Robot joint driver interface structure, robot joint driver and robot

Abstract

The utility model relates to the technical field of intelligent robots, in particular to a robot joint driver interface structure, a robot joint driver and a robot. The robot joint driver interface structure comprises a first interface, the first interface is a Type-C interface, and the first interface is used for data flow and / or current transmission. The first interface and the second interface for transmitting current form an interface group which can be flexibly combined and expanded. A new-generation interface specification which is large in current, small in size, high in integration level, long in service life, high in communication rate and capable of being flexibly configured is provided for the joint driver.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent robots, and in particular to a robot joint driver interface structure, a robot joint driver and a robot. Background Art

[0002] Robot joint drivers are key components of robots and have a significant impact on the load and accuracy of robots. Robot joint drivers generally have an interface structure for communication and power supply.

[0003] In the existing robot joint driver interface structure, the communication interface generally uses an RJ45 interface to meet the needs of high-speed communication. However, the existing interface has the following defects:

[0004] (1) The interface is large in size, which is not conducive to the miniaturization and integration design of the robot joint motor driver.

[0005] (2) The interface cannot carry large currents and cannot meet the requirements of the robot joint motor driver for high current and high power.

[0006] (3) The plug-in life of the interface is low, generally only supporting 750 to 2500 plug-in times. The interface only supports plugging in one direction, which can easily cause inconvenience to users.

[0007] (4) The interface has low combinability and scalability, making it difficult to serve various types of robot joint motor drivers. Summary of the invention

[0008] In order to solve at least one of the above-mentioned defects, the present disclosure provides a robot joint driver interface structure, a robot joint driver and a robot.

[0009] According to one aspect of the present disclosure, a robot joint driver interface structure is provided, including a first interface, wherein the first interface is a Type-C interface, and the first interface is used for transmitting data flow and / or current.

[0010] Optionally, the robot joint driver interface structure further includes: a second interface, wherein the second interface is used for current transmission.

[0011] Optionally, the first interface and the second interface are both installed on a driving circuit board of the joint driver, and the first interface and the second interface have the same first direction, which is parallel or perpendicular to the board direction of the driving circuit board.

[0012] Optionally, directions of the first interface and the second interface are parallel to a board direction of the driving circuit board, and the first interface and the second interface are located at upper and lower sides of the driving circuit board.

[0013] Optionally, directions of the first interface and the second interface are perpendicular to a board direction of the driving circuit board, and the first interface and the second interface are located on the same side of the driving circuit board.

[0014] Optionally, the joint driver housing is provided with a make way groove, and the make way groove is used to make way for the connecting wire of the first interface and the connecting wire of the second interface.

[0015] Optionally, the opening positions of the first interface and the second interface are located on the groove wall or groove bottom of the clearance groove.

[0016] Optionally, the give-way groove has two adjacent groove walls, and the give-way groove is open on opposite sides of the adjacent groove walls on both sides.

[0017] Optionally, the robot joint driver interface structure also includes a socket provided on the joint driver housing and a plug mating with the socket, the first interface and the second interface are both located on the inner side of the socket, and the plug is provided with a first plug-in terminal and a second plug-in terminal, the first plug-in terminal mating with the first interface, and the second plug-in terminal mating with the second interface.

[0018] Optionally, the interface structure includes an input end interface and an output end interface;

[0019] The input port interface and the output port interface both include the first port, or the input port interface and the output port interface both include the first port and the second port;

[0020] The input end interface and the output end interface are separated on two sides of the joint driver housing.

[0021] Optionally, the data stream includes a joint driver control data stream and a sensor data stream, the first interface is used to transmit the joint driver control data stream, and the interface structure further includes at least one third interface, and the third interface is used to transmit the sensor data stream.

[0022] According to a second aspect of the present disclosure, a robot joint driver is provided, comprising the above-mentioned robot joint driver interface structure.

[0023] According to the third aspect of the present disclosure, a robot is provided, comprising the above-mentioned robot joint driver.

[0024] The disclosed embodiments provide a robot joint driver interface structure, a robot joint driver, and a robot. The interface structure uses a Type-C interface compatible with data and current and other current interfaces to form an interface group as a communication / current interface of the joint driver, which has the following advantages:

[0025] (1) The interface is small in size. By reducing the size of the joint driver communication interface, the size of the joint driver can be reduced and the integration of the robot joint driver can be improved.

