. When the first joint module rotates around the Y-axis, the driving member drives the elbow joint bearing seat to rotate synchronously around the Y-axis.

[0010] Optionally, the driving component is a linkage or a timing belt mechanism, used to transmit the rotation of the first joint module to the elbow joint bearing seat.

[0011] Optionally, when the driving component is a connecting rod, a first joint bearing and a second joint bearing are respectively provided at both ends of the driving component; a first pin and a second pin are respectively provided on the first output flange and the elbow joint bearing seat;

[0012] The first joint bearing is connected to the first pin, the second joint bearing is connected to the second pin, the first output flange, the driving component, and the elbow joint bearing seat constitute a four-bar linkage mechanism, and the rotation angle of the elbow joint bearing seat is determined by the rotation angle of the first joint module output flange.

[0013] When the driving component is a synchronous belt mechanism, it includes a first synchronous pulley, a synchronous belt, and a second synchronous pulley;

[0014] The first synchronous pulley is connected to the first output flange, the second synchronous pulley is connected to the elbow joint bearing seat, and the synchronous belt is connected to the first synchronous pulley and the second synchronous pulley, so that when the first joint module rotates, the synchronous belt mechanism drives the elbow joint bearing seat to rotate.

[0015] Optionally, the second joint module includes a second module seat, one end of which is fixedly connected to the base, and the other end extends to the inner side of the elbow joint bearing seat and is rotatably connected to the elbow joint bearing seat.

[0016] The second module base has a cavity, and the second joint module is disposed in the cavity;

[0017] The output end of the second joint module is provided with an output torque shaft, which is connected to the constant velocity universal joint.

[0018] Optionally, one end of the constant velocity universal joint is provided with a first torsion shaft, and the other end is provided with a second torsion shaft;

[0019] The output torque shaft can extend into one end of the first torque shaft, and the second torque shaft is connected to the end output flange to drive the end output flange to rotate around the Z-axis;

[0020] The second module base is provided with a first bearing, which is sleeved on the first torque shaft to support the first torque shaft.

[0021] Optionally, the elbow joint bearing housing includes a first side plate, a second side plate, and a third support plate;

[0022] The first side plate and the second side plate are symmetrically arranged on both sides of the third support plate and are integrally formed with the third support plate;

[0023] The other end of the second module base extends to the inner side of the first side plate and the second side plate;

[0024] The other end of the second module base is provided with a third bearing and a fourth bearing, and the inner sides of the first side plate and the second side plate are respectively provided with a third pin and a fourth pin;

[0025] The other end of the second module seat is between the elbow joint bearing seat and the third bearing and the fourth bearing, which are rotatably connected to the third pin and the fourth pin, respectively, to provide guidance and support for the elbow joint bearing seat to rotate around the Y-axis.

[0026] Optionally, the third support plate is provided with an annular connecting portion;

[0027] One end of the second torque shaft can extend into the annular connection portion and extend to the end output flange, and connect with the end output flange;

[0028] A second bearing, a connecting flange, and a spline nut are provided between the outer peripheral wall of the second torque shaft and the inner peripheral wall of the annular connecting part;

[0029] 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 second bearing is sleeved on the connecting flange, and the second bearing is fixedly connected to the inner ring of the annular connecting part;

[0030] 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.

[0031] Optionally, multiple rolling grooves are evenly spaced circumferentially between the second torque shaft and the spline nut;

[0032] The rolling groove is arranged along the axial direction of the second torsion shaft and the spline nut;

[0033] 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.

[0034] 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;

[0035] 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 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;

[0036] The first star-shaped sleeve has a first arc-shaped groove extending along the X-axis on its outer peripheral surface, and the corresponding rolling part can roll along the X-axis in the first arc-shaped groove; the second star-shaped sleeve has a second arc-shaped groove extending along the Z-axis on its outer peripheral surface, and the corresponding rolling part can roll along the Z-axis in the second arc-shaped groove; the outer peripheral surface of the outer shell has a double-track arc-shaped groove adapted to the two sets of rolling parts, and the ball part rolls along the double-track arc-shaped groove.

[0037] Both the first retainer and the second retainer are provided with elongated grooves extending along the Y-axis, and the corresponding rolling part can roll along the Y-axis within the elongated grooves.

[0038] This application provides a multimodal robot elbow joint mechanism that integrates both the first and second joint modules with the base and uses a lightweight motion transmission technique. Power is transmitted to the end-effector flange only through a drive component and a constant velocity universal joint, thereby reducing the mass and rotational inertia of the moving parts and improving the mechanism's dynamic response. Simultaneously, the constant velocity universal joint enables constant-velocity, smooth torque transmission around the Z-axis, and combined with the elbow joint drive structure rotating around the Y-axis, it achieves multi-degree-of-freedom, multimodal dexterous motion of the end-effector flange. This results in a compact overall configuration, low load inertia, and reduced required drive torque, making it particularly suitable for applications such as humanoid robots and collaborative robotic arms that have stringent requirements for lightweight design, high flexibility, and high energy efficiency.

