Anthropomorphic joint and robot

Abstract

The utility model provides an anthropomorphic joint and a robot. The anthropomorphic joint comprises a support. The driving assembly is mounted on the bracket; the swing assembly at least comprises a first swing part, a second swing part and a third swing part which are rotationally connected in sequence, the first swing part is movably connected with the support, and the driving assembly is in driving connection with the third swing part; the driving assembly drives the second swing part to rotate around at least one of a first direction and a second direction which are perpendicular to each other through the third swing part; and the connecting piece is arranged on the second swing part, and the connecting piece is used for being connected with a piece to be connected. The anthropomorphic joint and the robot provided by the utility model solve the problem that a joint structure in the prior art cannot meet high load and high flexibility at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field related to robots, and in particular to a humanoid joint and a robot. Background Art

[0002] In the prior art, a structural solution for a multi-degree-of-freedom robotic arm is to achieve multi-degree-of-freedom movement by combining multiple single-degree-of-freedom joints. Although this solution achieves multi-degree-of-freedom movement, the movement space is large and is not suitable for scenes with a small working space.

[0003] In another solution, a spherical joint is used to achieve multi-degree-of-freedom rotation. However, due to its own structural characteristics, the structural strength of the ball joint structure is relatively general. When the ball joint structure is under pressure, all forces are concentrated on the joint ball, resulting in the joint ball being easily damaged due to excessive force. This leads to a small load-bearing capacity of the ball joint structure and poor structural reliability. Increasing the structural stiffness of the ball joint will bring about the problem of large rotational inertia.

[0004] It can be seen that the traditional multi-degree-of-freedom robotic arm structure has the problem of large motion space or low structural strength, and cannot meet the application scenarios of high load and high flexibility. Utility Model Content

[0005] The main purpose of the utility model is to provide an anthropomorphic joint and a robot to solve the problem that the joint structure in the prior art cannot meet the requirements of high load and high flexibility at the same time.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, an anthropomorphic joint is provided, which includes a bracket; a driving assembly, which is installed on the bracket; a swinging assembly, which includes at least a first swinging part, a second swinging part and a third swinging part that are connected in sequence, the first swinging part is movably connected to the bracket, the driving assembly is drivingly connected to the third swinging part, and the driving assembly drives the second swinging part to rotate around at least one of the first direction and the second direction perpendicular to each other through the third swinging part; a connecting piece, which is arranged on the second swinging part and is used to connect to the piece to be connected.

[0007] Furthermore, the first swing part is rotatably arranged on the bracket around a first direction; the first end of the second swing part is rotatably connected to the first swing part around a second direction; one end of the third swing part is rotatably connected to the other end of the second swing part around the second direction, and the other end of the third swing part is rotatably connected to the driving component around the first direction.

[0008] Further, the bracket has mounting walls spaced apart along a first direction, the first swinging portion includes a first rotating shaft extending along the first direction, and the first rotating shaft is rotatably disposed between the two mounting walls.

[0009] Furthermore, the first end of the second swinging part has a second rotating structure extending along the second direction, the first swinging member has a first rotating structure extending along the second direction, and the first rotating structure and the second rotating structure are interference fit and rotate relatively around the second direction.

[0010] Furthermore, the driving components are arranged in a one-to-one correspondence with the third swing part, and at least one third swing part is arranged at both ends of the second swing part along the first direction. The driving components located at both ends of the second swing part respectively drive the second swing part to rotate around the first direction and / or the second direction through the corresponding third swing part.

[0011] Furthermore, one end of the third swinging part has a third rotating structure extending along the second direction, the second swinging part has a fourth rotating structure extending along the second direction, and the third rotating structure and the fourth rotating structure are interference fit and rotate relatively around the second direction.

[0012] Furthermore, the other end of the third swinging portion has a fifth rotating structure extending along the first direction, the driving assembly has a sixth rotating structure extending along the first direction, and the fifth rotating structure and the sixth rotating structure are interference fit and rotate relatively around the first direction.

[0013] Furthermore, a side of the driving assembly facing away from the third swinging portion is connected to the bracket for rotation around the first direction.