[0026] (2) The interface can carry a large current and can meet the requirements of the robot joint driver for high current and high power.

[0027] (3) The plug-in and unplugging life of the interface is relatively high, generally supporting 5,000-10,000 plug-in and unplugging times, which can greatly improve the service life of the communication interface of the joint drive.

[0028] (4) The interface supports reversible plugging and unplugging, which can improve the usability of the joint driver communication interface.

[0029] (5) Improves the EMC electromagnetic compatibility of the communication interface, and improves the communication rate (communication rate can reach 10Gbps) and signal integrity.

[0030] (6) The interfaces can be flexibly combined and expanded to create various combinations of high and low current powers and various numbers of data interfaces, which can meet the needs of various types of robot joint motor drivers.

[0031] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0033] Figure 1 This is a schematic diagram of the interface structure of the joint driver in Example 1 provided in the present disclosure.

[0034] Figure 2 This is a schematic diagram of the external structure of the joint driver in Example 1 provided in the present disclosure.

[0035] Figure 3 This is a schematic diagram of the interface structure of the joint driver in Example 2 provided in the present disclosure.

[0036] Figure 4 This is a schematic diagram of the interface structure of the joint driver in Example 3 provided in the present disclosure.

[0037] Figure 5 This is a schematic diagram of the interface structure of the joint driver in Example 4 provided in the present disclosure.

[0038] Figure 6 , 7 This is a schematic diagram of the interface structure of the joint driver in Example 5 provided in the present disclosure.

[0039] Figure 8 Schematic diagram of the upper structure of the joint driver in Example 5 provided in the present disclosure.

[0040] Fig. 9 This is a schematic diagram of the interface structure of the joint driver in Example 6 provided in the present disclosure.

[0041] Fig.10 This is a schematic diagram of the external structure of the joint driver in Example 6 provided in the present disclosure.

[0042] Fig.11 This is a schematic diagram of the interface structure of the joint driver in Example 7 provided in the present disclosure.

[0043] Fig.12 This is a schematic diagram of the interface structure of the joint driver in Example 8 provided in the present disclosure.

[0044] Fig.13 This is a schematic diagram of the external structure of the joint driver in Example 8 provided in the present disclosure.

[0045] Fig.14 , 15 This is a schematic diagram of the interface structure of the joint driver in Example 9 provided in the present disclosure.

[0046] Fig.16 This is a schematic diagram of the interface structure of the joint driver in Example 10 provided in the present disclosure.

[0047] Fig.17 This is a schematic diagram of the interface structure of the joint driver in Example 11 provided in the present disclosure.

[0048] Fig.18 This is a schematic diagram of the interface structure of the joint driver in Example 12 provided in the present disclosure.

[0049] Fig.19 This is a schematic diagram of the interface structure of the joint driver in Example 13 provided in the present disclosure.

[0050] First interface 110; second interface 120; driving circuit board 130; recess 140; socket 150; DETAILED DESCRIPTION

[0051] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0052] All technical terms used in this document have the same meanings as those generally understood by technicians in the technical field of the present disclosure; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure; the terms "including" and "having" in the specification and claims of the present disclosure and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0053] In the description of the embodiments of the present disclosure, the term “at least one” refers to one or more, and “plurality” refers to more than two (including two).

[0054] In the description of the embodiments of the present disclosure, the orientations or positional relationships indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description. They do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the embodiments of the present disclosure.

[0055] With the rapid development of robot technology, the integration of robots is getting higher and higher, which also puts forward better requirements for the miniaturization and integration of robot joint drivers. In the existing robot joint driver interface structure, the communication interface generally adopts the RJ45 interface to meet the needs of high-speed communication. However, the RJ45 interface has the defects of large size, low plug-in life, and only supports single-direction plug-in, which makes it inconvenient for users.

[0056] An embodiment of the present disclosure provides a robot joint driver interface structure, including a first interface 110, wherein the first interface 110 is a Type-C interface, and the first interface 110 is used for transmitting data flow and / or current.

[0057] The Type-C interface is used as the communication interface of the joint driver in the embodiment of the present disclosure, which has the following advantages:

[0058] (1) The Type-C interface is small in size. By reducing the size of the joint driver communication interface, the size of the joint driver can be reduced and the integration of the robot joint driver can be improved.

[0059] (2) The Type-C interface can carry a large current and can meet the requirements of the robot joint driver for high current and high power.