[0039] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0040] 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:

[0041] Figure 1 This is a schematic diagram illustrating the structure of a multimodal robot elbow joint mechanism according to an exemplary embodiment;

[0042] Figure 2 This is a side view of a multimodal robot elbow joint mechanism according to an exemplary embodiment;

[0043] Figure 3 This is a schematic cross-sectional view of a multimodal robot elbow joint mechanism according to an exemplary embodiment;

[0044] Figure 4 This is a schematic diagram illustrating the angular position change of the two torsion shafts of a constant velocity universal joint according to an exemplary embodiment.

[0045] Figure 5This is a schematic diagram illustrating a synchronous belt drive replacing a four-bar linkage according to an exemplary embodiment;

[0046] Figure 6 This is a conventional configuration of an elbow joint bearing housing according to an exemplary embodiment;

[0047] Figure 7 This is a schematic diagram of an elbow joint bearing seat structure for a multimodal robot elbow joint mechanism according to an exemplary embodiment.

[0048] In the diagram: 1. Base; 2. First joint module; 3. Second joint module seat; 4. Second joint module; 5. End output flange; 6. First output flange; 7. Connecting rod; 8. Elbow joint bearing seat; 81. First side plate; 82. Second side plate; 83. Third support plate; 831. Annular connecting part; 9. Output torque shaft; 10. First bearing; 11. First torque shaft; 12. First star sleeve; 13. First rolling part; 14. First cage; 15. Housing; 16. Second rolling part Moving part; 17. Second cage; 18. Second star sleeve; 19. Second bearing; 20. Second torsion shaft; 21. First pin; 22. First spherical plain bearing; 23. Second pin; 24. Second spherical plain bearing; 25. Third bearing; 26. Third pin; 27. Fourth bearing; 28. Fourth pin; 29. ​​Spline nut; 30. Connecting flange; 31. First synchronous pulley; 32. Synchronous belt; 33. Second synchronous pulley; 100. Constant velocity universal joint; 200. Rolling groove. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] In the existing technology, traditional collaborative robotic arms can no longer meet the functional requirements. Humanoid seven-axis robotic arms are close to the dexterity of human upper limbs in terms of function. Currently, some robotic arms circulating in the market usually have shortcomings in configuration and weight, occupy a lot of space, have a complex structure, and have a large torque output, which limits the application scenarios of robotic arms.

[0055] Reference Figure 1 As shown in one embodiment of this application, a multimodal robot elbow joint mechanism includes: a base 1, a first joint module 2, a second joint module 4, an elbow joint bearing seat 8, a constant velocity universal joint 100, a drive component, and an end output flange 5.

[0056] The base 1 has a receiving cavity, the first joint module 2 is disposed in the receiving cavity, and the second joint module 4 is connected to the base 1; the input end of the drive is connected to the output end of the first joint module 2, and the output end is connected to the elbow joint bearing seat 8; one end of the constant velocity universal joint 100 is connected to the output end of the second joint module 4, and the other end is connected to the end output flange 5 and disposed on the elbow joint bearing seat 8; the second joint module 4 rotates around the X-axis, and drives the end output flange 5 to rotate around the Z-axis through the constant velocity universal joint 100; the first joint module 2 drives the elbow joint bearing seat 8 to rotate around the Y-axis through the drive, thereby driving the end output flange 5 to rotate around the Y-axis.

[0057] Specifically, when the second joint module 4 rotates around the X-axis, the output end transmits power to the constant velocity universal joint 100. One end of the constant velocity universal joint 100 is connected to the output end of the second joint module 4, and the other end is connected to the end output flange 5 and mounted on the elbow joint bearing seat 8. Through coordinated transmission, the rotation in the X-axis direction is converted into the rotation of the end output flange 5 around the Z-axis. At the same time, after the first joint module 2 is started, the first joint module 2 rotates around the Y-axis. The output end transmits power through the drive component (the input end is connected to the first joint module 2, and the output end is connected to the elbow joint bearing seat 8), directly driving the elbow joint bearing seat 8 to rotate around the Y-axis. The end output flange 5 is connected to the constant velocity universal joint 100, and the constant velocity universal joint 100 is connected to the elbow joint bearing seat 8. It rotates around the Y-axis synchronously with the rotation of the elbow joint bearing seat 8. Through the independent drive and coordinated cooperation of the first joint module 2 and the second joint module 4, the end output flange 5 can simultaneously obtain rotational degrees of freedom around the Y-axis and Z-axis, realizing multimodal motion output.

