Supporting device for robot and robot

Abstract

The embodiment of the invention provides a supporting device for a robot and the robot. The supporting device comprises at least one supporting part, and each supporting part comprises a pair of joint assemblies which are arranged at the two ends of the supporting part in the extending direction respectively and are rotatably coupled to a first part and a second part of the robot respectively; the pair of driving parts are arranged between the pair of joint assemblies and respectively comprise a fixed part and a linear driving rod, and the end parts of the pair of linear driving rods are respectively and rotatably coupled to the pair of joint assemblies around a rotating axis and are suitable for performing telescopic movement along the own axis so as to drive the supporting part to rotate relative to the first part and the second part; and a pair of load-bearing members arranged to extend in the extension direction, respectively, and at least partially clamp the pair of joint assemblies, the load-bearing members including a pair of hinge points rotatably coupled to the pair of joint assemblies, respectively.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of robotics, and particularly to a support device for a robot and a robot. Background Technology

[0002] Humanoid robots have shown great potential in various industrial, service, and household applications. Their highly realistic human-like structure enables them to perform complex operations, replacing humans in repetitive or dangerous tasks. Their application prospects are even broader, especially in scenarios where robots can move and manipulate objects with the same dexterity as humans. However, achieving these functions typically presents numerous challenges for humanoid robots, particularly ensuring the stability, flexibility, and output power of each joint while maintaining a lightweight and compact structure. This places high demands on robot design for both rigidity and efficiency. Summary of the Invention

[0003] In a first aspect of this disclosure, a support device for a robot is provided. The support device includes: at least one support member, each support member comprising: a pair of joint assemblies respectively disposed at both ends of the support member along an extension direction and rotatably coupled to a first part and a second part of the robot; a pair of drive members disposed between the pair of joint assemblies and each including a fixed portion and a linear drive rod, the ends of the pair of linear drive rods being rotatably coupled to the pair of joint assemblies about a rotation axis and adapted to perform telescopic movements along their own axes to drive the support member to rotate relative to the first part and the second part; and a pair of load-bearing members arranged to extend along an extension direction and at least partially clamp the pair of joint assemblies, the load-bearing members including a pair of hinge points rotatably coupled to the pair of joint assemblies.

[0004] In some embodiments, at least one support member includes a pair of support members arranged side by side along a rotation axis, and the support device further includes a connecting frame fixedly coupled between the pair of support members.

[0005] In some embodiments, the support device further includes: a pair of balance arms adapted to be rotatably coupled to the fixing portion of a pair of drive components, and each of the pair of balance arms includes a central fulcrum portion rotatably coupled to a connecting frame.

[0006] In some embodiments, each balance arm includes coupling portions at both ends, which are coupled to corresponding fixing portions via ball joint components.

[0007] In some embodiments, each of a pair of joint assemblies includes a four-bar linkage, and one link of the four-bar linkage is implemented by a portion of a pair of load-bearing components.

[0008] In some embodiments, a pair of load-bearing components includes a load-bearing plate and a rib structure disposed on the load-bearing plate.

[0009] In some embodiments, the support device further includes at least one outer reinforcement member, with both ends coupled to a pair of load-bearing members and located outside a pair of drive members.

[0010] In some embodiments, at least one outer reinforcement is configured as a frame structure.

[0011] In some embodiments, a pair of drive components are arranged side by side in a front-to-back direction perpendicular to the axis of rotation.

[0012] In a second aspect of this disclosure, a robot is provided. The robot includes: a first component and a second component; and a support device according to the first aspect described above, arranged on the first component and the second component.

[0013] It should be understood that the content described in this content section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0014] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0015] Figure 1 A perspective view of the leg portion of a robot according to an embodiment of the present disclosure is shown;

[0016] Figure 2 A rear view of the leg portion according to an embodiment of the present disclosure is shown;

[0017] Figure 3 It shows Figure 2 The shown is a cross-sectional view of the leg portion cut open from section AA; and

[0018] Figure 4 A simplified schematic diagram of the support device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0019] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0020] It should be noted that the headings of any section / subsection provided herein are not limiting. Various embodiments are described throughout this document, and embodiments of any type may be included under any section / subsection. Furthermore, embodiments described in any section / subsection may be combined in any way with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0021] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below. The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0022] As mentioned earlier, humanoid robots show great potential for application in industry, service, and the home. Their human-like structural design enables them to perform complex tasks and replace humans in repetitive or hazardous work environments. Their applications are even broader, especially when robots can move and manipulate objects flexibly. However, achieving these functions often presents various challenges, such as ensuring joint stability, flexibility, and force output while maintaining a lightweight and compact overall structure. These requirements demand both high rigidity and high efficiency in robot design.