[0060] (3) The Type-C interface has a high plug-in and unplug life, generally supporting 5,000 to 10,000 plug-in and unplug times, which can greatly improve the service life of the communication interface of the joint drive.

[0061] (4) The Type-C interface supports reversible plugging and unplugging, which can improve the usability of the joint driver communication interface.

[0062] (5) Using the Type-C interface for communication can improve the EMC electromagnetic compatibility of the communication interface, and increase the communication rate (the communication rate can reach 10Gbps) and signal integrity.

[0063] (6) The Type-C interface can be combined with other interfaces to form a flexible interface group; the interface group can be flexibly combined and expanded to form a variety of high and low current power and various numbers of data interface combinations, which can meet the needs of various types of robot joint motor drivers.

[0064] In the disclosed embodiment, the data stream may be a control data stream sent by the control module of the robot to the joint driver, or may be a feedback signal and sensor data sent by the joint driver to the control module of the robot.

[0065] In the disclosed embodiment, the Type-C interface can also be used as a power interface for current transmission. The voltage range supported by the Type-C interface can match the voltage required in the joint driver. In actual use, a dedicated power supply protocol can be written for the Type-C interface so that the Type-C interface can meet the voltage requirements of the joint driver when used as a power interface.

[0066] In the embodiment of the present disclosure, there may be no limitation on the number of Type-C interfaces in the interface structure of the joint driver. In order to meet actual usage requirements, different numbers of Type-C interfaces may be selected in the interface structure of the joint driver, all of which fall within the scope of protection of this case.

[0067] In an optional implementation manner of the present disclosure, the robot joint driver interface structure further includes: a second interface 120, and the second interface 120 is used for current transmission.

[0068] In the disclosed embodiment, the second interface 120 is an independent power interface configured in the interface structure, which is used to transmit current to the joint driver. In this embodiment, the first interface 110 can be used as an independent communication interface so that the data flow and the current can be isolated from each other.

[0069] Figure 1 , 2 A joint driver provided in Example 1 of the present disclosure is shown, wherein: Figure 1 is a schematic diagram of the interface structure of the joint driver in Example 1, Figure 2 This is a schematic diagram of the external structure of the joint driver in Example 1.

[0070] like Figure 1 , 2 As shown, the interface structure of the joint driver includes a Type-C interface and a power interface.

[0071] In an optional embodiment of the present disclosure, the first interface 110 and the second interface 120 are both installed on the driving circuit board 130 of the joint driver, and the first interface 110 and the second interface 120 have the same first direction, which is parallel or perpendicular to the board direction of the driving circuit board 130.

[0072] In the embodiment of the present disclosure, both the first interface 110 and the second interface 120 can be installed on the driving circuit board 130 of the joint driver. The directions of the first interface 110 and the second interface 120, i.e., the interface extension directions of the first interface 110 and the second interface 120, i.e., the insertion directions of the insertion terminals of the first interface 110 and the insertion terminals of the second interface 120.

[0073] In the embodiment of the present disclosure, the directions of the first interface 110 and the second interface 120 are parallel or perpendicular to the board direction of the driving circuit board 130, that is, the power interface and the Type-C interface are arranged on the driving circuit board 130 in a direction perpendicular to the driving circuit board 130, or arranged on the driving circuit board 130 in a direction parallel to the driving circuit board 130.

[0074] The first interface 110 and the second interface 120 have the same first direction, so that the two can be closely arranged in space, and two plugs inserted into the two will not interfere with each other, which can maximize the use of space.

[0075] The first direction is parallel or perpendicular to the board direction of the driver circuit board 130, and can adapt to different types of routing requirements. When the cables of the driver circuit board 130 come from above or the cables are not suitable for parallel board plugging, the interface perpendicular to the board direction can adapt to this situation. When the cables come from the directions around the driver circuit board or the cables are not suitable for vertical board plugging, the interface parallel to the board direction can adapt to this situation.

[0076] It is understandable that, in addition to being parallel and perpendicular, the directions of the first interface 110 and the second interface 120 in this example may also be at a specific angle to the driving circuit board 130 , such as 15°, 30°, 45°, etc.

[0077] In the embodiment of the present disclosure, the number of the first interface 110 and the second interface 120 , the installation angle of the first interface 110 and the second interface 120 , and the installation position of the first interface 110 and the second interface 120 can be selected according to actual needs.