[0058] In the above embodiments of this application, the base 1 integrates the first joint module 2 through the receiving cavity, and the second joint module 4 is also fixed to the base 1. The driving components are all concentrated at the fixed end, which effectively reduces the overall center of gravity offset of the mechanism, reduces the load inertia when the end output flange 5 moves, reduces the torque output requirement of the joint module, and realizes the lightweight design of the mechanism. Through the division of labor transmission between the driving components and the constant velocity universal joint 100, the rotation of the end output flange 5 around the Y-axis and Z-axis is realized respectively, and the rotation in the two directions can be controlled independently or cooperated, so that the elbow joint has multi-modal motion capabilities such as extension and internal and external rotation, adapting to different spatial usage scenarios and improving operational flexibility. At the same time, the constant velocity universal joint 100 realizes the constant velocity in the power transmission process of the second joint module 4, avoiding the impact of speed deviation on the accuracy of the end action. The overall structure is compact, taking into account multi-degree-of-freedom dexterous motion and system lightweight, and is suitable for humanoid bionic robotic arms and collaborative arms and other scenarios with high requirements for dexterity and safety.

[0059] The first joint module 2 is composed of a frameless torque motor and a harmonic reducer, and features high repeatability.

[0060] In some specific embodiments of this application, the output end of the first joint module 2 is provided with a first output flange 6. The first output flange 6 is connected to the elbow joint bearing seat 8 through a driving member. When the first joint module 2 rotates around the Y-axis, the elbow joint bearing seat 8 is driven to rotate synchronously around the Y-axis through the driving member.

[0061] Specifically, after the first joint module 2 is started, it rotates around the Y-axis, and the first output flange 6 at the output end rotates synchronously around the Y-axis. Since the first output flange 6 is connected to the elbow joint bearing seat 8 through the drive component, the rotational power is accurately transmitted to the elbow joint bearing seat 8 through the drive component, which ultimately drives the elbow joint bearing seat 8 to maintain synchronous movement with the first joint module 2 and the first output flange 6, realizing rotation around the Y-axis. The elbow joint bearing seat 8 and the constant velocity universal joint 100 provide a power transmission path for the multimodal movement of the end output flange 5 around the Y-axis.

[0062] In the above embodiments of this application, by directly connecting the output end of the first joint module 2 to the first output flange 6, and then linking the elbow joint bearing seat 8 through the drive component, synchronous driving of the elbow joint bearing seat 8 when the first joint module 2 rotates around the Y-axis is realized, which simplifies the transmission chain, reduces intermediate transmission components, and improves structural rigidity and motion accuracy. The direct connection design between the drive component and the first output flange 6 enhances the synchronicity and reliability of power transmission, reduces transmission errors and lag, improves dynamic response speed and energy efficiency, and enables the end output flange 5 to achieve high-precision, low-delay rotation around the Y-axis.

[0063] In some specific embodiments of this application, the driving component is a connecting rod 7 or a timing belt mechanism, used to transmit the rotation of the first joint module 2 to the elbow joint bearing seat 8.

[0064] In some specific embodiments of this application, when the driving member is a connecting rod 7, the two ends of the driving member are respectively provided with a first joint bearing 22 and a second joint bearing 24; the first output flange 6 and the elbow joint bearing seat 8 are respectively provided with a first pin 21 and a second pin 23.

[0065] The first joint bearing 22 is connected to the first pin 21, and the second joint bearing 24 is connected to the second pin 23. The first output flange 6, the drive component, and the elbow joint bearing seat 8 of the first joint module 2 constitute a four-bar linkage mechanism, so that the rotation angle of the elbow joint bearing seat 8 is determined by the rotation angle of the first output flange 6 of the first joint module 2.

[0066] Specifically, the first pin 21 on the first output flange 6 of the first joint module 2 is connected to one end of the connecting rod 7 via the first joint bearing 22, and the second joint bearing 24 at the other end of the connecting rod 7 is connected to the elbow joint bearing seat 8 via the second pin 23. When the first joint module 2 drives the first output flange 6 to rotate around the Y-axis, the rotational motion is converted into synchronous rotation of the elbow joint bearing seat 8 around the Y-axis through the transmission mechanism of the connecting rod 7. The connection between the first output flange 6, the connecting rod 7, the elbow joint bearing seat 8, and the base 1 together constitutes a four-bar linkage, so that the rotation angle of the elbow joint bearing seat 8 is directly determined by the input angle of the first output flange 6.

[0067] It should be noted that the specific structure of the four-bar linkage in this application is as follows: the base 1 serves as a fixed frame, the first output flange 6 of the first joint module 2 is the driving component, the connecting rod 7 is the transmission component, and the elbow joint bearing seat 8 is the driven component; the four components are rotatably connected by a pin and a bearing. When the first output flange 6 rotates around the Y-axis, the power is transmitted through the connecting rod 7 to drive the elbow joint bearing seat 8 to rotate synchronously around the Y-axis. The rotation angle of the elbow joint bearing seat 8 is determined by the length and relative installation position of the four components, thereby achieving precise power transmission and angle control.