[0014] Furthermore, the driving assembly includes: a shell having a placement cavity; a driving member disposed inside the placement cavity; a transmission assembly disposed inside the placement cavity; and a telescopic rod, the driving member being drivingly connected to the telescopic rod via the transmission assembly.

[0015] According to another aspect of the utility model, a robot is provided, the robot comprising the above-mentioned anthropomorphic joint.

[0016] By applying the technical solution of the utility model, the following technical effects are achieved:

[0017] The anthropomorphic wrist joint of the present application adopts a driving component to drive the swinging component to swing, and realizes multi-directional relative rotation between the first swinging part, the second swinging part and the third swinging part, so that the connecting part can rotate around at least one of the first direction and the second direction that are perpendicular to each other. While ensuring the load capacity by integrating multiple driving components, the flexibility of the wrist joint movement is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0019] Figure 1 The overall structural schematic diagram of the anthropomorphic joint of the utility model is shown;

[0020] Figure 2 The structure diagram of the swing assembly of the utility model is shown;

[0021] Figure 3 The schematic diagram of the structure of the driving assembly of the utility model is shown;

[0022] Figure 4 A cross-sectional view of a drive assembly of the present invention is shown.

[0023] The above drawings include the following reference numerals:

[0024] 1. Bracket; 11. Mounting wall; 2. Driving assembly; 21. Housing; 211. Placement cavity; 22. Driving member; 23. Transmission assembly; 24. Telescopic rod; 25. Sixth rotating structure; 3. Swinging assembly; 31. First swinging part; 311. First rotating shaft; 312. First rotating structure; 32. Second swinging part; 321. Second rotating structure; 322. Fourth rotating structure; 33. Third swinging part; 331. Third rotating structure; 332. Fifth rotating structure; 4. Connecting member. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0027] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0028] In order to solve the problems existing in the prior art, the utility model provides an anthropomorphic wrist joint, which increases the flexibility of its movement through the mutual rotation between multiple swing parts.

[0029] Embodiment 1

[0030] like Figures 1 to 4As shown, the anthropomorphic joint includes a bracket 1, a driving assembly 2, a swing assembly 3 and a connecting member 4. The driving assembly 2 is mounted on the bracket 1. The swing assembly 3 includes a first swing part 31, a second swing part 32 and a third swing part 33 connected in sequence, the first swing part 31 is movably connected to the bracket 1, the driving assembly 2 is drivingly connected to the third swing part 33, and the driving assembly 2 drives the second swing part 32 to rotate around at least one of the first direction and the second direction perpendicular to each other through the third swing part 33. The connecting member 4 is arranged on the second swing part 32, and the connecting member 4 is used to connect with the member to be connected.

[0031] When the driving component 2 is working, the connecting member 4 can be driven to move through the swing component 3, and the second swing part 32 in the swing component 3 can rotate around the first direction, the second direction, and the combined direction of the first direction and the second direction, thereby simulating the rotation of a human wrist.

[0032] In this embodiment, the anthropomorphic joint may be a wrist joint, or other joints may be simulated according to actual use requirements. The part to be connected may be a joint or an actuator.

[0033] Specifically, the anthropomorphic joint of the present application adopts a driving component 2 to drive the swing component 3 to swing, and through the relative rotation between the first swing part 31, the second swing part 32 and the third swing part 33, the connecting part 4 can be rotated around at least one of the first direction and the second direction that are perpendicular to each other, thereby increasing the flexibility of the wrist joint movement and meeting the flexible use requirements in different scenarios.

[0034] Furthermore, the first swing part 31 is rotatably arranged on the bracket 1 around a first direction, the first end of the second swing part 32 is rotatably connected to the first swing part 31 around a second direction, one end of the third swing part 33 is rotatably connected to the other end of the second swing part 32 around the second direction, and the other end of the third swing part 33 is rotatably connected to the driving member 22 around the first direction.

[0035] like Figure 1 X is shown as a first direction, and Y is shown as a second direction.

[0036] It should be noted that the rotation around the first direction in the present application refers to the circumferential rotation around the axis with the first direction as the axis; similarly, the rotation around the second direction in the present application refers to the circumferential rotation around the axis with the second direction as the axis.

