Robot joint and robot

Abstract

The embodiment of the invention belongs to the technical field of robots, and relates to a joint of a robot and the robot, and the joint comprises a joint body, an input connecting piece, an output connecting piece and a rolling piece; a groove is formed between one of the second input end and the second output end and the outer periphery of the opposite end of the joint body; the rolling piece is in clearance fit with the groove and can be arranged in the groove in a relative movement manner; and the other one of the second input end and the second output end is fixedly connected with the rolling piece, so that the second input end or the second output end is supported through the rolling piece, the output connecting piece is driven to move through the rotor, and then the rolling piece is driven to relatively move along the groove. According to the technical scheme, the joint stability can be improved through a simple structure.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a joint of a robot and a robot. Background Technology

[0002] With the development of technology, humanoid robots are gradually being used in various industries, which has led to higher requirements for the flexibility of robot body movement.

[0003] Due to the current internal design of joint bodies, the mounting screw holes for the stationary and driving parts of most joint bodies face the same side. Humanoid robots mostly use a single-sided mounting method, such as at the shoulder and elbow joints. This mounting method, with only one side fixed, is more prone to deformation, leading to reduced end-effector positioning accuracy.

[0004] Another approach involves customizing bearing fixing points on the joint itself to achieve bilateral support. This design results in higher rigidity, greater stability, and less deformation of the arm structure. However, the structure is more complex and larger, and the customization cost is also higher, making it less conducive to development. Summary of the Invention

[0005] Based on this, embodiments of this application provide a robot joint and a robot, to improve joint stability through a simple structure.

[0006] In a first aspect, embodiments of this application provide a robot joint, which adopts the technical solution described below:

[0007] A robot joint includes: a joint body, an input connector, an output connector, and a rolling element; wherein, the joint body includes a stator and a mover; the joint body includes a first output end and an opposite end opposite to the first output end; the input connector, corresponding to a first side of the joint body, includes a first input end and a second input end; the output connector, corresponding to a first side of the joint body, includes a first output end and a second output end.

[0008] The output connector is fixedly connected to the first output end of the mover; the input connector is fixedly connected to the stator; wherein the first input end and the first output end are located at the first output end of the joint body; the second input end and the second output end are located at the opposite ends of the joint body;

[0009] A groove is formed between one of the input second end and the output second end and the outer periphery of the opposite end of the joint body; the rolling element is clearance-fitted with the groove and is disposed in the groove for relative movement;

[0010] The other of the second input end and the second output end is fixedly connected to the rolling element so as to support the second input end or the second output end through the rolling element, and drive the output connector to move through the mover, thereby driving the rolling element to move relative to the groove.

[0011] Furthermore, the rolling element is movably disposed in the groove via the following structure:

[0012] The outer ring of the rolling element is axially disposed in the groove, and the outer ring of the rolling element and the inner surface of the groove achieve the clearance fit; and / or,

[0013] The other of the second input terminal and the second output terminal is fixedly connected to the rolling element through the following structure:

[0014] The second input end or the second output end extends in the axial direction of the rolling element to form a connecting portion that mates with the inner ring of the rolling element; the inner ring of the rolling element is fixedly connected to the connecting portion.

[0015] Furthermore, the output connector is fixedly connected to the first output end of the mover via the first output end; and / or, the input connector is fixedly connected to the stator via the first input end.

[0016] Furthermore, the joint also includes a wire harness protective cover; the wire harness protective cover is provided with at least one through hole for the wire harness to pass through;

[0017] The wiring harness protective cover is fixed to the second input end of the input connector.

[0018] Furthermore, when the stator is located outside the mover, the wiring harness protective cover is fixed to the second input end of the input connector through the following structure:

[0019] The wiring harness protective cover extends radially from the non-moving area of ​​the joint body toward the second input end to form an extension portion, which is fixedly connected to the second input end; the non-moving area of ​​the joint body is the region outside the movement range of the moving part of the joint body.

[0020] Furthermore, the outer edge of the wire harness protective cover is located within the outer edge of the opposite end of the joint body.

[0021] Furthermore, the output connector and / or the input connector include a first portion and a second portion along the radial direction of the joint body; the first portion includes the first end; the second portion includes the second end;

[0022] The first part and the second part are detachably fixedly connected.