[0068] The embodiments described above in this application, by combining a four-bar linkage, provide a stable and reliable angle transmission relationship, with definite motion and simple control; the cooperation between the joint bearing and the pin can effectively absorb installation errors and motion deformation while transmitting rotation, thereby improving the fault tolerance and reliability of the system; it reduces the weight and inertia of moving parts and improves dynamic response efficiency; at the same time, this pure mechanical linkage scheme has the advantages of high rigidity, low backlash and long service life.

[0069] In the above embodiments of this application, reference is made to the appendix. Figure 2 As shown, in one specific embodiment, the outer rings of the first joint bearing 22 and the second joint bearing 24 are fixedly connected to the inner holes of the connecting rod 7, the first pin 21 is connected to the hole of the first joint bearing 22, the second pin 23 is connected to the hole of the second joint bearing 24, the external thread at the end of the first pin 21 is fixedly connected to the internal thread hole of the first output flange 6, and the external thread at the end of the second pin 23 is fixedly connected to the internal thread hole of the elbow joint bearing seat 8. The elbow joint bearing seat 8 can rotate around the Y-axis. The rotation of the first output flange 6 of the first joint module 2 drives the connecting rod 7 to move and drive the elbow joint bearing seat 8 to rotate around the Y-axis.

[0070] During rotation, for example, when the first output flange 6 rotates by a certain angle, the elbow joint bearing seat 8 will simultaneously rotate by a certain angle. The angle of rotation of the elbow joint bearing seat 8 may be equal to the angle of rotation of the first output flange 6, or it may not be equal to the angle of rotation of the first output flange 6, depending on the length and position of the four-bar linkage. This four-bar linkage controls the angle of rotation of the end output flange 5 around the Y-axis; that is, the angle of rotation of the end output flange 5 is determined by the angle of rotation of the first output flange 6. The end output flange 5, through the cooperation of the first joint module 2 and the second joint module 4, outputs different angles to reach different positions and angles.

[0071] In some specific embodiments of this application, when the driving component is a synchronous belt mechanism, it includes a first synchronous pulley 31, a synchronous belt 32, and a second synchronous pulley 33.

[0072] The first synchronous pulley 31 is connected to the first output flange 6, the second synchronous pulley 33 is connected to the elbow joint bearing seat 8, and the synchronous belt 32 is connected to the first synchronous pulley 31 and the second synchronous pulley 33, so that when the first joint module 2 rotates, the synchronous belt mechanism drives the elbow joint bearing seat 8 to rotate.

[0073] Specifically, refer to Figure 5 As shown, the above-mentioned four-bar linkage is replaced by a synchronous belt mechanism. The first synchronous belt pulley 31 is fixedly connected to the first output flange 6, and the second synchronous belt pulley 33 is fixedly connected to the elbow bearing seat 8. The rotation of the first synchronous belt pulley 31 drives the rotation of the second synchronous belt pulley 33 through the synchronous belt 32. That is, the rotation of the first output flange 6 drives the rotation of the elbow bearing seat 8. Whether the rotation speed of the first synchronous belt pulley 31 and the rotation speed of the second synchronous belt pulley 33 are the same depends on the diameter of the synchronous belt pulley.

[0074] In some specific embodiments of this application, the second joint module 4 includes a second module base 3, one end of which is fixedly connected to the base 1, and the other end extends to the inner side of the elbow joint bearing seat 8 and is rotatably connected to the elbow joint bearing seat 8; the second module base 3 has a cavity, and the second joint module 4 is disposed in the cavity; the output end of the second joint module 4 is provided with an output torque shaft 9, and the output torque shaft 9 is connected to one end of the constant velocity universal joint 100.

[0075] Specifically, the second joint module 4 is installed and supported by the second module seat 3: one end of the second module seat 3 is fixedly connected to the base 1 to form a stable support, and the other end extends to the inside of the elbow joint bearing seat 8 and forms a rotatable connection with the elbow joint bearing seat 8, which neither hinders the movement of the elbow joint bearing seat 8 nor hinders the movement of the elbow joint bearing seat 8. The cavity inside the second module seat 3 provides a space for the second joint module 4. When the second joint module 4 rotates around the X-axis, the output torque shaft 9 at the output end rotates synchronously, directly transmitting power to one end of the constant velocity universal joint 100. The constant velocity universal joint 100 realizes the change of rotation direction, driving the end output flange 5 to rotate around the Z-axis. The second module seat 3 provides support for the second joint module 4 and the elbow joint bearing seat 8 respectively, improving the stability of the elbow joint mechanism during rotation. At the same time, the output torque shaft 9 is directly connected to the constant velocity universal joint 100, shortening the power transmission path and improving the stability of power transmission, providing stable support for the rotation of the end output flange 5 around the Z-axis.

[0076] In some specific embodiments of this application, a first torque shaft 11 is provided at one end of the constant velocity universal joint 100, and a second torque shaft 20 is provided at the other end; the output torque shaft 9 can extend into one end of the first torque shaft 11, and the second torque shaft 20 is connected to the end output flange 5 to drive the end output flange 5 to rotate around the Z-axis; a first bearing 10 is provided on the second module seat 3 and sleeved on the first torque shaft 11 to support the first torque shaft 11.