[0078] like Figure 1 As shown, the directions of the first interface 110 and the second interface 120 are parallel to the board direction of the driving circuit board 130 , and the first interface 110 and the second interface 120 are located at the upper and lower sides of the driving circuit board 130 .

[0079] like Fig.11 As shown, the directions of the first interface 110 and the second interface 120 are perpendicular to the board direction of the driving circuit board 130 , and the first interface 110 and the second interface 120 are located on the same side of the driving circuit board 130 .

[0080] The first interface 110 and the second interface 120 are separated on the upper and lower sides of the driving circuit board 130, so that the first interface 110 and the second interface 120 are separated by a sufficient distance, and the overall thickness of the circuit board will not be increased. Assuming that the first interface 110 and the second interface 120 are located on the same side of the circuit board, the first interface 110 and the second interface 120 also need to be separated by a sufficient distance to avoid mutual interference. In this case, the first interface 110 and the second interface 120 located on the same side of the circuit board will stand too high on the circuit board, resulting in excessive thickness of the circuit board.

[0081] like Figure 1 As shown, the first interface 110 and the second interface 120 are both on both sides of the circuit board. This arrangement makes it convenient to use one side as an input interface and the other side as an output interface. In this case, the input and output plugs and cables are arranged smoothly and convenient for wiring.

[0082] like Figure 2As shown, the joint driver housing is provided with a make way slot 140 , and the make way slot 140 is used to make way for the connection wire of the first interface 110 and the connection wire of the second interface 120 .

[0083] The recess 140 allows the plugs and cables inserted into the first interface 110 and the second interface 120 to be smoothly arranged in the space.

[0084] like Figure 2 As shown, the opening positions of the first interface 110 and the second interface 120 are located at the groove wall or groove bottom of the make way groove 140. The make way groove 140 has two adjacent groove walls.

[0085] The groove 140 is cut into two straight line segments (groove wall and groove bottom) for easy processing. The openings of 110 and 120 are arranged at the groove wall and groove bottom for easy processing and wiring.

[0086] Figure 3 This is a schematic diagram of the interface structure of the joint driver in Example 2 provided in the present disclosure.

[0087] like Figure 3 As shown in , the joint driver interface structure in Example 2 includes three interface groups and a separately set first interface 110. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in the same interface group are close to each other. The directions of the first interface 110 and the second interface 120 in Example 2 are both parallel to the driving circuit board.

[0088] Figure 3 The two interface groups in the left side of the slot are perpendicular to each other and can be used in conjunction with the integrated plug. The two first interfaces 110 and the two second interfaces 120 in the two interface groups can provide twice the high current and high power input or output for the circuit board, and can also provide two data interaction channels for the circuit board at the same time.

[0089] Figure 3 The two interface groups in the right side of the slot are perpendicular to each other and can be used in conjunction with the integrated plug. The two first interfaces 110 and the one second interface 120 in the two interface groups can provide more high-current and high-power input or output for the circuit board, and can also provide more data interaction channels for the circuit board at the same time.

[0090] It is worth noting that the two interface groups in the same give way slot can be set on any side of the circuit board as needed.

[0091] Figure 4 This is a schematic diagram of the interface structure of the joint driver in Example 3 provided in the present disclosure.

[0092] like Figure 4 As shown in , the joint driver interface structure in Example 3 includes three interface groups and a separately set second interface 120. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in the same interface group are close to each other. The directions of the first interface 110 and the second interface 120 in Example 3 are both parallel to the driving circuit board.

[0093] Figure 4 The two interface groups in the left or right side of the recess are perpendicular to each other and can be used in conjunction with an integrated plug. The two first interfaces 110 and the two second interfaces 120 in the two interface groups can provide twice the high current and high power input or output for the circuit board, and can also provide two data interaction channels for the circuit board at the same time.

[0094] Figure 5 This is a schematic diagram of the interface structure of the joint driver in Example 4 provided in the present disclosure.

[0095] like Figure 5 As shown in , the joint driver interface structure in Example 4 includes three interface groups and a separately set first interface 110. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in the same interface group are close to each other. The directions of the first interface 110 and the second interface 120 in Example 4 are both parallel to the driving circuit board.

[0096] Figure 5 The two interface groups in the left or right side of the recess are perpendicular to each other and can be used in conjunction with an integrated plug. The two first interfaces 110 and the two second interfaces 120 in the two interface groups can provide twice the high current and high power input or output for the circuit board, and can also provide two data interaction channels for the circuit board at the same time.