[0023] Furthermore, the fixed connection between the first output terminal and the first output terminal of the mover is achieved through the following structure:

[0024] The first output terminal is detachably and fixedly connected to the first output terminal of the mover via a first centering member; and / or,

[0025] The fixed connection between the first input terminal and the stator is achieved through the following structure:

[0026] The first input terminal and the corresponding terminal of the stator are detachably fixedly connected by a second centering member.

[0027] Furthermore, the rolling element is a bearing, bushing, metal sleeve, or steel ball.

[0028] Secondly, embodiments of this application provide a robot, the robot comprising the joints of any of the robots described above.

[0029] Compared with the prior art, the embodiments of this application have the following main advantages:

[0030] In this embodiment, a groove is formed between one of the second input end of the input connector and the second output end of the output connector and the outer periphery of the opposite end of the joint body; a rolling element is fitted with the groove with a clearance and is movably disposed in the groove; the other of the second input end and the second output end is fixedly connected to the rolling element so as to support the second input end or the second output end through the rolling element, and the output connector is driven to move by the mover, thereby driving the rolling element to move relative to the groove. On the basis of the original single-sided connection between the joint body and each connector, when the joint moves, the rolling element on the other side of the joint body can resist the deformation tendency of the joint. The rigidity and stability of the robot's joint can be improved through a simple structure. Attached Figure Description

[0031] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 A schematic diagram of the overall structure of an embodiment of the robot joint provided in this application;

[0033] Figure 2 for Figure 1 A schematic diagram of a partial exploded structure of a robot joint is provided.

[0034] Figure 3 for Figure 1 A schematic diagram of a partial cross-sectional structure of a robot joint is provided.

[0035] Figure 4 for Figure 1 A schematic diagram of the rotation angle of the robot's output connector.

[0036] Reference numerals: 10 Joint, 11 Joint body, 12 Input connector, 13 Output connector, 14 Roller, 15 Groove, 16 Wiring harness protective cover, 17 Second joint body, 111 Opposite end, 121 First input end, 122 Second input end, 131 First output end, 132 Second output end, 133 First part, 134 Second part, 161 Extension. Detailed Implementation

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0038] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] Unless otherwise defined, any description in this document of a structural component being "fixed to" or "fixedly connected to" another structural component includes methods of fixing such as prefabricating two structural components as a single unit or fixing them together via a centering member.

[0040] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0041] like Figures 1 to 3 As shown, Figure 1 A schematic diagram of the overall structure of an embodiment of the robot joint provided in this application; Figure 2 for Figure 1A schematic diagram of a partial exploded structure of a robot joint is provided. Figure 3 for Figure 1 A partial cross-sectional structural diagram of the robot joint is provided.

[0042] This application provides a robot joint 10, which includes: a joint body 11, an input connector 12, an output connector 13, and a rolling element 14; wherein, the joint body 11 includes a stator and a mover; the joint body 11 includes a first output end (not shown due to obstruction) and a corresponding end 111; the input connector 12 includes a first input end 121 and a second input end 122 on the first side of the joint body 11; the output connector 13 includes a first output end 131 and a second output end 132 on the first side of the joint body 11.

[0043] The output connector 13 is fixedly connected to the first output end of the mover; the input connector 12 is fixedly connected to the stator; wherein, the first input end 121 and the first output end 131 are located at the first output end of the joint body; the second input end 122 and the second output end 132 are located at opposite ends of the joint body.

[0044] A groove 15 is formed between one of the input second end 122 and the output second end 132 and the outer periphery of the opposite end of the joint body; the rolling element 14 is clearance-fitted with the groove 15 and is disposed in the groove 15 for relative movement.

[0045] The other of the input second terminal 122 and the output second terminal 132 is fixedly connected to the rolling element 14 so as to support the input second terminal 122 or the output second terminal 132 through the rolling element 14, and drive the output connector 13 to move through the mover, thereby driving the rolling element 14 to move relative to the groove.

[0046] In addition to the stator and mover mentioned above, the joint body in some embodiments may also include a motor control circuit and / or a reducer. The joint body can be an independent module including the above-mentioned structures, or it can be composed of multiple different parts spliced ​​together or multiple independent parts, all of which fall within the scope of protection of this application.

[0047] Specifically, the stator can be located outside or inside the mover. For ease of understanding, this embodiment of the application will be described in detail with the stator located outside the mover, a groove 15 formed between the output second end 132 of the output connector 13 and the outer periphery of the opposite end of the joint body, and the input second end 122 of the input connector 12 fixedly connected to the rolling element 14.