[0077] Specifically, the output torque shaft 9 is fixedly connected to the output end of the second joint module 4, the outer ring of the first bearing 10 is fixedly connected to the hole of the second module seat 3, the first torque shaft 11 is connected to the inner ring of the first bearing 10, the first bearing 10 provides support for the first torque shaft 11, the first torque shaft 11 can rotate around the X-axis, the first torque shaft 11 is fixedly connected to the output torque shaft 9, both the first torque shaft 11 and the output torque shaft 9 of the second joint module 4 have pin hole features, the pin hole is used to fix the first torque shaft 11 and the output torque shaft 9 of the second joint module 4, the second torque shaft 20 is connected to the end output flange 5, the second torque shaft 20 rotates synchronously under the drive of the first torque shaft 11, the second torque shaft 20 and the first torque shaft 11 are set at an angle, which can convert the rotation of the first torque shaft 11 around the X-axis into the rotation of the second torque shaft 20 around the Y-axis.

[0078] In some specific embodiments of this application, the elbow joint bearing seat 8 includes a first side plate 81, a second side plate 82, and a third support plate 83. The first side plate 81 and the second side plate 82 are symmetrically arranged on both sides of the third support plate 83 and are integrally formed with the third support plate 83; the other end of the second module seat 3 extends to the inner side of the first side plate 81 and the second side plate 82; the other end of the second module seat 3 is provided with a third bearing 25 and a fourth bearing 27, and the inner sides of the first side plate 81 and the second side plate 82 are respectively provided with a third pin 26 and a fourth pin 28;

[0079] The other end of the second module seat 3 is between the elbow joint bearing seat 8 and the third bearing 25 and the fourth bearing 27 are rotatably connected to the third pin 26 and the fourth pin 28 respectively, which are used to provide guidance and support for the elbow joint bearing seat 8 to rotate around the Y axis.

[0080] Specifically, the elbow joint bearing seat 8 is integrally formed from a first side plate 81, a second side plate 82, and a third support plate 83. The first side plate 81 and the second side plate 82 are symmetrically distributed on both sides of the third support plate 83 to form a support frame. The other end of the second module seat 3 extends to the inner side between the first side plate 81 and the second side plate 82, and is equipped with a third bearing 25 and a fourth bearing 27. The inner sides of the first side plate 81 and the second side plate 82 are respectively provided with a third pin 26 and a fourth pin 28. When the elbow joint bearing seat 8 rotates around the Y-axis, the third bearing 25 at the end of the second module seat 3 forms a rotatable engagement with the third pin 26 of the first side plate 81, and the fourth bearing 27 forms a rotatable engagement with the fourth pin 28 of the second side plate 82. Through the relative rolling of the bearings and pins, precise guidance is provided for the rotation of the elbow joint bearing seat 8, while dispersing the force during the rotation process to achieve smooth rotation.

[0081] In the above embodiments of this application, the first side plate 81, the second side plate 82, and the third support plate 83 are integrally formed, which reduces the deformation of the elbow joint bearing seat 8 during movement. The symmetrical first side plate 81, second side plate 82, third pin 26, fourth pin 28, and third bearing 25 and fourth bearing 27 at the other end of the second module seat 3 form a bidirectional symmetrical support structure, which makes the elbow joint bearing seat 8 uniformly stressed when rotating around the Y-axis, avoiding jamming or wear caused by excessive stress on one side, and extending the service life of the mechanism. At the same time, it reduces rotational friction.

[0082] In some specific embodiments of this application, an annular connecting portion 831 is provided on the third support plate 83; one end of the second torque shaft 20 can extend into the annular connecting portion 831 and extend to the end output flange 5, and connect with the end output flange 5; a second bearing 19, a connecting flange 30 and a spline nut 29 are provided between the outer peripheral wall of the second torque shaft 20 and the inner peripheral wall of the annular connecting portion 831.

[0083] Spline nut 29 is fitted onto the second torque shaft 20, connecting flange 30 is fitted onto spline nut 29 and connected to the end output flange 5, second bearing 19 is fitted onto connecting flange 30 and fixedly connected to the inner ring of annular connecting part 831.

[0084] During operation, the second torque shaft 20 drives the spline nut 29 to rotate, the spline nut 29 drives the connecting flange 30 to rotate, and the connecting flange 30 drives the end output flange 5 to rotate.

[0085] Specifically, a spline nut 29, a connecting flange 30, and a second bearing 19 are sequentially fitted onto the outer peripheral wall of the second torque shaft 20. The spline nut 29 and the second torque shaft 20 form an axially compensated transmission fit. The second torque shaft 20 is connected to the spline nut 29, the spline nut 29 is fixedly connected to the connecting flange 30, the connecting flange 30 is fixedly connected to the end output flange 5, the connecting flange 30 is connected to the inner hole of the second bearing 19, and the outer ring of the second bearing 19 is fixedly connected to the inner hole of the annular connecting part 831 of the second support plate.

