Anthropomorphic joint and robot

Abstract

The utility model provides an anthropomorphic joint and a robot. Wherein the anthropomorphic joint comprises a base body, a first joint section, a second joint section, a connecting rod and a driving piece, the first joint section is rotatably connected with the base body to form a first connecting point, the second joint section is rotatably connected with the first joint section to form a second connecting point, and the first connecting point and the second connecting point form a first connecting line; the two ends of the connecting rod are rotationally connected with the base body and the second joint section correspondingly, the connecting rod and the base body form a first rotating point, the connecting rod and the second joint section form a second rotating point, the first rotating point and the second rotating point form a second connecting line, and the first connecting line and the second connecting line intersect. The driving part is in driving connection with at least one of the base body and the first joint section and drives the first joint section to rotate relative to the base body, and the second joint section rotates relative to the first joint section under the action of the connecting rod. The problem that in the prior art, the humanoid degree of finger joints of a robot is low 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] The joint mechanism of existing robots is generally designed to rotate around a fixed point. This structure is different from the joint movement of the human body, especially for the finger joints. The traditional finger joint shaft connection method cannot simulate the structure of human finger joints at all. Therefore, the finger joints of traditional robots have a low degree of anthropomorphism and 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 anthropomorphic degree of the robot finger joints in the prior art is low.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, an anthropomorphic joint is provided, including a base, a first joint segment, a second joint segment, a connecting rod, and a driving member. The first joint segment is rotatably connected to the base to form a first connection point, the second joint segment is rotatably connected to the first joint segment to form a second connection point, the first connection point and the second connection point form a first connecting line, the two ends of the connecting rod are rotatably connected to the base and the second joint segment respectively, and the connecting rod and the base form a first rotation point, the connecting rod and the second joint segment form a second rotation point, the first rotation point and the second rotation point form a second connecting line, the first connecting line and the second connecting line are arranged to intersect, the driving member is drivingly connected to at least one of the base and the first joint segment, and drives the first joint segment to rotate relative to the base, and the second joint segment rotates relative to the first joint segment under the action of the connecting rod.

[0005] Furthermore, the rotating axis where the first connection point is located and the rotating axis where the second connection point is located form an rotating axis boundary surface, and the anthropomorphic joint has a straight line state in which the base, the first joint segment and the second joint segment are collinear, and a bent state in which the base, the first joint segment and the second joint segment are bent. Along the rotation direction from the straight line state to the bent state, the two sides of the rotating axis boundary surface are the first side and the second side respectively, the first rotation point is located on the first side, and the second rotation point is located on the second side.

[0006] Furthermore, the rotation axis where the first connection point is located also has a first vertical plane perpendicular to the rotation axis interface, the first vertical plane has a third side close to the second joint segment and a fourth side away from the second joint segment, and the first rotation point is located on the third side.

[0007] Furthermore, the rotation axis where the second connection point is located also has a second vertical plane perpendicular to the rotation axis interface, the second vertical plane has a fifth side close to the base and a sixth side away from the base, and the second rotation point is located on the sixth side.

[0008] Furthermore, two ends of the driving member are rotatably connected to the base and the first joint segment respectively, and form a first driving point and a second driving point respectively, and a connecting line between the first driving point and the second driving point intersects with the second connecting line.

[0009] Further, the first driving point is located on the second side, and the second driving point is located on the first side.

[0010] Furthermore, the first rotation point and the first driving point are respectively located on two opposite sides of the rotating shaft where the first connection point is located, and the second rotation point and the second driving point are respectively located on two opposite sides of the rotating shaft where the second connection point is located.

[0011] Furthermore, the base body and the second joint segment have a receiving groove, and both ends of the connecting rod are respectively located in the receiving groove and can rotate in the receiving groove.

[0012] Furthermore, the driving member includes a linear drive, 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 base, and the other of the main body and the output shaft is rotatably connected to the first joint segment.