[0097] Figure 6 , 7 8 shows a joint driver provided in Example 5 provided by the present disclosure, wherein: Figure 6 , 7 is a schematic diagram of the interface structure of the joint driver in Example 5, Figure 8 This is a schematic diagram of the upper structure of the joint driver in Example 5.

[0098] like Figure 6 , 7As shown in Figures 1 and 8, the joint driver interface structure in Example 5 includes two interface groups and a separately set first interface 110. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in the same interface group are close to each other. The directions of the first interface 110 and the second interface 120 in Example 4 are both parallel to the driving circuit board.

[0099] Figure 6-Figure 8 The two interface groups in the right side of the slot are perpendicular to each other and can be used in conjunction with the integrated plug. The two first interfaces 110 and the one second interface 120 in the two interface groups can provide more high-current and high-power input or output for the circuit board, and can also provide more data interaction channels for the circuit board at the same time.

[0100] Figure 6-Figure 8 The two interface groups in the right side slot include two first interfaces 110 and one second interface 120; they can also be configured to include one first interface 110 and two second interfaces 120 as required. This can provide more high-current and high-power inputs or outputs for the circuit board, and can also provide more data interaction channels for the circuit board at the same time.

[0101] It is worth noting that Figure 6-Figure 8 The interface group on the left or right side can be set on the other side of the circuit board as needed.

[0102] Fig. 9 , 10 A joint driver provided in Example 6 of the present disclosure is shown, wherein: Fig. 9 This is a schematic diagram of the interface structure of the joint driver in Example 6 provided in the present disclosure. Fig.10 This is a schematic diagram of the external structure of the joint driver in Example 6 provided in the present disclosure.

[0103] like Fig. 9 , 10 As shown in , the joint driver interface structure in Example 6 includes two interface groups and two separately arranged first interfaces 110. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in the same interface group are located close to each other. The directions of the first interface 110 and the second interface 120 in Example 4 are both perpendicular to the driving circuit board.

[0104] Fig.11 This is a schematic diagram of the interface structure of the joint driver in Example 7 provided in the present disclosure.

[0105] like Fig.11As shown in , the joint driver interface structure in Example 7 includes two interface groups and a separately set first interface 110. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in the same interface group are close to each other. The directions of the first interface 110 and the second interface 120 in Example 11 are both perpendicular to the driving circuit board.

[0106] The first direction is parallel or perpendicular to the board direction of the driver circuit board 130, and can adapt to different types of routing requirements. When the cables of the driver circuit board 130 come from above or the cables are not suitable for parallel board plugging, the interface perpendicular to the board direction can adapt to this situation. When the cables come from the directions around the driver circuit board or the cables are not suitable for vertical board plugging, the interface parallel to the board direction can adapt to this situation.

[0107] Any interface group in the above embodiments can be set as follows: Figure 9-11 Style shown perpendicular to the board.

[0108] Fig.12 , 13 A joint driver provided in Example 8 of the present disclosure is shown, wherein: Fig.12 This is a schematic diagram of the interface structure of the joint driver in Example 8 provided in the present disclosure. Fig.13 This is a schematic diagram of the external structure of the joint driver in Example 8 provided in the present disclosure.

[0109] like Fig.12 , 13 As shown in , the joint driver interface structure in Embodiment 8 includes two first interfaces 110. The directions of the two first interfaces 110 are both perpendicular to the driving circuit board.

[0110] The interfaces in any interface group in the above embodiments can be set as follows: Figure 12-13 Style shown perpendicular to the board.

[0111] In an optional implementation manner of the present disclosure, directions of the first interface 110 and the second interface 120 are parallel to the board direction of the driving circuit board 130 , and the first interface 110 and the second interface 120 are located at the upper and lower sides of the driving circuit board 130 .

[0112] In the embodiment of the present disclosure, the first interface 110 and the second interface 120 can be separated on the upper and lower sides of the driving circuit board 130, that is, the power interface and the Type-C interface are respectively installed on the upper and lower sides of the driving circuit board 130, so that the power interface and the Type-C interface can respectively occupy the space on the upper and lower sides of the driving circuit board 130, thereby realizing the rational use of the internal space of the joint driver.

[0113] As an example, Figure 7 As shown in , the power interface and the Type-C interface are located at opposite positions on the upper and lower sides of the driving circuit board 130, respectively, so that the power interface and the Type-C interface are located close to each other, making the distribution of the interfaces in the interface structure compact.