[0086] During operation, the power of the second joint module 4 is transmitted to the second torque shaft 20 via the constant velocity universal joint 100. The second torque shaft 20 drives the spline nut 29 to rotate synchronously. The spline nut 29 drives the connecting flange 30 to rotate, and the connecting flange 30 in turn drives the end output flange 5 to rotate around the Z-axis.

[0087] In some specific embodiments of this application, a plurality of rolling grooves are evenly spaced circumferentially between the second torque shaft 20 and the spline nut 29; the rolling grooves are arranged along the axial direction of the second torque shaft 20 and the spline nut 29; a plurality of balls are provided in the rolling grooves to allow axial movement between the second torque shaft 20 and the spline nut 29.

[0088] Specifically, the second torque shaft 20 has a precision rolling groove feature, and the spline nut 29 also has a precision rolling groove feature. The mating surfaces of the second torque shaft 20 and the spline nut 29 form a complete rolling groove, and multiple axially extending rolling grooves are evenly spaced along the circumference. The rolling groove of the spline nut 29 contains a number of balls, which roll in the rolling groove of the spline nut 29. Similarly, a number of balls roll in the rolling groove of the second torque shaft 20, and a number of balls are embedded in the rolling groove to form a ball spline fit structure.

[0089] During operation, the rotational power transmitted by the second joint module 4 drives the second torque shaft 20 to rotate. The second torque shaft 20 transmits torque synchronously to the spline nut 29 through the rolling balls in the rolling groove, causing the spline nut 29 to rotate synchronously with the second torque shaft 20. When the second joint module 4 drives the end output flange 5 to rotate around the Z-axis, causing an axial relative displacement requirement between the second torque shaft 20 and the spline nut 29, the rolling balls can roll smoothly along the axially extending rolling groove, driving the spline nut 29 to move flexibly relative to the second torque shaft 20 along the axial direction, thus achieving axial position compensation while completing torque transmission.

[0090] In the above embodiments of this application, axial rolling grooves and balls evenly distributed circumferentially on the mating surfaces of the second torsion shaft 20 and the spline nut 29 are used to avoid jamming or stress concentration during power transmission. Low-friction axial relative movement is achieved through ball rolling, which compensates for axial movement generated during multi-joint linkage and ensures the accuracy of the rotation of the end output flange 5 around the Z-axis.

[0091] Reference Figures 3 to 4 As shown, in some specific embodiments of this application, the constant velocity universal joint 100 includes a first star-shaped sleeve 12, a second star-shaped sleeve 18, a first retainer 14, a second retainer 17, a housing 15, and a rolling part.

[0092] The other end of the first torque shaft 11 is fixed to the first star-shaped sleeve 12; the other end of the second torque shaft 20 is fixed to the second star-shaped sleeve 18; there are two sets of rolling parts, which are respectively assembled between the mating surfaces of the first star-shaped sleeve 12 and the outer shell 15, and between the mating surfaces of the second star-shaped sleeve 18 and the outer shell 15; the first retainer 14 and the second retainer 17 respectively provide circumferential limiting for the rolling parts of the corresponding sets.

[0093] The outer circumferential surface of the first star-shaped sleeve 12 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 circumferential surface of the second star-shaped sleeve 18 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 circumferential surface of the outer shell 15 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 double-track arc-shaped groove; the first retainer 14 and the second retainer 17 are both provided with a long waist groove extending along the Y-axis, and the corresponding rolling part can roll in the long waist groove along the Y-axis.

[0094] The rolling part includes a first rolling part 13 and a second rolling part 16.

[0095] Specifically, the first torque shaft 11 of the constant velocity universal joint 100 is connected to the first bearing 10 hole, and the first torque shaft 11 can rotate around the X-axis. The first star-shaped sleeve 12 is fixedly connected to the first torque shaft 11. The first rolling part 13 is connected to the first star-shaped sleeve 12, the first cage 14, and the outer shell 15 respectively. The first star-shaped sleeve 12 has a first arc-shaped groove, and the first rolling part 13 rolls along the X-axis in the first arc-shaped groove of the first star-shaped sleeve 12. The first cage 14 has a characteristic elongated groove, and the first rolling part 13 rolls along the Y-axis in the elongated groove of the first cage 14. The outer shell 15 has a characteristic double-track arc-shaped groove, and the first rolling part 13 rolls along the X-axis in the double-track arc-shaped groove of the outer shell 15. The second rolling part 16 is respectively... The second star-shaped sleeve 18, the second retainer 17, and the outer shell 15 are connected. The second retainer 17 has a characteristic elongated groove. The second rolling part 16 rolls along the Y-axis in the elongated groove of the second retainer 17. The second star-shaped sleeve 18 has a second arc-shaped groove. The second rolling part 16 rolls along the Z-axis in the second arc-shaped groove of the second star-shaped sleeve 18. The second star-shaped sleeve 18 is fixedly connected to the second torsion shaft 20. The second torsion shaft 20 is connected to the spline nut 29. The spline nut 29 is fixedly connected to the connecting flange 30. The connecting flange 30 is fixedly connected to the end output flange 5. The connecting flange 30 is connected to the inner hole of the second bearing 19. The outer ring of the second bearing 19 is fixedly connected to the inner hole of the annular connecting part 831 of the elbow joint bearing seat 8.

