Intelligent joint
By designing a combination of rigid wheels and flexsplines, encoders and electromagnetic clutches in the joints of the humanoid robot, the problem of the robot being difficult to adapt to various weights of goods and goods falling is solved, and stable handling and flexible control of output power are achieved.
Patent Information
- Application Number
- CN202420230246.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-31
- Publication Date
- 2025-01-21
- Estimated Expiration
- 2034-01-31
AI Technical Summary
Existing humanoid robots find it difficult to adapt to cargo of multiple weights when transporting cargo, and cannot stabilize the cargo when withstanding external forces, resulting in the cargo falling.
An intelligent joint is designed, which achieves stable handling of goods of various weights and adjustment of output power by setting up a combination of rigid wheels and flexsplines, input encoders and output encoders, electromagnetic clutches and cross bearings.
It realizes the stable handling of goods of various weights by the robot joints, avoids the falling of goods, and achieves flexible control of the output power through the adjustment of the electromagnetic clutch.
Smart Images
Figure CN222371649U_ABST
Abstract
Description
Technical Field
[0001] This specification belongs to the technical field of humanoid robots, and in particular to an intelligent joint. Background Art
[0002] In the prior art, humanoid robots are generally used to sort and carry items. In the actual operation process, when the robot lifts the items, the robot joint motor needs to be preset with a power, which results in the robot being able to carry only a single weight of goods.
[0003] In another case, when the robot is subjected to external force during the handling process, the robot may not be able to stably fix the goods being carried, which may cause the goods to fall during the handling process.
[0004] To address the above problems, no effective solution has been proposed yet.
[0005] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the utility model and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because these solutions are described in the background technology section of the utility model. Utility Model Content
[0006] The purpose of this specification is to provide an intelligent joint to solve the above problems.
[0007] This manual provides an intelligent joint, including:
[0008] A first shaft, wherein a second shaft is sleeved on an outer wall of the first shaft, a rotor is mounted on an outer wall of the second shaft, and a stator is sleeved on an outer wall of the rotor, so that the first shaft rotates;
[0009] A flange is provided at the first end of the first shaft for power output;
[0010] The second shaft is provided with a stopper, and the outer wall of the second shaft is divided into a first area and a second area. A cam is sleeved on the outer wall of the first area, and the outer wall of the cam is connected to the outer wall of the flexible wheel through a first bearing. A rigid wheel is sleeved on the outer wall of the flexible wheel, and the rigid wheel is embedded in the inner wall of the shell. The position of the second area close to the first area is used to install the rotor, and the position of the second area far from the first area is installed with an input encoder. The second end of the first shaft is sleeved with an output encoder;
[0011] Among them, the end side of the flexible wheel facing the flange is tightly attached to the flange, the flexible wheel is fixedly mounted on the second bearing, the second bearing is fixedly mounted on the side wall of the shell facing the flange, an electromagnetic clutch is arranged between the second bearing and the shell, and a one-way bearing is arranged between the side wall of the electromagnetic clutch facing the inner wall of the shell and the inner wall of the shell.
[0012] Preferably, the second bearing is configured as a cross bearing.
[0013] Preferably, the output encoder and the input encoder are mounted on the inner wall of the housing.
[0014] Preferably, the electromagnetic clutch comprises a coil and a spring, and the spring is deformed to enable the electromagnetic clutch to attract and release the one-way bearing.
[0015] Preferably, a gap is provided between the electromagnetic clutch and the flexible spline.
[0016] Preferably, the contact surface between the second shaft and the first shaft is arranged to fit together.
[0017] Preferably, third bearings are provided near both end sides of the rotor, and a plurality of the third bearings are sleeved on the outer wall of the second zone.
[0018] Preferably, a gap is provided between the third bearing close to the stopper and the stopper.
[0019] Preferably, a gap is provided between the electromagnetic clutch and a side of the one-way bearing facing the second bearing and the second bearing.
[0020] Compared with the prior art, the beneficial effects of the utility model are:
[0021] 1. The utility model provides a combination of a rigid wheel and a flexible wheel, and respectively provides an input encoder and an output encoder on the first shaft and the second shaft, thereby enabling the robot joint to carry goods of various weights.
[0022] 2. The utility model sets an electromagnetic clutch, and through the cooperation of the electromagnetic clutch and the one-way bearing, the output of the first axis can be adjusted, so that the robot joint can adjust the output when carrying goods of various weights.
[0023] 3. The utility model sets the second bearing as a cross bearing, so that the second bearing can withstand forces in multiple directions while maintaining relative stability of the connection structure.
