Anthropomorphic joint and robot

Abstract

The utility model provides an anthropomorphic joint and a robot. The anthropomorphic joint comprises a first connecting arm, a second connecting arm, a connecting rod, a connecting structure and a driving part, the two ends of the connecting rod are rotationally connected with the first connecting arm and the second connecting arm correspondingly, a second connecting point is formed between the connecting rod and the second connecting arm, and the connecting structure comprises a protrusion located on the first connecting arm and a concave part located on the second connecting arm; the protrusion is located in the concave part, the concave part is in an arc shape, the arc shape takes the second connecting point as the circle center, and when the first connecting arm and the second connecting arm move relatively, the protrusion is located at different positions of the concave part, so that the second connecting arm continuously changes along the arc shape relative to the rotating center of the first connecting arm; the driving part is connected with at least one of the first connecting arm and the second connecting arm and drives the first connecting arm and the second connecting arm to move relatively. The problem that in the prior art, a mechanical arm of a robot is low in personification degree is solved.

Description

Technical Field

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

[0002] In the prior art, the joint structure of the robot is designed to rotate around a fixed point. For humanoid robots, this structural design is different from the joint movement of the human body, especially for the elbow joint. The shaft connection method of the traditional robot arm cannot simulate the structure of the human elbow joint at all. Therefore, the degree of anthropomorphism of the traditional robot arm is low, which cannot meet the requirements of high anthropomorphism and cannot be used in scenes with high anthropomorphism requirements. Utility Model Content

[0003] The main purpose of the utility model is to provide an anthropomorphic joint and a robot, so as to solve the problem that the mechanical arm of the robot in the prior art has a low degree of anthropomorphism.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, an anthropomorphic joint is provided, including a first connecting arm, a second connecting arm, a connecting rod, a connecting structure, and a driving member, wherein the two ends of the connecting rod are rotatably connected to the first connecting arm and the second connecting arm respectively, and a second connecting point is formed between the connecting rod and the second connecting arm, and the connecting structure includes a protrusion located on the first connecting arm and a recess located on the second connecting arm, the protrusion is located in the recess, the recess is arc-shaped, and the arc takes the second connecting point as the center of the circle, and when the first connecting arm and the second connecting arm move relative to each other, the protrusion is located at different positions of the recess, so that the rotation center of the second connecting arm relative to the first connecting arm continuously changes along the arc, and the driving member is connected to at least one of the first connecting arm and the second connecting arm, and drives the relative movement between the first connecting arm and the second connecting arm.

[0005] Furthermore, the recess includes a plurality of sub-grooves, each of which is arranged in sequence and at intervals along a circle with the second connection point as the center, and the protrusion can be switchably matched with each of the sub-grooves.

[0006] Furthermore, the connecting structure includes a first toothed structure and a second toothed structure meshing with each other, the first toothed structure and the second toothed structure are respectively located on the first connecting arm and the second connecting arm, the tooth portion of the first toothed structure serves as a protrusion, and the tooth groove portion of the second toothed structure serves as a recess.

[0007] Furthermore, the first connecting arm and the second connecting arm both have a butt end, the butt end has an arc-shaped edge, the first tooth-shaped structure and the second tooth-shaped structure are located on the arc-shaped surface of the arc-shaped edge, a first connection point is formed between the connecting rod and the first connecting arm, and the first connection point and the second connection point are respectively located at the center of the arc-shaped edge of the first connecting arm and the second connecting arm.

[0008] Furthermore, the recessed portion is an arc-shaped groove, the arc-shaped groove is continuously arranged along a circle with the second connection point as the center, and the protrusion is movably arranged in the arc-shaped groove.

[0009] Furthermore, the connecting structure also has an extension section, which is connected to the side of the first connecting arm, protrudes from the edge of the first connecting arm, and extends into the side of the second connecting arm. One end of the extension section extending into the side of the second connecting arm has a protrusion.

[0010] Furthermore, the first connecting arm and the second connecting arm both have a butt end, the arc groove is located on the side of the butt end, the butt end has an arc edge, a first connection point is formed between the connecting rod and the first connecting arm, and the first connection point and the second connection point are respectively located at the center of the arc edge of the first connecting arm and the second connecting arm.

[0011] Furthermore, there are multiple connecting rods, and connecting rods are arranged on two opposite sides of the first connecting arm.

[0012] Furthermore, the driving member includes a linear driver, which includes a main body and an output shaft. The output shaft is telescopically arranged relative to the main body, one of the main body and the output shaft is rotatably connected to the first connecting arm, and the other of the main body and the output shaft is rotatably connected to the second connecting arm.