[0114] In the relevant prior art, the power interface and the communication interface are generally arranged on the upper side of the driving circuit board 130, and there are many electronic devices on the driving circuit board 130, and the communication interface using the RJ45 interface in the related technology is large in size, so that the space on the upper side of the driving circuit board 130 cannot support the direct arrangement of the power interface and the communication interface. Therefore, the communication interface is generally arranged on the upper side of the communication interface, that is, the communication interface and the power interface are stacked up and down. This arrangement method will take up more space on the upper side of the driving circuit board 130, which is not conducive to the rational use of the internal space of the joint driver. In addition, in order to achieve the upper and lower stacking of the communication interface and the power interface, it is necessary to set an additional circuit board on the upper side of the driving circuit board 130 for supporting and installing the communication interface, which increases the structural complexity of the joint driver.

[0115] In the disclosed embodiment, by using the Type-C interface as the communication interface, the volume of the communication interface is greatly reduced compared to using the RJ45 interface as the communication interface, so that when there are many electronic devices on the driver circuit board 130, the communication interface can also be arranged on the driver circuit board 130. In addition, by installing the power interface and the Type-C interface on the upper and lower sides of the driver circuit board 130 respectively, the space of the driver circuit board 130 is reasonably utilized, and no additional circuit board structure is required, thereby ensuring the structure of the joint driver is streamlined.

[0116] In the embodiment of the present disclosure, as well as the interfaces in any interface group in the aforementioned embodiments, the first interface 110 and the second interface 120 are specifically located on the upper side or the lower side of the driving circuit board 130 and can be arranged according to actual needs.

[0117] In an optional implementation manner of the present disclosure, the joint driver housing is provided with a clearance groove 140 , and the clearance groove 140 is used to make way for the connection line of the first interface 110 and the connection line of the second interface 120 .

[0118] In the disclosed embodiment, the joint driver housing is the external shell structure of the joint driver. By providing a give way groove 140 in the joint driver housing, it is convenient to arrange the connection lines of the first interface 110 and the connection lines of the second interface 120, so that the routing of the interface structure of the joint driver is reasonable.

[0119] like Figure 7 As shown in , the clearance groove 140 is a recessed portion on the upper side of the joint driver housing, which is a gap with two sides open, and the connection line of the interface can extend along the clearance groove 140.

[0120] In an optional implementation manner of the present disclosure, the opening positions of the first interface 110 and the second interface 120 are located on the groove wall or the groove bottom of the clearance groove 140 .

[0121] As an example, when the first interface 110 or the second interface 120 is located at the groove wall, the first interface 110 and the second interface 120 can be arranged parallel to the driving board, and when the first interface 110 or the second interface 120 is located at the groove bottom, it can be arranged perpendicular to the driving board.

[0122] like Figure 7 As shown in FIG. 1 , the first interface 110 and the second interface 120 are both located on the groove wall of the clearance groove 140 and arranged parallel to the driving board.

[0123] In an optional implementation manner of the present disclosure, the give way groove 140 has two adjacent groove walls, and the give way groove 140 is open on opposite sides of the adjacent groove walls on both sides.

[0124] like Figure 7 As shown in , the clearance groove 140 has two adjacent groove walls, and the opposite sides of the adjacent groove walls on both sides are open. The connection lines of the first interface 110 and the second interface 120 are connected through the open sides of the groove walls, and the arrangement of the connection lines is convenient.

[0125] As an example, the two adjacent groove walls of the clearance groove 140 are perpendicular to each other, and the directions of the first interface 110 and the second interface 120 are perpendicular to the groove walls, so that the first interface 110 and / or the second interface 120 arranged on the two adjacent groove walls can be arranged perpendicular to each other.

[0126] In the disclosed embodiment, a first interface 110 or a second interface 120 may be respectively provided on two adjacent groove walls, and the front ends of the connection lines of the interfaces may be interlaced with each other and converged into an integral cable at the rear ends.

[0127] In an optional embodiment of the present disclosure, it also includes a socket 150 provided on the joint driver housing and a plug (not shown in the figure) mating with the socket 150, the first interface 110 and the second interface 120 are both located on the inner side of the socket 150, and the plug is provided with a first plug-in terminal and a second plug-in terminal, the first plug-in terminal cooperates with the first interface 110, and the second plug-in terminal cooperates with the second interface 120.