[0024] 4. The utility model sets an electromagnetic clutch including a coil and a spring. By changing the power-on and power-off states, the deformation of the spring can be changed, so that the electromagnetic clutch can absorb and release the one-way bearing, and further change the connection between the one-way bearing and the inner wall of the shell, thereby changing the output power of the robot joint when carrying goods.
[0025] 5. The utility model sets the wall surface where the second shaft contacts the first shaft as a sleeve and fits together, so that the first shaft can rotate relative to the second shaft while outputting, and can accurately convert the quality information into an angle difference, so that the encoder can read and process the information and adjust the power output. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0027] Figure 1 It is an overall structural diagram of an intelligent joint provided in an embodiment of this specification;
[0028] Figure 2 This is a smart joint provided in the embodiment of this specification. Figure 1 A magnified view of the local structure at point A.
[0029] In the figure: 100, intelligent joint; 110, first axis; 111, first end; 112, second end; 120, second axis; 121, stopper; 122, first zone; 123, second zone; 130, rotor; 140, stator; 150, cam; 151, first bearing; 160, flexible wheel; 161, second bearing; 170, input encoder; 180, output encoder; 190, rigid wheel; 200, flange; 300, housing; 400, electromagnetic clutch; 410, one-way bearing; 420, coil; 430, spring. DETAILED DESCRIPTION
[0030] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.
[0031] In the description of the present utility model, it should be noted that the terms "upper", "middle", "lower", "inner", "outer", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present utility model. The terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. The following describes the implementation method of the present utility model based on its overall structure.
[0032] Reference Figure 1 As shown, the embodiment of the present application provides a smart joint, including:
[0033] A first shaft 110, a second shaft 120 is sleeved on an outer wall of the first shaft 110, a rotor 130 is mounted on an outer wall of the second shaft 120, and a stator 140 is sleeved on an outer wall of the rotor 130, so that the first shaft 110 rotates;
[0034] The first end portion 111 of the first shaft 110 is provided with a flange 200 for power output;
[0035] The second shaft 120 is provided with a stopper 121, which divides the outer wall of the second shaft 120 into a first area 122 and a second area 123. A cam 150 is sleeved on the outer wall of the first area 122. The outer wall of the cam 150 is connected to the outer wall of the flexible wheel 160 through a first bearing 151. A rigid wheel 190 is sleeved on the outer wall of the flexible wheel 160. The rigid wheel 190 is embedded in the inner wall of the housing 300. The position of the second area 123 close to the first area 122 is used to install the rotor 130. The position of the second area 123 far from the first area 122 is installed with an input encoder 170. The second end 112 of the first shaft 110 is sleeved with an output encoder 180.
[0036] Among them, the end side of the flexible wheel 160 facing the flange 200 is tightly attached to the flange 200, the flexible wheel 160 is fixedly mounted on the second bearing 161, the second bearing 161 is fixedly mounted on the side wall of the shell 300 facing the flange 200, an electromagnetic clutch 400 is arranged between the second bearing 161 and the inside of the shell 200, and a one-way bearing 410 is arranged between the side wall of the electromagnetic clutch 400 facing the inner wall of the shell 200 and the inner wall of the shell 200.
[0037] according to Figure 1When setting the intelligent joint 100, a person skilled in the art may set a structure in which the first shaft 110 and the second shaft 120 are sleeved. Specifically, the second shaft 120 is sleeved on the outer wall of the first shaft 110, and a combination of a rotor 130 and a stator 140 is installed on the outer wall of the second shaft 120, thereby forming a structure of a motor. The first shaft 110 can be rotated. The rotation of the first shaft 110 can output power to the outside.
[0038] The first shaft 110 is provided with a first end 111 and a second end 112. The first end 111 is provided through the middle of the flange 200. It can be understood that the first end 111 is used for outputting power, and the flange 200 is also used for outputting power.
[0039] Furthermore, a stopper 121 is provided on the second shaft 120 and is installed along the circumference of the second shaft 120. The stopper 121 divides the second shaft 120 into a first area 122 and a second area 123. Specifically, the first area 122 is close to the first end 111, and the second area 123 is close to the second end 112.
[0040] According to the above structure, a cam 150 is arranged on the outer wall of the first zone 122. A first bearing 151 is arranged on the outer wall of the cam 150. A flexible wheel 160 is arranged on the outer wall of the outer ring of the first bearing 151. A rigid wheel 190 is arranged on the outer wall of the flexible wheel 160. In the aforementioned structure, the nested structure of the cam 150 and the flexible wheel 160 changes the shape of the flexible wheel 160. In the aforementioned structure, there are fewer teeth in contact between the flexible wheel 160 and the rigid wheel 190, that is, under the action of the cam 150, the flexible wheel 160 rotates one circle, and the number of teeth transmitted between the flexible wheel 160 and the rigid wheel 190 is 1 or 2, so that the flexible wheel 160 and the rigid wheel 190 can be reduced in speed.