[0013] According to another aspect of the utility model, a robot is provided, comprising the above-mentioned anthropomorphic joint.

[0014] By applying the technical solution of the utility model, by setting a connecting rod and a connecting structure, the first connecting arm and the second connecting arm are no longer directly connected by a traditional rotating shaft. Specifically, one end of the connecting rod is connected to the first connecting arm, and the other end is connected to the second connecting arm. When the driving member drives the second connecting arm, due to the rotatable connection between the connecting rod and the first connecting arm and the second connecting arm and the cooperation of the connecting structure, when the second connecting arm rotates around the second connecting point under the drive of the driving member, the connecting rod can also move around the first connecting arm. In this way, the rotation of the second connecting arm can be divided into two parts. On the one hand, the rotatable connection between the second connecting arm and the connecting rod enables the second connecting arm to rotate around the second connecting point. When the second connecting point moves, the rotation center of the second connecting arm changes accordingly. On the other hand, when the connecting rod rotates around the first connecting arm, the second connecting point moves, and the moving trajectory is an arc, so that the second connecting arm can rotate around the first connecting arm with a point on the movement trajectory of the second connecting point as the rotation center. During the movement, the connection structure cooperates with the recessed portion provided on the second connecting arm through the protrusion provided on the first connecting arm, so that the second connecting arm can change the matching position with the first connecting arm when it rotates under the drive of the driving member, and the connecting rod connecting the first connecting arm and the second connecting arm continuously rotates with the change of the matching position, so that the rotation center of the second connecting arm constantly changes. The above aspects are combined together, so that when the second connecting arm rotates, it does not rotate around a fixed point, but the rotation center constantly changes along the arc. In this way, the movement mode is very similar to the human elbow joint, so that the anthropomorphism degree of the elbow joint can be improved, so that the anthropomorphism degree of the anthropomorphic joint of this embodiment is higher, and it can be applied to various scenes with high requirements for anthropomorphism, meeting the anthropomorphic use needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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:

[0016] Figure 1 A schematic structural diagram of an anthropomorphic joint according to the first embodiment of the utility model is shown;

[0017] Figure 2 Shows Figure 1 A structural diagram of another perspective of the anthropomorphic joints in;

[0018] Figure 3 A schematic diagram of the structure of an anthropomorphic joint of the second embodiment is shown;

[0019] Figure 4 Shows Figure 3 A structural diagram of anthropomorphic joints from another perspective.

[0020] The above drawings include the following reference numerals:

[0021] 10. First connecting arm; 20. Second connecting arm; 30. Connecting rod; 40. Connecting structure; 41. First tooth-shaped structure; 42. Second tooth-shaped structure; 50. Driving member. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] 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.

[0025] In order to solve the problem that the robot arm in the prior art has a low degree of anthropomorphism, the utility model provides an anthropomorphic joint and a robot. The robot has the following anthropomorphic joints. The anthropomorphic joints of this embodiment are mainly aimed at the elbow joints, and of course they can also be applied to other joints.

[0026] In order to make the improvement of the present application clearer, the following description is given of the human joint structure. When the elbow joint is near the end of flexion and extension, the ulna has an axial rotation activity. When the elbow is fully extended, the ulna rotates internally, and when the elbow is fully flexed, the ulna rotates externally. At the same time, the radius has a longitudinal displacement. When flexed, the radius moves upward, and the ulna is accompanied by adduction activity. When straightened, the radius moves downward, and the ulna is accompanied by abduction activity. The adduction and abduction activities of the ulna during the flexion and extension process can be 5-10 degrees. It can be seen that the rotation process of the human elbow joint is not a simple circular motion around a fixed center.

[0027] Embodiment 1

[0028] like Figure 1 and Figure 2An anthropomorphic joint is shown, comprising a first connecting arm 10, a second connecting arm 20, a connecting rod 30, a connecting structure 40, and a driving member 50. The two ends of the connecting rod 30 are rotatably connected to the first connecting arm 10 and the second connecting arm 20, respectively. A second connecting point is formed between the connecting rod 30 and the second connecting arm 20. The connecting structure 40 comprises a protrusion located on the first connecting arm 10 and a recess located on the second connecting arm 20. The protrusion is located in the recess, and the recess is arc-shaped, with the arc taking the second connecting point as the center. When the first connecting arm 10 and the second connecting arm 20 move relative to each other, the protrusion is located at different positions of the recess, so that the rotation center of the second connecting arm 20 relative to the first connecting arm 10 continuously changes along the arc. The driving member 50 is connected to at least one of the first connecting arm 10 and the second connecting arm 20, and drives the relative movement between the first connecting arm 10 and the second connecting arm 20.