[0048] It should be noted that the joint body described in the embodiments of this application can be a joint body that performs rotational driven motion (in which case the shape of the joint body can be a cylinder) or a joint body that performs linear driven motion (in which case the shape of the joint body can be a cylinder or a cube). For ease of understanding, the embodiments of this application will be described in detail using a joint body that performs rotational driven motion as an example.

[0049] Specifically, the aforementioned rolling elements can be made of various existing or future-developed structural components that facilitate the movement of the second end of the output connector along the groove, such as bearings, metal sleeves, or bushings; or steel balls. For ease of understanding, this application provides a detailed description using a bearing as an example of a rolling element.

[0050] like Figure 3 As shown, in an optional embodiment, taking a bearing as an example, the above-mentioned "rolling element and groove clearance fit, and can be relatively movable in the groove" can be achieved by the following structure:

[0051] The outer ring of the rolling element 14 is disposed axially in the groove 15, and the outer ring of the rolling element 14 and the inner surface of the groove 15 achieve the aforementioned clearance fit, so that it can be disposed in the groove in a relatively movable manner.

[0052] This embodiment of the application, by fitting the rolling element with the groove clearance, allows it to be relatively movable in the groove. With a simple structure, it ensures that the rolling element can follow the movement, and during the movement, the rolling element can provide support to the joint body on this side and the corresponding input connector or between the input connectors, thereby improving the overall stability of the joint.

[0053] In an optional embodiment, continuing to use a bearing as an example, the above-mentioned "one of the input second end and the output second end is fixedly connected to the rolling element" can be achieved by the following structure:

[0054] The second input terminal 122 or the second output terminal 132 extends in the axial direction of the rolling element 14 to form a connecting part that mates with the inner ring of the rolling element; the inner ring of the rolling element is fixedly connected to the connecting part.

[0055] Continue as Figure 3 As shown, for example, at the opposite end 111 of the joint body 11, a groove 15 is formed between the inner sidewall of the input connector 12 and the outer periphery of the joint body 11. The outer ring of the bearing 14 is axially embedded in the groove 15, and the inner ring is fixedly connected to the output second end 132 of the output connector 13. In this way, when the output connector 13 rotates with the mover of the motor, the output second end 132 of the output connector 13 drives the bearing 14 to move along the groove 15, so as to improve the stability of the movement.

[0056] This embodiment of the application embeds a rolling element into a groove, and the outer ring of the rolling element and the inner surface of the groove achieve the aforementioned clearance fit, so that it can be relatively movably disposed in the groove. The inner ring of the rolling element is fixedly connected to the second output end of the output connector or the second input end of the input connector located on the outer wall of the joint body. Through a simple structure and assembly method, the support of the joint is achieved, and the stability of the joint is improved.

[0057] In this embodiment, a groove is formed between one of the second input end of the input connector and the second output end of the output connector and the outer periphery of the opposite end of the joint body; a rolling element is fitted with the groove with a clearance and is movably disposed in the groove; the other of the second input end and the second output end is fixedly connected to the rolling element so as to support the second input end or the second output end through the rolling element, and the output connector is driven to move by the mover, thereby driving the rolling element to move relative to the groove. On the basis of the original single-sided connection between the joint body and each connector, when the joint moves, the rolling element on the other side of the joint body can resist the deformation tendency of the joint. The rigidity and stability of the robot's joint can be improved through a simple structure.

[0058] In an optional embodiment, the input connector 12 is fixedly connected to the stator via the input first end 121.

[0059] Specifically, the aforementioned "fixed connection between the input first end 121 of the input connector 12 and the stator" can be achieved using various existing or future-developed structures as needed. For example: Figure 1 As shown, the first side of the input connector 12 has a cylindrical structure that is adapted to the joint body 11. The cylindrical structure is axially sleeved on the outside of the joint body 11, and the first input end 121 of the input connector 12 is fixed to the outer circumference of the corresponding stator end by means of screw fastening or other methods.

[0060] The first output end 131 of the output connector 13 is fixedly connected to the output end of the mover; the second output end 132 of the output connector 13 is fixedly connected to the rolling element 14.