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

[0014] By applying the technical solution of the utility model, a connecting rod is provided so that a correlation is formed between the first joint segment and the second joint segment. At the same time, through the special connection position between the connecting rod and the base and the second joint segment, the driving member drives the first joint segment to rotate, and at the same time, the second joint segment is moved simultaneously through the first joint segment and the connecting rod. This movement makes the overall movement of the anthropomorphic joint more anthropomorphic, thereby improving the anthropomorphic degree of the anthropomorphic joint to adapt to scenes with high anthropomorphic requirements. Specifically, the first joint segment can rotate relative to the base around the first connection point, the second joint segment can rotate relative to the first joint segment around the second connection point, the connecting rod can rotate relative to the base around the first rotation point and can rotate relative to the second joint segment around the second rotation point, the driving member directly drives the first joint segment, and the first connection line formed by the connection line of the first connection point and the second connection point intersects with the second connection line formed by the connection line of the first rotation point and the second rotation point. In this way, in this embodiment, the base is used as the fixed end. When the driving member drives the first joint segment, the first joint segment drives the second joint segment to move in an arc with the first connection point as the rotation center and the first connection line as the radius, which can continuously change the spatial position of the rotation center of the second joint segment. The first rotation point and the second rotation point of the connecting rod do not coincide with the first connection point and the second connection point about which the first joint segment rotates, and the first connection and the second connection lines intersect. When the length of the connecting rod and the first joint segment remains unchanged, the end of the connecting rod connected to the base changes the angle with the base as the first joint segment rotates, and the end of the connecting rod connected to the second joint segment has to rotate accordingly to maintain the total length of the connecting rod unchanged. In this way, the rotation of the connecting rod and the rotation of the first joint segment are coupled, so that the second joint segment rotates simultaneously with the rotation of the first joint segment, so that the rotation of the two is correlated, so that the overall action improves the anthropomorphism of the anthropomorphic joint to adapt to scenes with higher anthropomorphism requirements. 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 The structure diagram of the anthropomorphic joint of the utility model is shown;

[0017] Figure 2 Shows Figure 1 The structural diagram of the second joint segment is hidden in FIG;

[0018] Figure 3 Shows Figure 1 Bottom view of the anthropomorphic joint.

[0019] The above drawings include the following reference numerals:

[0020] 10. Base body; 20. First joint segment; 30. Second joint segment; 31. First connection point; 32. Second connection point; 40. Connecting rod; 41. First rotation point; 42. Second rotation point; 50. Driving member. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] 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.

[0024] In order to solve the problem of low anthropomorphism of robot finger joints in the prior art, the utility model provides an anthropomorphic joint and a robot, wherein the robot has the following anthropomorphic joints.

[0025] like Figure 1 , Figure 2 , Figure 3 An anthropomorphic joint shown in the figure includes a base 10, a first joint segment 20, a second joint segment 30, a connecting rod 40, and a driving member 50. The first joint segment 20 is rotatably connected to the base 10 to form a first connection point 31, the second joint segment 30 is rotatably connected to the first joint segment 20 to form a second connection point 32, the first connection point 31 and the second connection point 32 form a first connecting line, the two ends of the connecting rod 40 are rotatably connected to the base 10 and the second joint segment 30 respectively, and the connecting rod 40 and the base 10 form a first rotation point 41, the connecting rod 40 and the second joint segment 30 form a second rotation point 42, the first rotation point 41 and the second rotation point 42 form a second connecting line, the first connecting line and the second connecting line are arranged to intersect, the driving member 50 is drivingly connected to at least one of the base 10 and the first joint segment 20, and drives the first joint segment 20 to rotate relative to the base 10, and the second joint segment 30 rotates relative to the first joint segment 20 under the action of the connecting rod 40.