[0041] An output encoder 180 is mounted on the second end 112 of the first shaft 110, and an input encoder 170 is mounted on the second area 123 at a position away from the first area 122. A driver is also provided near the side wall of the output encoder 180 away from the output encoder 170.
[0042] With the above structure, the input encoder 170 and the output encoder 180 can analyze the speed information and adjust the output of the driver according to the analysis result, so that the smart joint 100 can stably carry goods of various weights.
[0043] In the above process, the cam 150 rotates under the action of the rotation of the second shaft 120 , and the rotation of the cam 150 drives the flexible wheel 160 to rotate.
[0044] That is, when the first end 111 of the first shaft 110 outputs power to the outside, the flange 200 will also rotate synchronously. When the output of the first end 111 bears a load, the speed of the first shaft 110 will decrease, while the speed of the flange 200 will remain at the value before the load. It can be understood that in the above situation, there will be an angle difference between the first end 111 of the first shaft 110 and the flange 200. Figure 1 It can be seen that the flange 200 is connected to the flexible wheel 160, the flexible wheel 160 is connected to the cam 150, and the cam 150 is installed on the outer wall of the second shaft 120. That is, in the case where the first shaft 110 and the flange 200 have a rotation angle difference, further, the first shaft 110 and the second shaft 120 will have a rotation angle difference. Figure 1 The input encoder 170 is installed on the second area 123 on the second shaft 120, and the output encoder 180 is installed on the second end 112 of the first shaft 110. That is, the rotation angle difference between the first shaft 110 and the second shaft 120 is read and observed by the input encoder 170, and then processed by the input encoder 170 and the output encoder 180, and the power change is output by the output encoder 180. In the setting of those skilled in the art, the output power of the first shaft 110 will be changed through the action of the driver. Then the output power can be adjusted, and then various weights of goods can be transported.
[0045] exist Figure 1 In the embodiment, the flange 200 is fixedly mounted on the second bearing 161, and the second bearing 161 is mounted on the end side of the housing 300. An electromagnetic clutch 400 is provided between the second bearing 161 and the inside of the housing 200, and a one-way bearing 410 is provided between the side wall of the electromagnetic clutch 400 facing the inner wall of the housing 200 and the inner wall of the housing 200. The working state of the one-way bearing can be adjusted by setting the electromagnetic clutch 400, so that the intelligent joint 100 can change the power output to the outside world.
[0046] Preferably, the electromagnetic clutch 400 includes a coil 420 and a spring 430, and the spring 430 is deformed to enable the electromagnetic clutch 400 to attract and release the one-way bearing 410. When the electromagnetic clutch 400 is in a power-off state, the armature therein is released, so that the spring 130 can be extended normally. Then, the electromagnetic clutch 400 attracts the one-way bearing 410, generating a torque that prevents the output of the first shaft 110 in the housing 300. When the electromagnetic clutch 400 is in a power-on state, after the armature moves, the spring 130 is compressed, so that the electromagnetic clutch 400 can be released.
[0047] In the above structure, a second bearing 161 is provided between the flange 200 and the end side of the housing 300. The flange 200 is fixedly connected to the inner ring of the second bearing 161, and the end side of the housing 300 is fixedly connected to the outer ring of the second bearing 161. Preferably, the second bearing 161 is provided as a cross bearing. By adopting a cross bearing, the second bearing 161 can bear the force from the flange 200 and the housing 300 while maintaining the relative structural stability between the flange 200, the housing 300 and the second bearing 161.
[0048] In the above structure, the output encoder 170 and the input encoder 180 are respectively installed on the first shaft 110 and the second shaft 120. Preferably, the output encoder 170 and the input encoder 180 are installed on the inner wall of the housing 300. That is, the output encoder 170 and the input encoder 180 are fixed on the inner wall of the housing 300, so that the relative position of the output encoder 170 and the input encoder 180 can be kept stable during operation.
[0049] according to Figure 1 The electromagnetic clutch 400 is installed in the housing 300. Preferably, a gap is provided between the electromagnetic clutch 400 and the flexible spline 160. That is, there is a gap between the electromagnetic clutch 400 and the flexible spline 160, so that the electromagnetic clutch 400 can be provided in the intelligent joint 100 without affecting the operation of the flexible spline 160.