[0061] Specifically, the aforementioned "fixed connection between the first output end 131 of the output connector 13 and the output end of the mover" can be achieved by adopting various existing or future-developed structures as needed. For example, the first output end 131 of the output connector 13 can be fixedly connected to the outer circumference of the corresponding joint body's output end using a screw fastening or other structure. In this way, the fixed connection between the first output end 131 of the output connector 13 and the output end of the joint body can be achieved with a simple structure.

[0062] In an optional embodiment, the above-mentioned "fixed connection between the first output end of the output connector and the output end of the mover" can be achieved by the following structure:

[0063] The first output end 131 of the output connector 13 is detachably fixed to the outer circumference of the output end of the mover by a first centering member (e.g., by screw fastening).

[0064] In this embodiment, the first end of the output connector is fixedly connected to the output end of the mover by a first centering member around the outer circumference of the joint body, which can achieve a simple structure.

[0065] It should be noted that, in addition to the fixed connection shown in the embodiments of this application, the first end of the output connector can also be fixedly connected to the output end of the mover using various existing connection structures that will be developed in the future, as needed. For example, a flange can be used to fix the connection to the output end of the mover. All of these are within the scope of protection of this application.

[0066] Continue as Figure 2 As shown, in an optional embodiment, joint 10 further includes a wire harness protection cover 16; the wire harness protection cover 16 is provided with at least one through hole for the wire harness (not shown) to pass through.

[0067] The wire harness protective cover 16 is fixed to the second input end 122 of the input connector 12 via the extension 161.

[0068] Specifically, the wire harness protective cover 16 can be designed into any shape as needed. For example, taking a cylindrical joint body as an example, the wire harness protective cover can also be set to a circle.

[0069] In an optional embodiment, the outer edge of the wiring harness protective cover 16 is located inside the outer edge of the opposite end 111 of the joint body 11, so as to ensure that the wiring harness protective cover can be entirely accommodated within the input connector without interfering with the movement of the second input end of the input connector. Continuing with the example of a circular wiring harness protective cover, the diameter of the wiring harness protective cover is less than or equal to the diameter of the opposite end 111 of the joint body 11, so that the outer edge of the wiring harness protective cover is located inside the outer edge of the opposite end of the joint body.

[0070] This application embodiment provides a wire harness protective cover, which keeps the wire harness in a fixed position during the movement of the joint, thereby reducing friction or compression between the wire harnesses.

[0071] like Figure 4 As shown, Figure 4 As shown, Figure 4 for Figure 2 A schematic diagram showing the rotation angle of the robot's output connector.

[0072] In an optional embodiment, when the stator is located outside the mover, the aforementioned "wire harness protective cover fixed to the second input end of the input connector" can be achieved through the following structure:

[0073] The wiring harness protective cover 16 extends radially from the non-moving area of ​​the joint body 11 toward the second input end to form an extension 161. The extension 161 is fixedly connected to the second input end 122 of the input connector 12. The wiring harness (not shown due to obstruction) extends to the adjacent joint through the extension 161.

[0074] The non-moving area of ​​the joint body is the region outside the movement range of the moving part of the joint body. It should be noted that the extension can extend from any position on the radial outer periphery of the wire harness protective cover as needed. Since the extension is fixedly connected to the second input end, it will hinder the movement of the rolling element connected to the second input end. However, since each joint often does not require 360-degree rotation, the extension can be set in the non-rotation space of the joint according to the rotation range required by the joint itself.

[0075] Specifically, the output connector rotates with the actuator, with a maximum rotation angle of 360-A degrees.

[0076] Where A is the angle formed by the lines connecting the two ends of the extension 161 along the circumferential direction of the joint body and the axial center of the joint body 11.

[0077] For example, such as Figure 4 As shown, based on the extension, the output connector can rotate with the mover within a maximum clockwise range of 97 degrees and a maximum counterclockwise range of 205 degrees.

[0078] In this embodiment, the wiring harness protective cover is extended radially to the non-moving area of ​​the joint body to form an extension portion. The extension portion is fixedly connected to the second input end of the input connector. This ensures the effective installation of the wiring harness protective cover and prevents it from hindering the movement of the joint itself.

[0079] Continue as Figure 2 As shown, in an optional embodiment, the output connector 13 and / or the input connector 12 include a first portion 133 and a second portion 134 along the radial direction of the joint body; the first portion 133 includes the aforementioned first output terminal 131; and the second portion 134 includes the aforementioned second output terminal 132.

[0080] The first part 133 and the second part 134 are fixedly connected.