[0037] In this embodiment, the first swing part 31 is rotatably arranged on the bracket 1 around a first direction, and the up and down movement of the wrist joint is realized by the rotation of the first swing part 31 in the first direction. The first end of the second swing part 32 is rotatably connected to the first swing part 31 around a second direction, and the left and right movement of the wrist joint can be realized by the rotation of the second swing part 32 around the second direction. When the first swing part 31 and the second swing part 32 move simultaneously, the wrist joint can be rotated around the combined direction of the first direction and the second direction.

[0038] Furthermore, the two ends of the third swing part 33 are rotationally connected to the driving component 2 and the second swing part 32 respectively, which can not only transmit the movement of the driving component 2 to the second swing part 32, but also provide a buffer stroke for the movement of the driving component 2 to prevent the rigid movement of the driving component 2 from causing damage to the components.

[0039] like Figure 1 As shown, the bracket 1 has mounting walls 11 spaced apart along a first direction, and the first swinging portion 31 includes a first rotating shaft 311 extending along the first direction. The first rotating shaft 311 is rotatably disposed between the two mounting walls 11 .

[0040] Specifically, the two installation walls 11 support the first rotating shaft 311 , so that the first rotating shaft 311 can stably rotate in the area between the two installation walls 11 .

[0041] Furthermore, the two mounting walls 11 are provided with mounting holes, and both ends of the first rotating shaft 311 extend into the two mounting holes respectively, and the first rotating shaft 311 is rotationally matched with the two mounting holes.

[0042] In this embodiment, the cooperation between the first rotating shaft 311 and the two mounting walls 11 can not only improve the stability of the first rotating shaft 311 rotating around the first direction, but also the mounting walls 11 have the technical effect of limiting the first rotating shaft 311 so that the first rotating shaft 311 can only rotate around the first direction.

[0043] Furthermore, the first end of the second swinging portion 32 has a second rotating structure 321 extending along the second direction, the first swinging portion 31 has a first rotating structure 312 extending along the second direction, and the first rotating structure 312 and the second rotating structure 321 are interference fit and rotate relatively around the second direction.

[0044] Among them, the first rotating structure 312 is a convex shaft, and the second rotating structure 321 is a hole structure. Alternatively, the first rotating structure 312 can be a hole structure, and the second rotating structure 321 can be a convex shaft. At least a part of the convex shaft extends into the interior of the hole structure, and the convex shaft is rotatably arranged inside the hole structure, thereby realizing relative rotation between the first swinging part 31 and the second swinging part 32.

[0045] In this embodiment, the first rotating structure 312 and the second rotating structure 321 both extend along the second direction, so that the first rotating structure 312 and the second rotating structure 321 can only rotate relative to each other around the second direction. When the second swinging portion 32 rotates around the first direction, the second rotating structure 321 rotates around the first direction synchronously with the first rotating structure 312.

[0046] like Figures 1 to 4 As shown, the driving assembly 2 and the third swinging portion 33 are arranged in a one-to-one correspondence.

[0047] Specifically, at least one third swing part 33 is provided at both ends of the second swing part 32 along the first direction, and the driving components 2 located at both ends of the second swing part 32 drive the second swing part 32 to rotate around the first direction and / or the second direction through the corresponding third swing part 33 respectively.

[0048] Furthermore, two of the driving assembly 2 and the third swinging portion 33 are provided, and one third swinging portion 33 is provided at both ends of the second swinging portion 32 along the first direction.

[0049] When one of the driving components 2 is working, the driving component 2 drives the second swinging part 32 to rotate around the second direction to simulate the left-right movement of the wrist.

[0050] When the two driving components 2 located at both ends of the second swinging part 32 work simultaneously and synchronously, the driving components 2 drive the second swinging part 32 to rotate around the first direction, simulating the forward and backward movement of the wrist.

[0051] When the two driving components 2 at both ends of the second swinging part 32 work simultaneously but not synchronously, the driving components 2 not only drive the second swinging part 32 to rotate around the second direction, but also rotate around the first direction, simulating the rotational movement of the wrist.