[0023] Existing robot thigh designs often require multiple actuators to achieve complex joint motion control, but the collaboration between these actuators can lead to over-constraint of the mechanical system. This not only increases structural complexity but may also affect motion efficiency. Embodiments of this disclosure propose a high-stiffness robot thigh configuration design (also known as a support device) and a related robot to address the aforementioned problems or other potential issues. Furthermore, the support device according to embodiments of this disclosure avoids over-constraint by distributing the forces of two linear modules to the same joint, ensuring high-density power output of the joint, thus providing a more reliable and efficient solution for the application of humanoid robots in various fields.

[0024] The following will combine Figures 1 to 3 This describes a support device and a robot according to embodiments of the present disclosure. Figures 1 to 3 A perspective view, a rear view, and a cross-sectional view of the leg portion of the robot, including the support device, are shown respectively. The robot according to embodiments of this disclosure can refer to any suitable robot, such as, but not limited to: humanoid robots, crawling robots, industrial robots, service robots, fully automated robots, semi-automated robots, remote-controlled robots, robotic arms, etc.

[0025] For example, a humanoid robot is used to illustrate an example structure of a robot according to an embodiment of this disclosure. The humanoid robot may include the following main components: head, torso, arms, hands, legs, and feet. These components can be connected by joint devices according to embodiments of this disclosure to mimic natural human postures and movements. Their connection design needs to ensure not only flexibility between the components but also a certain degree of stability and strength to cope with complex movements and loads.

[0026] The head, typically mounted on top of the torso, is responsible for sensing and processing external information. The head may include cameras (equivalent to "eyes"), microphones (equivalent to "ears"), and various sensors to perceive the surrounding environment and interact with it. The head is connected to the torso via a neck joint, allowing the robot to flexibly look around.

[0027] The torso is the core of a humanoid robot, housing the battery, processor, main control board, and key sensors. It serves as the connection center for other components and is responsible for the robot's overall stability. The torso needs a robust structure to support the upper and lower body while maintaining sufficient flexibility to enable complex movements such as bending and turning. It typically connects to the arms and legs via shoulder and hip joints, and the internal design of the torso must ensure adequate space for joint motors, cables, and control systems.

[0028] The arm is connected to the torso via the shoulder joint and typically consists of the upper arm, forearm, and hand. The shoulder joint is multi-degree-of-freedom, allowing for forward and backward, left and right swinging, and rotational movements. The upper arm and forearm are connected via the elbow joint. The design of the arm needs to strike a balance between flexibility and load-bearing capacity, especially when the robot is performing handling or grasping tasks, as it needs to withstand corresponding forces.

[0029] The hand is a crucial part of a robot performing delicate operations. It typically includes multiple fingers, each with multiple joints, which can be controlled by miniature servo motors. The hand connects to the forearm via a wrist joint, which generally has multi-degree-of-freedom rotational capabilities. Alternatively, it can employ the joint mechanism described in this disclosure, allowing the hand to freely adjust its angle and orientation. The hand's design emphasizes precision so that the robot can simulate human hand grasping and pinching movements.

[0030] The legs, connected to the torso via the hip joint, are a crucial part supporting the robot's walking. The hip joint, a multi-degree-of-freedom joint, controls the leg's forward and backward swinging, lateral swinging, and rotational movements. The leg consists of the thigh and lower leg, connected by the knee joint. The knee joint's primary function is flexion and extension, supporting the robot's balance during walking and standing. To achieve stable gait control, the legs are typically equipped with multiple sensors, such as angle sensors and accelerometers, to monitor changes in the robot's posture and gait in real time.

[0031] The thigh portion of the humanoid robot mentioned above can be implemented using a support device according to an embodiment of this disclosure. This support device is rotatably connected to the torso via a hip joint and rotatably connected to the lower leg via a knee joint, such as... Figures 1 to 3 As shown. In the following text, the torso and lower leg will also be referred to as the first part and the second part, respectively. This document will primarily use the support device as an example of the robot's thigh to describe the concept of this disclosure. Of course, it should be understood that the support device can also be used as other parts of the robot, which will not be elaborated upon further below.

[0032] like Figures 1 to 3 As shown, the support device according to an embodiment of this disclosure generally includes at least one support member 101. In such a way... Figures 1 to 3 In the illustrated embodiment, the support device is shown to have two support members 101 arranged in a left-right direction. The following description will primarily focus on a leg device comprising two support members 101. According to the concept of this disclosure, it should be understood that the same applies to cases having one or more support members 101, and will not be described in detail below.