[0128] Fig.14 , 15 It is a schematic diagram of the interface structure of the joint driver in Example 9 provided in the present disclosure.

[0129] like Fig.14 , 15 As shown in, the joint driver interface structure in Example 9 has two interface groups and a separately set first interface 110. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in each interface group are integrated in a socket. The directions of the first interface 110 and the second interface 120 in Example 9 are parallel to the driving circuit board. The first interface 110 and the second interface 120 in the socket in Example 9 are separated on the upper and lower sides of the driving circuit board.

[0130] Fig.16 This is a schematic diagram of the interface structure of the joint driver in Example 10 provided in the present disclosure.

[0131] like Fig.16 As shown in, the joint driver interface structure in Example 10 has two interface groups and a separately set first interface 110. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in each interface group are integrated in a socket. The directions of the first interface 110 and the second interface 120 in Example 10 are parallel to the driving circuit board. The first interface 110 and the second interface 120 in the socket in Example 10 are both located on one side of the driving circuit board.

[0132] Fig.17 This is a schematic diagram of the interface structure of the joint driver in Example 11 provided by the present disclosure. Example 11 includes three first interfaces 110, and the directions of the three first interfaces 110 are all perpendicular to the driving circuit board.

[0133] Fig.18The interface structure diagram of the joint driver in Example 12 provided by the present disclosure. Example 12 includes three interface groups and a separately set first interface 110. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in the same interface group are close to each other. The directions of the first interface 110 and the second interface 120 in Example 12 are both perpendicular to the driving circuit board.

[0134] Fig.19 The interface structure diagram of the joint driver in Example 13 provided by the present disclosure. Example 13 includes four interface groups, and the four interface groups are paired and located on the left and right sides of the driver circuit board. Each interface group includes a first interface 110 and a second interface 120, and the first interface 110 and the second interface 120 in the same interface group are close to each other. The directions of the first interface 110 and the second interface 120 in Example 12 are both perpendicular to the driver circuit board.

[0135] In the disclosed embodiment, the first interface 110 and the second interface 120 can be integrated, and a socket 150 is provided at a corresponding position of the housing, and the insertion terminals of the first interface 110 and the second interface 120 are integrated into one plug. The first interface 110 and the second interface 120 can be inserted into the socket 150 at the same time, and the first interface 110 and the second interface 120 can be pulled out of the socket 150 at the same time. The integration of the joint driver interface structure is improved, and the first interface 110 and the second interface 120 can be inserted or pulled out as a whole through a single insertion or pull-out operation, which is more convenient to operate.

[0136] In any of the interface groups in the foregoing embodiments, the following may be used: Figure 14-16 The plug and socket are used in combination.

[0137] In the related art, the communication interface generally uses the RJ45 interface. After the insertion terminal of the RJ45 interface is inserted, the RJ45 interface provides a locking mechanism, which makes it impossible for the insertion terminal to be directly unplugged. Instead, the user needs to press the locking spring on the insertion terminal to unlock it before unplugging it. Therefore, when the communication interface uses the RJ45 interface, it has a different plug-in and unplugging method from the power interface, so it is impossible to integrate the wiring terminals of the two into one plug for joint plugging and unplugging.

[0138] In the embodiment of the present disclosure, the Type-C interface used by the communication interface has the same plug-in and unplugging method as the power interface, that is, the user directly plugs and unplugs by holding the insertion terminal. Since the Type-C interface and the power interface have the same plug-in and unplugging method, the connection terminals of the two can be integrated into one plug for joint plugging and unplugging.

[0139] In the embodiment of the present disclosure, the socket 150 and the plug may also be provided with corresponding card slot structures, so that the plug and the socket 150 can be firmly connected, so that the connecting line of the communication interface or the power interface can be firmly connected to the joint driver, and the connecting line can act as a safety rope to prevent the joint driver from falling out.

[0140] In an optional implementation manner of the present disclosure, the interface structure includes an input end interface and an output end interface;

[0141] The input port interface and the output port interface both include the first port 110, or the input port interface and the output port interface both include the first port 110 and the second port 120;

[0142] The input end interface and the output end interface are separated on two sides of the joint driver housing.

[0143] In the disclosed embodiment, the interface structure includes an input interface and an output interface, that is, the first interface 110 includes an input first interface 110 and an output first interface 110 , and the second interface 120 includes an input second interface 120 and an output second interface 120 .