[0052] It should be noted that when the two drive assemblies 2 at both ends of the second swinging part 32 work simultaneously and synchronously, the extension lengths of the telescopic rods 24 of the two drive assemblies 2 are the same, that is, the two drive assemblies 2 drive the two third swinging parts 33 to move the same amount, and at this time, since the two third swinging parts 33 move synchronously, the second swinging part 32 does not rotate around the second direction. When the two drive assemblies 2 at both ends of the second swinging part 32 work simultaneously but not synchronously, the extension lengths of the telescopic rods 24 of the two drive assemblies 2 are different, that is, the two drive assemblies 2 drive the two third swinging parts 33 to move different amounts, and at this time, the two third swinging parts 33 drive the second swinging part 32 to rotate around the second direction.

[0053] In this embodiment, the driving components 2 located at both ends of the second swinging part 32 form a group of driving components 2. A group of driving components 2 can drive the connecting member 4 to rotate around the first direction and / or the second direction through the swinging component 3, which simplifies the difficulty of the transfer and improves the flexibility of the anthropomorphic joint.

[0054] In this embodiment, one end of the third swing portion 33 has a third rotating structure 331 extending along the second direction. The second swing portion 32 has a fourth rotating structure 322 extending along the second direction. The third rotating structure 331 and the fourth rotating structure 322 are interference fit and rotate relatively around the second direction.

[0055] Among them, the third rotating structure 331 is an axis structure, and the fourth rotating structure 322 is a hole structure. The third rotating structure 331 can also be a hole structure, and the fourth rotating structure 322 can be an axis structure. The relative rotation between the third swing part 33 and the second swing part 32 is achieved through the cooperation between the axis structure and the hole structure.

[0056] Furthermore, the other end of the third swinging portion 33 has a fifth rotating structure 332 extending along the first direction, the driving assembly 2 has a sixth rotating structure 25 extending along the first direction, and the fifth rotating structure 332 and the sixth rotating structure 25 are interference fit and rotate relatively around the first direction.

[0057] The fifth rotating structure 332 is an axis, and the sixth rotating structure 25 is a hole. Alternatively, the fifth rotating structure 332 is a hole, and the sixth rotating structure 25 is an axis. The relative rotation between the third swinging part 33 and the driving assembly 2 is achieved through the cooperation between the axis and the hole.

[0058] Furthermore, a side of the driving assembly 2 facing away from the third swinging portion 33 is connected to the bracket 1 for rotation around the first direction.

[0059] Specifically, the two ends of the driving component 2 are rotatably connected to the bracket 1 and the third swing component 3 respectively, which can meet the degree of freedom of the driving component 2 when working and avoid the situation of insufficient degree of freedom.

[0060] In this embodiment, the driving assembly 2 includes a housing 21, a driving member 22, a transmission assembly 23 and a telescopic rod 24. The housing 21 has a placement cavity 211, the driving member 22 is arranged inside the placement cavity 211, the transmission assembly 23 is arranged inside the placement cavity 211, and the driving member 22 is drivingly connected to the telescopic rod 24 through the transmission assembly 23.

[0061] The driving member 22 may be a motor, and the power of the driving member 22 is transmitted to the telescopic rod 24 through the transmission assembly 23, driving the telescopic rod 24 to telescope and move, thereby actuating the third swing assembly 3. In the driving assembly 2, the transmission assembly 23 may be a gear, and the telescopic rod 24 may be a lead screw nut assembly, so that the driving member 22 and the telescopic rod 24 can be arranged in parallel, and the overall length of the driving assembly 2 can be reduced. By setting the transmission assembly 23 inside the driving assembly 2 of the present application, the driving member 22 and the telescopic rod 24 can be arranged in parallel, which is beneficial to reducing the space occupied in the length direction thereof, so as to improve the compactness of the structure.

[0062] Embodiment 2

[0063] This embodiment provides a robot, including the anthropomorphic joint in the first embodiment.

[0064] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0065] 1. The anthropomorphic joint of the present application adopts a driving component 2 to drive the swing component 3 to swing, and through the relative rotation between the first swing part 31, the second swing part 32 and the third swing part 33, the connecting part 4 can be rotated around at least one of the first direction and the second direction perpendicular to each other, thereby increasing the flexibility of the wrist joint and meeting the flexible use requirements in different scenarios.