[0026] In this embodiment, a connecting rod 40 is provided so that a correlation is formed between the first joint segment 20 and the second joint segment 30. At the same time, through the special connection position between the connecting rod 40 and the base 10 and the second joint segment 30, the driving member 50 drives the first joint segment 20 to rotate, and at the same time, the second joint segment 30 moves simultaneously through the first joint segment 20 and the connecting rod 40. This movement makes the overall movement of the anthropomorphic joint more anthropomorphic, thereby improving the anthropomorphic degree of the anthropomorphic joint to adapt to scenes with higher anthropomorphic requirements. Specifically, Figure 1 , Figure 2 As shown, the first joint segment 20 can rotate relative to the base 10 around the first connection point 31, the second joint segment 30 can rotate relative to the first joint segment 20 around the second connection point 32, the connecting rod 40 can rotate relative to the base 10 around the first rotation point 41 and can rotate relative to the second joint segment 30 around the second rotation point 42, the driving member 50 directly drives the first joint segment 20, and the first connecting line formed by the connecting line of the first connection point 31 and the second connection point 32 and the second connecting line formed by the connecting line of the first rotation point 41 and the second rotation point 42 are intersected. In this way, this embodiment uses the base 10 as the fixed end. When the driving member 50 drives the first joint segment 20, the first joint segment 20 drives the second joint segment 30 to make an arc motion as a whole with the first connection point 31 as the rotation center and the first connecting line as the radius, and can continuously change the spatial position of the rotation center of the second joint segment 30 At the same time, since the first rotation point 41 and the second rotation point 42 of the connecting rod 40 do not coincide with the first connection point 31 and the second connection point 32 about which the first joint segment 20 rotates, and the first connection intersects with the second connection line, when the length of the connecting rod 40 and the first joint segment 20 remains unchanged, the end of the connecting rod 40 connected to the base 10 changes the angle with the base 10 as the first joint segment 20 rotates, and the end of the connecting rod 40 connected to the second joint segment 30 has to rotate accordingly to maintain the total length of the connecting rod 40 unchanged. In this way, the rotation of the connecting rod 40 and the rotation of the first joint segment 20 are coupled, so that the first joint segment 20 rotates while the second joint segment 30 follows and rotates simultaneously, so that the rotation of the two forms a correlation, so that the overall action improves the anthropomorphism of the anthropomorphic joint to adapt to scenes with higher anthropomorphism requirements.

[0027] It should be noted that this embodiment takes the finger joints as an example, more precisely the thumb joints as an example for illustration. Of course, the anthropomorphic joints can also be applied to other joint positions.

[0028] In this embodiment, the rotation axis where the first connection point 31 is located and the rotation axis where the second connection point 32 is located are arranged in parallel and form a rotation axis interface. The anthropomorphic joint has a straight line state where the base 10, the first joint segment 20 and the second joint segment 30 are collinear, and a bent state where the base 10, the first joint segment 20 and the second joint segment 30 are bent. Along the rotation direction from the straight line state to the bent state, the two sides of the rotation axis interface are the first side and the second side respectively, the first rotation point 41 is located on the first side, and the second rotation point 42 is located on the second side, that is, perpendicular to the motion trajectory of the first joint segment 20 and the second joint segment 30 and passing through the first connection line The surface is the axis boundary surface, and the first rotation point 41 and the second rotation point 42 are distributed on both sides of the axis boundary surface. The first rotation point 41 is set on the first side, and the second rotation point 42 is set on the second side. The direction from the first side to the second side is the movement direction of the first joint segment 20 and the second joint segment 30. In this way, when the anthropomorphic joint rotates from a straight state to a bent state, the setting position of the first rotation point 41 and the second rotation point 42 makes the second joint segment 30 rotate in the same direction during the rotation of the first joint segment 20, and will not rotate in the opposite direction, thereby ensuring that the movement of the anthropomorphic joint is consistent with the movement state of the human finger joint, thereby improving the degree of anthropomorphism of the anthropomorphic joint.

[0029] Preferably, in this embodiment, the rotation axis where the first connection point 31 is located also has a first vertical plane perpendicular to the rotation axis boundary surface, the first vertical plane has a third side close to the second joint segment 30 and a fourth side away from the second joint segment 30, and the first rotation point 41 is located on the third side. Specifically, with the first vertical plane perpendicular to the rotation axis boundary surface and passing through the rotation axis where the first connection point 31 is located as the boundary, there is a third side where the connecting rod 40 is located and a fourth side away from the connecting rod 40. Compared with setting the first rotation point 41 on the fourth side, setting the first rotation point 41 on the third side allows the connecting rod 40 to have a larger rotation angle around the base 10, is less susceptible to interference from the first connection point 31, can avoid the situation where the joint segment rotation is restricted, and ensure the anthropomorphic effect.

[0030] Similarly, in the present embodiment, the rotation axis where the second connection point 32 is located also has a second vertical plane perpendicular to the rotation axis boundary surface, the second vertical plane has a fifth side close to the base 10 and a sixth side away from the base 10, and the second rotation point 42 is located on the sixth side. That is to say, with the second vertical plane perpendicular to the rotation axis boundary surface and passing through the rotation axis where the second connection point 32 is located as the boundary, there is a fifth side where the first joint segment 20 is located and a sixth side away from the first joint segment 20. When the base 10, the first joint segment 20 and the second joint segment 30 are restored to a straight state from a bent state, compared with setting the second rotation point 42 on the fifth side, setting the first rotation point 41 on the sixth side makes the rotation of the connecting rod 40 around the second joint segment 30 affected by the second rotation point 42, thereby improving the degree of anthropomorphism.