[0050] In the above-mentioned embodiment, there is an angle difference in rotation between the first shaft 110 and the second shaft 120. Preferably, the contact surface between the second shaft 120 and the first shaft 110 is arranged to fit. That is, the second shaft 120 and the first shaft 110 can maintain synchronous rotation when not bearing a load. When the first end 111 is bearing a load, when there is an angle difference in rotation between the first shaft 110 and the second shaft 120, the outer wall of the first shaft 110 and the inner wall of the second shaft 120 will not interfere with each other, thereby avoiding the erroneous communication of the load weight information.
[0051] Preferably, third bearings are provided near both ends of the rotor 130, and multiple third bearings are sleeved on the outer wall of the second area 123. Providing the third bearings can constrain the relative position of the rotor 130 and make the installation of the parts inside the housing 300 more stable.
[0052] More preferably, a gap is provided between the third bearing near the stopper 121 and the stopper 121. During the installation of the third bearing, a gap is provided between the third bearing and the stopper 121, so that the third bearing and adjacent parts can be installed independently to avoid mutual squeezing and collision.
[0053] Further, the specific position of the electromagnetic clutch 400 is set, and preferably, a gap is provided between the electromagnetic clutch 400 and the side of the one-way bearing 410 facing the second bearing 161 and the second bearing 161. That is, when the electromagnetic clutch 400 and the one-way bearing 410 are installed, a gap is maintained between them and the second bearing 161, thereby avoiding the influence of the installation of the electromagnetic clutch 400 and the one-way bearing 410 on the second bearing.
[0054] Although different specific embodiments are mentioned in the content of this application, this application is not limited to the situations described in the industry standards or embodiments, etc. Some industry standards or slightly modified implementation plans based on the implementation of the custom methods or embodiments can also achieve the same, equivalent or similar, or predictable implementation effects after deformation of the above embodiments. The embodiments of data acquisition, processing, output, judgment methods, etc. after these modifications or deformations can still fall within the scope of the optional implementation plans of this application.
[0055] Although the present application has been described through embodiments, those skilled in the art will appreciate that there are many modifications and changes to the present application without departing from the spirit of the present application. It is intended that the attached embodiments include these modifications and changes without departing from the present application.
Claims
1. An intelligent joint, characterized in that: include: A first shaft, wherein a second shaft is sleeved on an outer wall of the first shaft, a rotor is mounted on an outer wall of the second shaft, and a stator is sleeved on an outer wall of the rotor, so that the first shaft rotates; A flange is provided at the first end of the first shaft for power output; The second shaft is provided with a stopper, and the outer wall of the second shaft is divided into a first area and a second area. A cam is sleeved on the outer wall of the first area, and the outer wall of the cam is connected to the outer wall of the flexible wheel through a first bearing. A rigid wheel is sleeved on the outer wall of the flexible wheel, and the rigid wheel is embedded in the inner wall of the shell. The position of the second area close to the first area is used to install the rotor, and the position of the second area far from the first area is installed with an input encoder. The second end of the first shaft is sleeved with an output encoder; Among them, the end side of the flexible wheel facing the flange is tightly attached to the flange, the flexible wheel is fixedly mounted on the second bearing, the second bearing is fixedly mounted on the side wall of the shell facing the flange, an electromagnetic clutch is arranged between the second bearing and the shell, and a one-way bearing is arranged between the side wall of the electromagnetic clutch facing the inner wall of the shell and the inner wall of the shell.
2. The intelligent joint according to claim 1, characterized in that: The second bearing is configured as a cross bearing.
3. The intelligent joint according to claim 1, characterized in that: The output encoder and the input encoder are mounted on the inner wall of the shell.
4. The intelligent joint according to claim 1, characterized in that: The electromagnetic clutch comprises a coil and a spring, and the spring is deformed to enable the electromagnetic clutch to attract and release the one-way bearing.
5. The intelligent joint according to claim 1, characterized in that: A gap is provided between the electromagnetic clutch and the flexible wheel.
6. The intelligent joint according to claim 1, characterized in that: The contact surface between the second shaft and the first shaft is arranged to fit together.
7. The intelligent joint according to claim 1, characterized in that: A third bearing is provided near both ends of the rotor, and a plurality of the third bearings are sleeved on the outer wall of the second zone.
8. The intelligent joint according to claim 7, characterized in that: A gap is arranged between the third bearing close to the stopper and the stopper.
9. The intelligent joint according to claim 2, characterized in that: A gap is provided between the electromagnetic clutch and the one-way bearing, on a side facing the second bearing, and the second bearing.