[0081] like Figure 2 As shown, for ease of understanding, the embodiments of this application mainly take the output connector 13, which includes a first part 133 and a second part 134 along the radial direction of the joint body, as an example for detailed description.

[0082] This application embodiment includes a first part and a second part along the radial direction of the joint body by the output connector and / or the input connector. This facilitates the connection of the first part to the output end of the joint body and the fixed connection of the second part to the opposite end of the joint body. Subsequently, the first part and the second part are fixedly connected by screws, slots or other structures, which facilitates the installation of the output connector as a whole with the joint body.

[0083] Based on the robot joints described in the above embodiments, this application provides a robot (figures omitted).

[0084] The robot includes the joints of the robot described in the above embodiment.

[0085] It should be noted that the aforementioned robot can be any robot that is currently in use or will be developed in the future, such as a humanoid robot or an industrial robotic arm; this application does not impose any limitations.

[0086] For a description of the robotic hand, please refer to the above embodiments, which will not be repeated here.

[0087] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A joint for a robot, characterized in that, include: The joint body comprises a joint body, an input connector, an output connector, and a rolling element; wherein the joint body includes a stator and a mover; the joint body includes a first output end and a corresponding end; the input connector, corresponding to a first side of the joint body, includes a first input end and a second input end; the output connector, corresponding to a first side of the joint body, includes a first output end and a second output end. The output connector is fixedly connected to the first output end of the mover; the input connector is fixedly connected to the stator; wherein the first input end and the first output end are located at the first output end of the joint body; the second input end and the second output end are located at the opposite ends of the joint body; A groove is formed between one of the input second end and the output second end and the outer periphery of the opposite end of the joint body; the rolling element is clearance-fitted with the groove and is disposed in the groove for relative movement; The other of the second input end and the second output end is fixedly connected to the rolling element so as to support the second input end or the second output end through the rolling element, and drive the output connector to move through the mover, thereby driving the rolling element to move relative to the groove.

2. The joint of the robot according to claim 1, characterized in that, The rolling element is movably disposed in the groove by means of the following structure: The outer ring of the rolling element is axially disposed in the groove, and the outer ring of the rolling element and the inner surface of the groove achieve the clearance fit; and / or, The other of the second input terminal and the second output terminal is fixedly connected to the rolling element through the following structure: The second input end or the second output end extends in the axial direction of the rolling element to form a connecting portion that mates with the inner ring of the rolling element; the inner ring of the rolling element is fixedly connected to the connecting portion.

3. The joint of the robot according to claim 1 or 2, characterized in that, The output connector is fixedly connected to the first output end of the mover via the first output end; and / or, the input connector is fixedly connected to the stator via the first input end.

4. The joint of the robot according to claim 1 or 2, characterized in that, The joint also includes a wire harness protective cover; the wire harness protective cover is provided with at least one through hole for the wire harness to pass through; The wiring harness protective cover is fixed to the second input end of the input connector.

5. The joint of the robot according to claim 4, characterized in that, When the stator is located outside the mover, the wiring harness protective cover is fixed to the second input end of the input connector through the following structure: The wiring harness protective cover extends radially from the non-moving area of ​​the joint body toward the second input end to form an extension portion, which is fixedly connected to the second input end; the non-moving area of ​​the joint body is the region outside the movement range of the moving part of the joint body.

6. The joint of the robot according to claim 4, characterized in that, The outer edge of the wire harness protective cover is located within the outer edge of the opposite end of the joint body.

7. The joint of the robot according to claim 1 or 2, characterized in that, The output connector and / or the input connector include a first portion and a second portion along the radial direction of the joint body; the first portion includes a first end; the second portion includes a second end; The first part and the second part are detachably fixedly connected.

8. The joint of the robot according to claim 3, characterized in that, The fixed connection between the first output terminal and the first output terminal of the mover is achieved through the following structure: The first output terminal is detachably and fixedly connected to the first output terminal of the mover via a first centering member; and / or, The fixed connection between the first input terminal and the stator is achieved through the following structure: The first input terminal and the corresponding terminal of the stator are detachably fixedly connected by a second centering member.

9. The joint of the robot according to claim 1 or 2, characterized in that, The rolling element is a bearing, bushing, metal sleeve, or steel ball.

10. A robot, characterized in that, The robot includes the joints of the robot according to any one of claims 1 to 9.

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