[0031] In order to make the above-mentioned positions and other settings clearer, the following is further explained using the directions in the accompanying drawings as an example:

[0032] Attach Figure 1 and 2 Taking the direction as an example, when the anthropomorphic joint is in a straight state, the base 10, the first joint segment 20, and the second joint segment 30 are in a horizontal straight state, and when the anthropomorphic joint rotates to a bent state, it rotates downward. Since the base 10, the first joint segment 20, and the second joint segment 30 of the present embodiment are basically rod-shaped members, the axis boundary surface formed by the first connection point 31 and the second connection point 32 is essentially the plane where the length direction of the first joint segment 20 is located, that is, the horizontal plane when the anthropomorphic joint is in a straight state, and the first side and the second side of the axis boundary surface are the upper side and the lower side respectively. Continuing with the anthropomorphic joint in a straight state as a reference, the first vertical plane is the vertical plane passing through the axis where the first connection point 31 is located, and the corresponding third side and fourth side are the left and right sides of the vertical plane. Similarly, the second vertical plane is the vertical plane passing through the axis where the second connection point 32 is located, and the corresponding fifth side and sixth side are the right and left sides of the vertical plane. Based on the above directions, the first rotation point 41 is substantially located at the upper left of the first connection point 31, and the second rotation point 42 is substantially located at the lower left of the second connection point 32. The above relative position setting method can ensure that the anthropomorphic joints are as anthropomorphic as possible when they move, avoid movement restrictions, and ensure the anthropomorphic effect. Of course, the specific position relationship can also be adjusted accordingly as needed, and is not completely limited to the above method of this embodiment.

[0033] In this embodiment, the two ends of the driving member 50 are rotatably connected to the base 10 and the first joint segment 20, respectively, and form a first driving point and a second driving point, respectively. The connecting line of the first driving point and the second driving point is arranged to intersect with the second connecting line, so that the driving member 50 can drive the first joint segment 20 to rotate around the base 10. Of course, in addition to both ends of the driving member 50 being connected to the components of the anthropomorphic joint, the driving member 50 can also be installed and arranged outside, so that the output end of the driving member 50 is connected to the first joint segment 20, so that the driving member 50 can also drive the rotation of the first joint segment 20.

[0034] Preferably, in this embodiment, the first driving point is located on the second side, and the second driving point is located on the first side, so that the angle between the line connecting the first driving point and the second driving point and the first connecting line is larger, making the driving member 50 more labor-saving and improving efficiency.

[0035] In this embodiment, the first rotation point 41 and the first driving point are respectively located on two opposite sides of the rotating shaft where the first connection point 31 is located, and the second rotation point 42 and the second driving point are respectively located on two opposite sides of the rotating shaft where the second connection point 32 is located, that is, the first driving point is located at the lower right of the first connection point 31, and the second driving point is located at the upper right of the second connection point 32. In this way, the driving member 50 is more convenient, and can ensure the effectiveness of driving the joint segment, while avoiding restrictions on the movement of the joint segment, ensuring that the anthropomorphic joint can move in the expected manner. Of course, the setting position of the above-mentioned driving point is not unique, and it can also be adjusted according to actual conditions, as long as the anthropomorphic movement of the anthropomorphic joint can be achieved.

[0036] In this embodiment, the end where the base 10 and the second joint segment 30 are close to each other is arranged to be arc-shaped, so as to facilitate rotational cooperation. At the same time, a receiving groove is also arranged on the arc-shaped end face of this end. The two ends of the connecting rod 40 are respectively located in the receiving groove and can rotate in the receiving groove, so that one end of the connecting rod 40 can extend into the base 10 to connect with it and complete the rotation, and the other end can extend into the second joint segment 30 to connect with it and complete the rotation, thereby ensuring the stability of the rotation of the connecting rod 40.