[0029] like Figure 1 , Figure 2 In this embodiment, by providing a connecting rod 30 and a connecting structure 40, the first connecting arm 10 and the second connecting arm 20 are no longer directly connected by a conventional rotating shaft. Specifically, one end of the connecting rod 30 is connected to the first connecting arm 10, and the other end is connected to the second connecting arm 20. When the driving member 50 drives the second connecting arm 20, due to the rotatable connection between the connecting rod 30 and the first connecting arm 10 and the second connecting arm 20 and the cooperation of the connecting structure 40, when the second connecting arm 20 rotates around the second connecting point under the drive of the driving member 50, the connecting rod 30 can also move around the first connecting arm 10. In this way, the rotation of the second connecting arm 20 can be divided into two parts. On the one hand, the rotatable connection between the second connecting arm 20 and the connecting rod 30 enables the second connecting arm 20 to rotate around the second connecting point. When the second connecting point moves, the rotation center of the second connecting arm 20 changes accordingly. On the other hand, when the connecting rod 30 rotates around the first connecting arm 10, the second connecting point moves, and the moving trajectory is an arc, so that the second connecting arm 20 can rotate around the first connecting arm 10 with the point on the movement trajectory of the second connecting point as the rotation center. During the movement, the connection structure 40 cooperates with the recessed portion provided on the second connection arm 20 through the protrusion provided on the first connection arm 10, so that the second connection arm 20 can change the matching position with the first connection arm 10 when rotating under the drive of the driving member 50, and the connecting rod 30 connecting the first connection arm 10 and the second connection arm 20 continuously rotates with the change of the matching position, so that the rotation center of the second connection arm 20 constantly changes. The above aspects are combined together, so that when the second connection arm 20 rotates, it does not rotate around a fixed point, but the rotation center constantly changes along the arc. In this way, the movement mode is very similar to the human elbow joint, so that the anthropomorphism degree of the elbow joint can be improved, so that the anthropomorphism degree of the anthropomorphic joint of this embodiment is higher, and it can be applied to various scenes with high anthropomorphism requirements to meet the anthropomorphic use needs.

[0030] The recess in this embodiment includes a plurality of sub-grooves, each of which is arranged at intervals along a circle with the second connection point as the center at the edge of the second connecting arm 20 close to the first connecting arm 10, and the protrusion is symmetrically arranged at the edge of the first connecting arm 10 close to the second connecting arm 20, and can be switchably matched with each sub-groove. With the relative movement of the first connecting arm 10 and the second connecting arm 20, different positions of the protrusion cooperate with different sub-grooves, ensuring that different positions of the protrusion correspond one-to-one with different positions of the recess during rotation, and no relative sliding occurs, thereby ensuring that the rotation center of the first connecting arm 10 or the second connecting arm 20 can be changed in real time.

[0031] Similar to the setting method of the above-mentioned sub-grooves, the protrusion of this embodiment also includes multiple sub-protrusions, and the sub-protrusions and sub-grooves are preferably set in one-to-one correspondence, so that when a sub-protrusion extends into the corresponding sub-groove during rotation, another sub-protrusion exits the sub-groove, thereby realizing a change in the contact position between the protrusion and the groove, and also realizing a change in the rotation center of the second connecting arm 20.

[0032] Based on the above-mentioned arrangement of the protrusions and recesses, the protrusions and recesses of this embodiment substantially form a gear structure. Specifically, the connection structure 40 in this embodiment includes a first toothed structure 41 and a second toothed structure 42 that mesh with each other. The first toothed structure 41 and the second toothed structure 42 are respectively located on the first connecting arm 10 and the second connecting arm 20. The toothed portion of the first toothed structure 41 serves as a protrusion, and the toothed portion of the second toothed structure 42 serves as a recess. When the first connecting arm 10 and the second connecting arm 20 rotate relative to each other, the teeth and toothed portions of the corresponding positions always cooperate to maintain the transmission of force. The toothed structure transmits power more smoothly, making the cooperation of the first connecting arm 10 and the second connecting arm 20 more efficient and reliable, and the cooperation position is not easy to fall out and fail. Of course, in addition to the arrangement method that makes the protrusions and recesses form a toothed structure, other arrangement methods can also be used to achieve the cooperation between the protrusions and recesses.