[0066] 2. The present application realizes that the swing component 3 drives the connecting member 4 to rotate around the first direction and / or the second direction through a group of driving components 2, which simplifies the difficulty of the transfer and improves the flexibility of the anthropomorphic joint.

[0067] 3. By arranging the transmission assembly 23 inside the driving assembly 2 of the present application, the driving member 22 and the telescopic rod 24 can be arranged in parallel, which is beneficial to reducing the space occupied in the length direction thereof to improve the compactness of the structure.

[0068] Obviously, the embodiments described above are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0069] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0070] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0071] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An anthropomorphic joint, characterized in that: include: Bracket (1); A driving assembly (2), wherein the driving assembly (2) is mounted on the bracket (1); A swing assembly (3), the swing assembly (3) comprising at least a first swing part (31), a second swing part (32) and a third swing part (33) which are connected to each other in rotation in sequence, the first swing part (31) being movably connected to the bracket (1), the driving assembly (2) being drivingly connected to the third swing part (33), the driving assembly (2) driving the second swing part (32) to rotate around at least one of a first direction and a second direction which are perpendicular to each other through the third swing part (33); A connecting member (4), wherein the connecting member (4) is arranged on the second swinging portion (32), and the connecting member (4) is used to be connected to a member to be connected.

2. The anthropomorphic joint according to claim 1, characterized in that: The first swinging portion (31) is rotatably arranged on the bracket (1) around the first direction; The first end of the second swinging portion (32) is connected to the first swinging portion (31) rotatably around the second direction; One end of the third swing part (33) is rotatably connected to the other end of the second swing part (32) around the second direction, and the other end of the third swing part (33) is rotatably connected to the driving component (2) around the first direction.

3. The anthropomorphic joint according to claim 2, characterized in that: The bracket (1) has mounting walls (11) arranged at intervals along the first direction, and the first swinging portion (31) comprises a first rotating shaft (311) extending along the first direction, and the first rotating shaft (311) is rotatably arranged between the two mounting walls (11).

4. The anthropomorphic joint according to claim 2, characterized in that: The first end of the second swinging portion (32) has a second rotating structure (321) extending along the second direction, and the first swinging portion (31) has a first rotating structure (312) extending along the second direction. The first rotating structure (312) and the second rotating structure (321) are interference-fitted and rotate relative to each other around the second direction.

5. The anthropomorphic joint according to claim 2, characterized in that: The driving assembly (2) and the third swinging part (33) are arranged in a one-to-one correspondence, and at least one third swinging part (33) is arranged at both ends of the second swinging part (32) along the first direction. The driving assemblies (2) located at both ends of the second swinging part (32) respectively drive the second swinging part (32) to rotate around the first direction and / or the second direction through the corresponding third swinging part (33).

6. The anthropomorphic joint according to claim 2, characterized in that: One end of the third swinging portion (33) has a third rotating structure (331) extending along the second direction, and the second swinging portion (32) has a fourth rotating structure (322) extending along the second direction. The third rotating structure (331) and the fourth rotating structure (322) are interference-fitted and rotate relatively around the second direction.

7. The anthropomorphic joint according to claim 2, characterized in that: The other end of the third swinging portion (33) has a fifth rotating structure (332) extending along the first direction, and the driving assembly (2) has a sixth rotating structure (25) extending along the first direction. The fifth rotating structure (332) and the sixth rotating structure (25) are interference-fitted and rotate relative to each other around the first direction.

8. The anthropomorphic joint according to claim 1, characterized in that: The side of the driving component (2) facing away from the third swinging portion (33) is connected to the bracket (1) for rotation around the first direction.

9. The anthropomorphic joint according to claim 1, characterized in that: The driving assembly (2) comprises: A housing (21), wherein the housing (21) has a placement cavity (211); A driving member (22), wherein the driving member (22) is arranged inside the placement cavity (211); A transmission assembly (23), wherein the transmission assembly (23) is arranged inside the placement cavity (211); The telescopic rod (24) is connected to the telescopic rod (24) by driving means of the driving member (22) through the transmission assembly (23).

10. A robot, characterized in that: The invention comprises the anthropomorphic joint according to any one of claims 1 to 9.

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