[0144] The input interface and the output interface can be separated on both sides of the joint driver and arranged axially symmetrically. Specifically, the first input interface 110 and the first output interface 110 are arranged axially symmetrically on both sides of the joint driver, and the second input interface 120 and the second output interface 120 are arranged axially symmetrically on both sides of the joint driver.

[0145] Reference Figure 1 , 2 The input interface and the output interface are respectively located on both sides of the joint driver housing, and respectively include a first interface 110 and a second interface 120. The input interface and the output interface are symmetrically arranged with the center line of the joint driver as the axis.

[0146] In an optional implementation of the present disclosure, the data stream includes a joint driver control data stream and a sensor data stream, the first interface 110 is used to transmit the joint driver control data stream, and the interface structure also includes at least one third interface, and the third interface is used to transmit the sensor data stream.

[0147] In the disclosed embodiment, the data stream includes a joint driver control data stream and a sensor data stream, wherein the joint driver control data stream is used to control the joint driver. The sensor data stream is the data collected by the sensor, and the sensor data stream will be transmitted to the core processing module of the robot. In order to ensure the independence of the data, a third interface can be set to independently transmit the sensor data stream.

[0148] Optionally, the third interface may also be a Type-C interface.

[0149] The present disclosure also provides a robot joint driver, comprising the above-mentioned robot joint driver interface structure.

[0150] The present disclosure also provides a robot, comprising the above-mentioned robot joint driver.

[0151] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of this disclosure can be achieved, and this document is not limited here.

[0152] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A robot joint driver interface structure, characterized in that: It comprises a first interface (110), wherein the first interface (110) is a Type-C interface, and the first interface (110) is used for transmitting data flow and / or current.

2. The robot joint driver interface structure according to claim 1, characterized in that: Also includes: A second interface (120), wherein the second interface (120) is used for current transmission.

3. The robot joint driver interface structure according to claim 2, characterized in that: The first interface (110) and the second interface (120) are both installed on a driving circuit board (130) of the joint driver, and the first interface (110) and the second interface (120) have the same first direction, which is parallel or perpendicular to the board direction of the driving circuit board (130).

4. The robot joint driver interface structure according to claim 3, characterized in that: The directions of the first interface (110) and the second interface (120) are parallel to the board direction of the driving circuit board (130), and the first interface (110) and the second interface (120) are located at the upper and lower sides of the driving circuit board (130).

5. The robot joint driver interface structure according to claim 3, characterized in that: The directions of the first interface (110) and the second interface (120) are perpendicular to the board direction of the driving circuit board (130), and the first interface (110) and the second interface (120) are located on the same side of the driving circuit board (130).

6. The robot joint driver interface structure according to any one of claims 1 to 5, characterized in that: The joint driver housing is provided with a clearance groove (140), and the clearance groove (140) is used to make way for the connection line of the first interface (110) and the connection line of the second interface (120).

7. The robot joint driver interface structure according to claim 6, characterized in that: The opening positions of the first interface (110) and the second interface (120) are located on the groove wall or the groove bottom of the clearance groove (140).

8. The robot joint driver interface structure according to claim 7, characterized in that: The clearance groove (140) has two adjacent groove walls, and the clearance groove (140) is open on opposite sides of the adjacent groove walls on both sides.

9. The robot joint driver interface structure according to any one of claims 1 to 5, characterized in that: It also includes a socket (150) arranged on the joint driver housing and a plug that matches the socket (150), the first interface (110) and the second interface (120) are both located on the inner side of the socket (150), and the plug is provided with a first insertion terminal and a second insertion terminal, the first insertion terminal matches the first interface (110), and the second insertion terminal matches the second interface (120).

10. The robot joint driver interface structure according to any one of claims 1 to 5, characterized in that: The interface structure includes an input end interface and an output end interface; The input end interface and the output end interface both include the first interface (110), or the input end interface and the output end interface both include the first interface (110) and the second interface (120); The input end interface and the output end interface are located on two sides of the joint driver housing.

11. The robot joint driver interface structure according to any one of claims 1 to 5, characterized in that: The data stream includes a joint driver control data stream and a sensor data stream. The first interface (110) is used to transmit the joint driver control data stream. The interface structure also includes at least one third interface. The third interface is used to transmit the sensor data stream.

12. A robot joint driver, characterized in that: A robot joint driver interface structure comprising any one of claims 1-11.

13. A robot, characterized in that: Includes the robot joint driver as claimed in claim 12.

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