[0033] In this embodiment, the first connecting arm 10 and the second connecting arm 20 both have butt ends, and the butt ends have arc-shaped edges, that is, the edges of the ends of the first connecting arm 10 and the second connecting arm 20 that are close to each other are arc-shaped, so that the second connecting arm 20 can rotate more smoothly relative to the first connecting arm 10 to avoid interference, etc. The first tooth-shaped structure 41 and the second tooth-shaped structure 42 are located on the arc surface of the arc edge, and a first connection point is formed between the connecting rod 30 and the first connecting arm 10. The first connection point and the second connection point are respectively located at the center of the arc edge of the first connecting arm 10 and the second connecting arm 20, that is, the first tooth-shaped structure 41 and the second tooth-shaped structure 42 are respectively arranged at the arc edge of the first connecting arm 10 and the second connecting arm 20 with the rotation center of the connecting rod 30 around the first connecting arm 10 and the second connecting arm 20 as the center of the circle, so that the distance between the first connection point and the second connection point remains consistent with the distance between the two rotation centers at both ends of the connecting rod 30, and will not change with the rotation of the first connecting arm 10 and the second connecting arm 20.

[0034] There are multiple connecting rods 30 in this embodiment, and connecting rods 30 are arranged on both sides of the first connecting arm 10 to enhance the connection strength between the first connecting arm 10 and the second connecting arm 20. At the same time, the connecting rods 30 are arranged on both sides of the connecting structure 40, which can prevent the first toothed structure 41 and the second toothed structure 42 from falling out and failing in a direction perpendicular to the rotation direction, so that the connection structure 40 is more firmly and reliably matched.

[0035] The driving member 50 in this embodiment includes a linear driver, which includes a main body and an output shaft. The output shaft is retractably arranged relative to the main body, one of the main body and the output shaft is rotatably connected to the first connecting arm 10, and the other of the main body and the output shaft is rotatably connected to the second connecting arm 20. In this way, the linear driver is arranged between the first connecting arm 10 and the second connecting arm 20, so that the linear driver can directly drive the relative movement between the first connecting arm 10 and the second connecting arm 20. When in use, the first connecting arm 10 is generally connected to a structure such as a shoulder joint, and the second connecting arm 20 is connected to a subsequent structure such as a wrist joint, so that the first connecting arm 10 can be considered to be fixed, and the linear driver drives the second connecting arm 20 to move relative to the first connecting arm 10. Of course, the specific selection and setting method of the driving member 50 can also be adjusted as needed, and is not limited to the above-mentioned method in this embodiment, as long as the movement of the second connecting arm 20 relative to the first connecting arm 10 can be achieved.

[0036] In this embodiment, the first connecting arm 10 and the second connecting arm 20 also include a connecting end for connecting to an external component. The connecting end is located at an end of the first connecting arm 10 or the second connecting arm 20 that is away from each other. The specific shape of the connecting end can be set as needed, as long as it can cooperate with the external structural parts to realize the connection of the anthropomorphic joint with other structures to form a complete robotic arm structure.

[0037] Embodiment 2

[0038] The present embodiment is different from the first embodiment in that the structure and arrangement of the connection structure 40 are different.

[0039] like Figure 3 , Figure 4 The recessed portion of the connecting structure 40 is an arc-shaped groove, which is continuously arranged along a circle with the second connecting point as the center. The protrusion is movably arranged in the arc-shaped groove, so that the protrusion can change its position in the arc-shaped groove with the rotation of the first connecting arm 10 and the second connecting arm 20, thereby changing the rotation center of the relative rotation between the second connecting arm 20 and the first connecting arm 10, but does not change the distance between the first connecting point and the second connecting point, and does not affect the rotation of the connecting rod 30.

[0040] In this embodiment, the connecting structure 40 also has an extension section, which is connected to the side of the first connecting arm 10 and protrudes from the edge of the first connecting arm 10 to form an eccentric form relative to the first connection point and extend into the side of the second connecting arm 20. One end of the extension section extending into the side of the second connecting arm 20 has a protrusion, and the protruding direction of the protrusion is parallel to the rotation axis of the second connecting arm 20. In this way, one end of the extension section is connected to the first connecting arm 10, and the other end cooperates with the recess of the second connecting arm 20. When rotating, the extension section changes the different positions of the protrusion in the recess, thereby changing the position of the second connecting arm 20 relative to the rotation center of the first connecting arm 10, making the action humanized.