[0037] In this embodiment, the driving member 50 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 base 10, and the other of the main body and the output shaft is rotatably connected to the first joint segment 20. In this way, the linear driver is arranged between the base 10 and the first joint segment 20, so that the linear driver can directly drive the relative movement between the first joint segment 20 and the second joint segment 30. When in use, the base 10 is generally fixed, and the linear driver itself can drive the first joint segment 20 to rotate around the base 10 when it is telescopic, thereby driving the movement of the second joint segment 30. 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 first joint segment 20 relative to the base 10 can be achieved.

[0038] It should be noted that, the multiple in the above embodiments refers to at least two.

[0039] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0040] 1. Solved the problem of low anthropomorphism of robot knuckles;

[0041] 2. The movement mode of the anthropomorphic joint is very similar to that of the human thumb joint, which improves the degree of anthropomorphism and meets the needs of high anthropomorphism. It is suitable for scenes with high anthropomorphism requirements;

[0042] 3. The overall structure is stable and reliable, with a high degree of anthropomorphism.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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 substrate (10); A first joint segment (20), the first joint segment (20) being rotatably connected to the base body (10) and forming a first connection point (31); A second joint segment (30), the second joint segment (30) is rotatably connected to the first joint segment (20) and forms a second connection point (32), and the first connection point (31) and the second connection point (32) form a first connecting line; A connecting rod (40), wherein two ends of the connecting rod (40) are rotatably connected to the base (10) and the second joint segment (30), respectively, and the connecting rod (40) and the base (10) form a first rotation point (41), and the connecting rod (40) and the second joint segment (30) form a second rotation point (42), and the first rotation point (41) and the second rotation point (42) form a second connecting line, and the first connecting line and the second connecting line are arranged to intersect each other; A driving member (50) is drivingly connected to at least one of the base body (10) and the first joint segment (20), and drives the first joint segment (20) to rotate relative to the base body (10), and the second joint segment (30) rotates relative to the first joint segment (20) under the action of the connecting rod (40).

2. The anthropomorphic joint according to claim 1, characterized in that: The rotation axis where the first connection point (31) is located and the rotation axis where the second connection point (32) is located form a rotation axis interface, the anthropomorphic joint has a straight line state in which the base (10), the first joint segment (20) and the second joint segment (30) are collinear, and a bent state in which the base (10), the first joint segment (20) and the second joint segment (30) are bent, along the rotation direction from the straight line state to the bent state, the two sides of the rotation axis interface are the first side and the second side respectively, the first rotation point (41) is located on the first side, and the second rotation point (42) is located on the second side.

3. The anthropomorphic joint according to claim 2, characterized in that: The rotation axis where the first connection point (31) is located also has a first vertical plane perpendicular to the rotation axis boundary surface, the first vertical plane has a third side close to the second joint segment (30) and a fourth side away from the second joint segment (30), and the first rotation point (41) is located on the third side.

4. The anthropomorphic joint according to claim 2, characterized in that: The rotation axis where the second connection point (32) is located also has a second vertical plane perpendicular to the rotation axis interface, the second vertical plane has a fifth side close to the base (10) and a sixth side away from the base (10), and the second rotation point (42) is located on the sixth side.

5. The anthropomorphic joint according to claim 2, characterized in that: The two ends of the driving member (50) are rotatably connected to the base (10) and the first joint segment (20), respectively, and form a first driving point and a second driving point, respectively, and a line connecting the first driving point and the second driving point intersects with the second line.

6. The anthropomorphic joint according to claim 5, characterized in that: The first driving point is located at the second side, and the second driving point is located at the first side.

7. The anthropomorphic joint according to claim 5, characterized in that: The first rotation point (41) and the first driving point are respectively located on two opposite sides of the rotating shaft where the first connection point (31) is located, and the second rotation point (42) and the second driving point are respectively located on two opposite sides of the rotating shaft where the second connection point (32) is located.

8. The anthropomorphic joint according to any one of claims 1 to 7, characterized in that: The base (10) and the second joint segment (30) have a receiving groove, and the two ends of the connecting rod (40) are respectively located in the receiving groove and can rotate in the receiving groove.

9. The anthropomorphic joint according to any one of claims 1 to 7, characterized in that: The driving member (50) comprises a linear drive, which comprises 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 base (10), and the other of the main body and the output shaft is rotatably connected to the first joint segment (20).

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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