[0096] It should be noted that the first joint module 2 and the second joint module 4 are responsible for power transmission in the Y-axis and Z-axis directions, respectively, and the two paths are independent of each other and do not cross or interfere with each other;

[0097] Specifically, when the second joint module 4 rotates around the X-axis and drives the end output flange 5 to rotate around the Z-axis (i.e., the second joint module 4 rotates around the X-axis, only driving the end output flange 5 to rotate around the Z-axis), the power output path of the second joint module 4 rotating around the X-axis is: second joint module 4 → output torque shaft 9 → constant velocity universal joint 100 → end output flange 5. The constant velocity universal joint 100 is a key transmission component, and its function is to "convert the direction of rotation" rather than "split the power"; through the coordinated rolling of the internal first star sleeve 12, rolling part, cage, and second star sleeve 18, the rotation of the second joint module 4 along the X-axis is converted into the rotation of the end output flange 5 along the Z-axis, with no power split to the Y-axis direction.

[0098] When the first joint module 2 rotates around the Y-axis, it only drives the end output flange 5 to rotate around the Y-axis. The rotation around the Y-axis is undertaken independently by the first joint module 2 and has no power connection with the X-axis main rotating shaft of the second joint module 4. It is an independent transmission path: first joint module 2 → first output flange 6 → driving component (connecting rod 7 or synchronous belt 32) → elbow joint bearing seat 8 → end output flange 5. The elbow joint bearing seat 8 provides support for the end output flange 5. When the elbow joint bearing seat 8 rotates around the Y-axis under the drive of the first joint module 2, the end output flange 5 rotates around the Y-axis synchronously. The power comes entirely from the first joint module 2 and is unrelated to the second joint module 4.

[0099] 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 matching the first arc-shaped groove of the first star-shaped sleeve 12, the second arc-shaped groove of the second star-shaped sleeve 18, and the double-rail arc-shaped groove of the outer shell 15, 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. By maintaining the cooperation between the long waist groove in the Y-axis 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.

[0100] The first torque shaft 11 and the second torque shaft 20 of the constant velocity universal joint 100 have a default included angle of 150°, and the first torque shaft 11 and the second torque shaft 20 rotate around the Y-axis center at an angle of ±45°.

[0101] It should be noted that the housing 15 of the constant velocity universal joint 100 is rotatable. When the first torque shaft 11 rotates, the housing 15 rotates synchronously, simultaneously driving the second torque shaft 20 to rotate. The first torque shaft 11 and the second torque shaft 20 rotate at the same speed, for example, the speed of the first torque shaft 11 is 60 r / min, and the speed of the second torque shaft 20 is also 60 r / min. The first torque shaft 11 rotates around the X-axis, and the second torque shaft 20 can rotate around the Y-axis. The constant velocity universal joint 100 is a universal coupling that can transmit power at the same speed to different angles of input and output.

[0102] Reference Figures 6 to 7 As shown; Figure 6 In the traditional configuration, the second joint module 4 is adjusted to be closer to the end, and the end output flange 5 is fixedly connected to the output end of the second joint module 4. Figure 7 In this application's configuration, all dotted lines represent moving parts, and the origin of the coordinate system is located at the rotation center of the elbow joint bearing housing 8. The overall mass of the moving part (i.e., the elbow joint bearing housing 8) is 1180g, and its moment of inertia about the Y-axis is 933kg / mm². The overall mass of the moving part (i.e., the elbow joint bearing housing 8) is 557g, and its moment of inertia about the Y-axis is 662kg / mm². The mass ratio is 557 / 1180 = 0.47, and the moment of inertia ratio is 662 / 933 = 0.71. 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 (i.e., the elbow joint bearing housing 8) is approximately 71% of the moving part's mass. In summary, this configuration not only makes the moving part lighter in mass but also reduces its moment of inertia in relative positions.

[0103] 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.