[0041] Similar to the first embodiment, in this embodiment, the first connecting arm 10 and the second connecting arm 20 both have a butt joint end, the arc groove is located on the side of the butt joint end, the butt joint end has an arc edge, and a first connection point is formed between the connecting rod 30 and the first connecting arm 10. The first connection point and the second connection point are respectively located at the center of the arc edge of the first connecting arm 10 and the second connecting arm 20, that is, the end edges of the first connecting arm 10 and the second connecting arm 20 that are close to each other are arc-shaped. In this way, the second connecting arm 20 can rotate more smoothly relative to the first connecting arm 10 to avoid interference and the like.

[0042] It should be noted that, the multiple in the above embodiments refers to at least two.

[0043] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0044] 1. Solve the problem of low anthropomorphism of the robot arm in the prior art;

[0045] 2. The movement mode of the anthropomorphic joint is very similar to that of the human elbow joint, which can improve the anthropomorphism of the elbow joint, making the anthropomorphic joint more anthropomorphic, and can be applied to various scenes with high requirements for anthropomorphism, meeting the anthropomorphic usage needs.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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: A first connecting arm (10); A second connecting arm (20); A connecting rod (30), wherein two ends of the connecting rod (30) are rotatably connected to the first connecting arm (10) and the second connecting arm (20), respectively, and a second connecting point is formed between the connecting rod (30) and the second connecting arm (20); A connecting structure (40), the connecting structure (40) comprising a protrusion located on the first connecting arm (10) and a recess located on the second connecting arm (20), the protrusion being located in the recess, the recess being arc-shaped, and the arc having the second connecting point as the center, and when the first connecting arm (10) and the second connecting arm (20) move relative to each other, the protrusion is located at different positions of the recess, so that the rotation center of the second connecting arm (20) relative to the first connecting arm (10) continuously changes along the arc; A driving member (50) is connected to at least one of the first connecting arm (10) and the second connecting arm (20), and drives the relative movement between the first connecting arm (10) and the second connecting arm (20).

2. The anthropomorphic joint according to claim 1, characterized in that: The recess includes a plurality of sub-grooves, each of which is arranged in sequence and at intervals along a circle with the second connection point as the center, and the protrusion can be switchably matched with each of the sub-grooves.

3. The anthropomorphic joint according to claim 2, characterized in that: The connecting structure (40) comprises a first tooth-shaped structure (41) and a second tooth-shaped structure (42) which mesh with each other, wherein the first tooth-shaped structure (41) and the second tooth-shaped structure (42) are respectively located on the first connecting arm (10) and the second connecting arm (20), wherein the tooth portion of the first tooth-shaped structure (41) serves as the protrusion, and the tooth groove portion of the second tooth-shaped structure (42) serves as the recess.

4. The anthropomorphic joint according to claim 3, characterized in that: The first connecting arm (10) and the second connecting arm (20) both have a butt end, and the butt end has an arc-shaped edge. The first tooth-shaped structure (41) and the second tooth-shaped structure (42) are located on the arc-shaped surface of the arc-shaped edge. A first connection point is formed between the connecting rod (30) and the first connecting arm (10). The first connection point and the second connection point are respectively located at the center of the arc-shaped edge of the first connecting arm (10) and the second connecting arm (20).

5. The anthropomorphic joint according to claim 1, characterized in that: The recessed portion is an arc-shaped groove, the arc-shaped groove is continuously arranged along a circle with the second connection point as the center, and the protrusion is movably arranged in the arc-shaped groove.

6. The anthropomorphic joint according to claim 5, characterized in that: The connecting structure (40) also has an extension section, which is connected to the side of the first connecting arm (10), protrudes from the edge of the first connecting arm (10), and extends into the side of the second connecting arm (20), and the end of the extension section extending into the side of the second connecting arm (20) has the protrusion.

7. The anthropomorphic joint according to claim 5, characterized in that: The first connecting arm (10) and the second connecting arm (20) both have a butt end, the arc groove is located on the side of the butt end, the butt end has an arc edge, a first connection point is formed between the connecting rod (30) and the first connecting arm (10), and the first connection point and the second connection point are respectively located at the center of the arc edge of the first connecting arm (10) and the second connecting arm (20).

8. The anthropomorphic joint according to any one of claims 1 to 7, characterized in that: There are a plurality of connecting rods (30), and the connecting rods (30) are arranged on two opposite sides of the first connecting arm (10).

9. The anthropomorphic joint according to any one of claims 1 to 7, characterized in that: The driving member (50) includes a linear drive, which includes a main body and an output shaft, wherein the output shaft is telescopically arranged relative to the main body, one of the main body and the output shaft is rotatably connected to the first connecting arm (10), and the other of the main body and the output shaft is rotatably connected to the second connecting arm (20).

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

Images