[0033] Each support member 101 includes a pair of joint assemblies 1011, a pair of drive members 1012, and a pair of load-bearing members 1015. When the support device is the thigh portion, the pair of joint assemblies 1011 correspond to the hip joint and the knee joint, respectively. The pair of joint assemblies 1011 are respectively arranged at both ends of the support member 101 along its extension direction and are rotatably coupled to the robot's first part 201 (e.g., the torso portion) and second part 202 (e.g., the lower leg portion), respectively.

[0034] A pair of drive components 1012 are arranged between a pair of joint assemblies 1011, and each includes a fixing portion 1013 and a linear drive rod 1014. The ends of the linear drive rods 1014 of the pair of drive components 1012 are rotatably coupled to the pair of joint assemblies 1011 about a rotation axis. The linear drive rods 1014 can be driven to extend and retract along their own axes to drive the support member 101 to rotate relative to the first member 201 and the second member 202. In some embodiments, the drive component 1012 may be a linear motor.

[0035] Of course, it should be understood that the embodiment of the drive component 1012 employing a linear motor is merely illustrative and is not intended to be within the scope of this disclosure. In some alternative embodiments, the drive component 1013 may also include a hydraulic or pneumatic drive component with a linear drive rod, which will not be described in detail below.

[0036] A pair of load-bearing members 1015 are arranged to extend in the extension direction and at least partially clamp a pair of joint assemblies 1011. Depending on the relationship between the joint assembly 1011 and the drive member 1012, the drive member 1012 is also located between the pair of load-bearing members 1015. The pair of load-bearing members 1015 have identical structures and include at least a pair of hinge points. The pair of hinge points are rotatably coupled to the pair of joint assemblies 1011.

[0037] If we take the extension direction of the rotation axis mentioned earlier as the left-right direction, then the direction perpendicular to the extension direction (i.e.) Figure 2 If the direction perpendicular to the paper is the front-back direction, then a pair of load-bearing parts are arranged in the left-right direction on both sides of a pair of drive components 1012 and a pair of joint assemblies 1011, and the pair of drive components 1012 are arranged side by side in the front-back direction, one for driving the first joint (e.g., hip joint) in the pair of joint assemblies 1011, and the other for driving the second joint (e.g., knee joint).

[0038] By incorporating a pair of load-bearing components 1015, the load can be effectively dispersed and evenly distributed, thereby significantly improving the load-bearing capacity of the leg structure. Each load-bearing component 1015 reduces stress concentration in individual parts, thus reducing the likelihood of deformation and fatigue. Furthermore, more load-bearing components 1015 strengthen the connections between the various components of the body, making the overall structure more robust and significantly improving the overall stiffness of the body, enhancing its stability and resistance to external interference under complex working conditions. This design improvement helps extend the service life of the support device and improves its performance under high-load scenarios.

[0039] Figure 4 A simplified structural schematic diagram of the support device according to a disclosed embodiment is shown, where quadrilateral ABCD represents the first joint and FGHI represents the second joint. It can be seen that both the first and second joints are four-bar linkages, and ADEJIH represents the hinge points on the load-bearing component 1015 between it and other components. Figure 4 As can be seen, apart from points D and I being coupled to the first and second joints as mentioned above, one of the links in the four-bar linkage is realized by a part of the load-bearing component 1015.

[0040] See also Figure 4 One end of the linear drive rod 1014 of a drive component 1012 is rotatably coupled to hinge point C of the first joint, and the other end of the linear drive rod 1014 of the drive component 1012 is rotatably coupled to hinge point F of the second joint. The extension and retraction of the linear drive rod 1014 of the drive component 1012 drives the joint assembly 1011 to move.

[0041] exist Figures 1 to 3 In the embodiment of the support device shown, which includes a pair of support members 101, the pair of support members 101 are arranged side by side along the axis of rotation (i.e., the left-right direction). To improve structural rigidity, the support device also includes a connecting frame 102 fixedly coupled between the pair of support members 101. The connecting frame 102 can connect the pair of support members 101, thereby further improving structural rigidity.

[0042] To achieve greater output force from the two joint assemblies 1011, two drive components 1012 controlling the same joint are connected in parallel. This requires strict synchronization between the two drive components 1012; otherwise, internal stress will form between the drive components 1012, potentially damaging them. Therefore, to avoid this situation, the support device according to embodiments of this disclosure further includes a pair of balance arms 103. Each of the pair of balance arms 103 includes a central fulcrum portion 1031, which is rotatably coupled to the connecting frame 102. The balance arm 103 is rotatable about the central fulcrum portion 1031.