[0104] 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 multimodal robot elbow joint mechanism, characterized in that, include: Base, first joint module, second joint module, elbow joint bearing seat, constant velocity universal joint, drive component and end output flange; The base has a receiving cavity, the first joint module is disposed in the receiving cavity, and the second joint module is connected to the base; The input end of the drive unit is connected to the output end of the first joint module, and the output end is connected to the elbow joint bearing seat. One end of the constant velocity universal joint is connected to the output end of the second joint module, and the other end is connected to the end output flange and is mounted on the elbow joint bearing seat. The second joint module rotates around the X-axis, and drives the end output flange to rotate around the Z-axis through the constant velocity universal joint; the first joint module drives the elbow joint bearing seat to rotate around the Y-axis through the driving component, thereby causing the end output flange to rotate around the Y-axis. The driving component is a linkage or synchronous belt mechanism, used to transmit the rotation of the first joint module to the elbow joint bearing seat; One end of the constant velocity universal joint is provided with a first torque shaft connected to the output end of the second joint module, and the other end is provided with a second torque shaft; a spline nut is provided between the second torque shaft and the end output flange; multiple rolling grooves are provided between the second torque shaft and the spline nut along its axial direction, and a number of balls are provided in the rolling grooves to allow axial movement between the second torque shaft and the spline nut while transmitting torque; The first joint module has a first output flange at its output end. The first output flange is connected to the elbow joint bearing seat through the driving component. When the first joint module rotates around the Y-axis, the driving component drives the elbow joint bearing seat to rotate synchronously around the Y-axis. The second joint module includes a second module base, one end of which is fixedly connected to the base, and the other end extends to the inner side of the elbow joint bearing seat and is rotatably connected to the elbow joint bearing seat. The second module base has a cavity, and the second joint module is disposed in the cavity; The elbow joint bearing housing includes a first side plate, a second side plate, and a third support plate; The first side plate and the second side plate are symmetrically arranged on both sides of the third support plate and are integrally formed with the third support plate; The other end of the second module base extends to the inner side of the first side plate and the second side plate; The other end of the second module base is provided with a third bearing and a fourth bearing, and the inner sides of the first side plate and the second side plate are respectively provided with a third pin and a fourth pin; The other end of the second module seat is between the elbow joint bearing seat and the third bearing and the fourth bearing, which are rotatably connected to the third pin and the fourth pin, respectively, to provide guidance and support for the elbow joint bearing seat to rotate around the Y-axis.

2. The multimodal robot elbow joint mechanism according to claim 1, characterized in that, When the driving component is a connecting rod, a first joint bearing and a second joint bearing are respectively provided at both ends of the driving component; a first pin and a second pin are respectively provided on the first output flange and the elbow joint bearing seat. The first joint bearing is connected to the first pin, the second joint bearing is connected to the second pin, the first output flange, the driving component, and the elbow joint bearing seat constitute a four-bar linkage mechanism, and the rotation angle of the elbow joint bearing seat is determined by the rotation angle of the first joint module output flange. When the driving component is a synchronous belt mechanism, it includes a first synchronous pulley, a synchronous belt, and a second synchronous pulley; The first synchronous pulley is connected to the first output flange, the second synchronous pulley is connected to the elbow joint bearing seat, and the synchronous belt is connected to the first synchronous pulley and the second synchronous pulley, so that when the first joint module rotates, the synchronous belt mechanism drives the elbow joint bearing seat to rotate.

3. The multimodal robot elbow joint mechanism according to claim 1, characterized in that, The output end of the second joint module is provided with an output torque shaft, which is connected to the constant velocity universal joint.

4. The multimodal robot elbow joint mechanism according to claim 3, characterized in that, The output torque shaft can extend into one end of the first torque shaft, and the second torque shaft is connected to the end output flange to drive the end output flange to rotate around the Z-axis; The second module base is provided with a first bearing, which is sleeved on the first torque shaft to support the first torque shaft.

5. The multimodal robot elbow joint mechanism according to claim 1, characterized in that, The third support plate is provided with an annular connecting part; One end of the second torque shaft can extend into the annular connection portion and extend to the end output flange, and connect with the end output flange; A second bearing and a connecting flange are provided between the outer peripheral wall of the spline nut and the inner peripheral wall of the annular connecting part; 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 second bearing is sleeved on the connecting flange, and the second bearing is fixedly connected to the inner ring of the annular connecting part; 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.

6. A multimodal robot elbow joint mechanism according to claim 4, characterized in that, The constant velocity universal joint includes a first star-shaped sleeve, a second star-shaped sleeve, a first retainer, a second retainer, a housing, and a rolling part; 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 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; The first star-shaped sleeve has a first arc-shaped groove extending along the X-axis on its outer peripheral surface, and the rolling part can roll along the X-axis in the first arc-shaped groove; the second star-shaped sleeve has a second arc-shaped groove extending along the Z-axis on its outer peripheral surface, and the rolling part can roll along the Z-axis in the second arc-shaped groove; the outer peripheral surface of the outer shell has a double-track arc-shaped groove adapted to the two sets of rolling parts, and the rolling part rolls along the trajectory of the double-track arc-shaped groove. Both the first retainer and the second retainer are provided with elongated grooves extending along the Y-axis, and the corresponding rolling part can roll along the Y-axis within the elongated grooves.

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