[0043] A pair of balance arms 103 are respectively adapted to be rotatably coupled to the fixed portions 1013 of a pair of drive components 1012. For example, as Figure 1 As shown, the two ends of the front-mounted balance arm 103 are respectively coupled to the fixing portion 1013 of the drive component 1012 for driving the second joint, as shown. Figure 2 The two ends of the rear-mounted balance arm 103 shown are coupled to the fixing portions 1013 of the drive component 1012 for driving the first joint. Furthermore, in some embodiments, each balance arm 103 includes coupling portions 1032 at both ends, which are coupled to the corresponding fixing portions 1013 via ball joint components 1033. In this way, when there is a synchronization problem between the two drive components 1012 connected to each balance arm 103, the problem can be eliminated by rotating the balance arm 103 about the central fulcrum portion 1031, thereby preventing damage to the drive component 1012 and improving the reliability of the support device.

[0044] In some embodiments, the load-bearing member 1015 may be a load-bearing plate, i.e., a plate-shaped member. In order to improve structural strength while reducing structural weight, in some embodiments, the load-bearing member 1015 may also include a rib structure 1017 arranged on the load-bearing plate.

[0045] In some embodiments, the support device may further include at least one outer reinforcement 104. The outer reinforcement 104 is coupled to a pair of load-bearing members 1015 at both ends in the left-right direction and is located outside a pair of drive members 1012. Figures 1 to 3 In the illustrated embodiment, four outer reinforcing members 104 are included, wherein two outer reinforcing ribs are arranged vertically at the front of the load-bearing member 1015, and the other two are arranged vertically at the rear of the load-bearing member 1015.

[0046] In the case of multiple pairs of load-bearing members 1015, in addition to the load-bearing members 1015 coupled to the outermost load-bearing members 1015 at both ends, each outer reinforcement 104 may also include an additional coupling portion 1032 in the middle for coupling to the load-bearing member 1015 located in the middle. In this way, the load-bearing members 1015 can be connected as a whole, thereby further increasing the load-bearing capacity of the support device. In order to increase the load-bearing capacity while reducing the weight, at least one outer reinforcement 104 can be constructed as follows: Figures 1 to 3 The frame structure is shown. Furthermore, apart from the two ends, the middle portion of the outer reinforcement 104 can protrude outwards via an arc transition or a bend, thereby minimizing interference with the internal components of the support device and improving reliability.

[0047] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A support device for a robot, comprising: At least one support member (101), each of the support members (101) comprising: A pair of joint assemblies (1011) are respectively arranged at both ends of the support member (101) along the extension direction and are rotatably coupled to the first part (201) and the second part (202) of the robot, respectively; A pair of drive components (1012) are arranged between the pair of joint assemblies (1011), and each includes a fixing part (1013) and a linear drive rod (1014). The ends of the pair of linear drive rods (1014) are rotatably coupled to the pair of joint assemblies (1011) about a rotation axis, and are adapted to telescop and extend along their own axes to drive the support member (101) to rotate relative to the first member (201) and the second member (202); and A pair of load-bearing members (1015) are arranged to extend along the extension direction and to at least partially clamp the pair of joint assemblies (1011), the load-bearing members (1015) including a pair of hinge points rotatably coupled to the pair of joint assemblies (1011).

2. The support device according to claim 1, wherein the at least one support member (101) comprises a pair of support members (101) arranged side by side along the rotation axis, and the support device further comprises: The connecting frame (102) is fixedly coupled between the pair of support members (101).

3. The support device according to claim 2, further comprising: A pair of balance arms (103) are adapted to be rotatably coupled to the fixing portion (1013) of the pair of drive components (1012), and each of the pair of balance arms (103) includes a central fulcrum portion (1031) rotatably coupled to the connecting frame (102).

4. The support device according to claim 3, wherein each balance arm (103) includes a coupling portion (1032) at both ends, the coupling portion (1032) being coupled to the corresponding fixing portion (1013) via a ball hinge component (1033).

5. The support device according to any one of claims 1-4, wherein each of the pair of joint assemblies (1011) comprises a four-bar linkage, and one link of the four-bar linkage is implemented by a portion of the pair of load-bearing members (1015).

6. The support device according to any one of claims 1-4, wherein the pair of load-bearing components (1015) comprises a load-bearing plate and a rib structure (1017) arranged on the load-bearing plate.

7. The support device according to any one of claims 1-4, further comprising: At least one outer reinforcement (104) is coupled at both ends to the pair of load-bearing members (1015) and is located outside the pair of drive members (1012).

8. The support device according to claim 7, wherein the at least one outer reinforcement (104) is configured as a frame structure.

9. The support device according to any one of claims 1-4 and 8, wherein the pair of drive components (1012) are arranged side by side in a front-rear direction perpendicular to the axis of rotation.

10. A robot comprising: First component (201) and second component (202); as well as The support device according to any one of claims 1-9 is arranged in the first component (201) and the second component (202).

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