Passive joint assembly of robot and robot with passive joint assembly

Abstract

The utility model discloses a passive joint assembly of a robot and the robot with the passive joint assembly, the passive joint assembly of the robot comprises a first to-be-connected piece, a second to-be-connected piece, a safety piece and a spring mounting piece, the second to-be-connected piece and the safety piece can rotate in three directions of the space; a support is fixedly arranged at the first end, facing the second to-be-connected piece, of the first to-be-connected piece and comprises a first spherical crown part and a first round pipe. The second end, facing the first to-be-connected piece, of the second to-be-connected piece is fixedly provided with an opening part, and first hooks are evenly arranged on the inner surface of the second to-be-connected piece in the circumferential direction at intervals. The safety piece is arranged in the second piece to be connected and comprises a second spherical crown part and a second circular pipe; the spring mounting part is fixed on the outer surface of the first circular tube and comprises a circular tube-shaped main body and a second hook, and two ends of the spring are respectively hung on the corresponding first hook and the second hook. The passive joint assembly of the robot can improve the flexibility of the robot, so that the movement of the robot is smoother and more stable.

Description

Technical Field

[0001] The utility model belongs to the field of robots, in particular to a passive joint component of a robot and a robot having the same. Background Art

[0002] The joints of a robot are used to connect two structural components together. Commonly used joints are passive joints and active joints. Passive joints do not have their own motors or other driving components and usually move under external drive. They usually have an equilibrium position, namely the minimum entropy position, and return to the equilibrium position after the external drive disappears; active joints usually have built-in motors that can apply force, move and reach a predetermined position.

[0003] Most robots have a small number of joints. For example, a quadruped robot usually has 12 joints, with 3 joints in each leg, while the torso is still composed of a single rigid component. The number of joints in the legs and arms of a humanoid robot is similar to that of a human body, but the torso and neck are still a single rigid component. Although these rigid components have a simple structure and are easy to control, they are stiff in movement and have poor flexibility. They lack the flexibility and fluidity of human and animal movements. Therefore, it is necessary to study a new passive joint component to improve the flexibility of the robot, making the robot's movement smoother, more stable and lightweight. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a passive joint assembly of a robot, comprising: a first part to be connected, a second part to be connected, a safety part for preventing the first part to be connected and the second part to be connected from being loosened, and a spring mounting part for mounting at least 4 springs, wherein the second part to be connected and the safety part can rotate in three directions in space;

[0005] in,

[0006] A bracket is fixedly arranged at the first end of the first member to be connected toward the second member to be connected, the bracket comprising a first spherical crown portion and a first circular tube which form an integral structure and have coincident symmetry axes, and the first circular tube is arranged along the symmetry axis of the first spherical crown portion, the first end of the first circular tube is located at a side of the first spherical crown portion facing the first member to be connected, and the second end is located at a side of the first spherical crown portion away from the first member to be connected;

[0007] The second member to be connected is fixedly provided with an opening toward the second end of the first member to be connected, the opening being used to accommodate the first spherical crown and the second end of the first round tube, and at least four first hooks are evenly spaced along the circumferential direction on the inner surface of the second member to be connected;

[0008] The safety member is arranged in the second member to be connected, and includes a second spherical crown portion and a second circular tube which form an integral structure and have symmetry axes coinciding with each other. The second circular tube is arranged along the symmetry axis of the second spherical crown portion and is located on a side of the second spherical crown portion away from the first member to be connected. The second end of the first circular tube passes through the second circular tube.

[0009] The spring mounting member is fixed to the outer surface of the second end of the first circular tube and is located on the side of the safety member away from the first member to be connected. It includes a circular tubular body, at least four second hooks located on the outer surface of the circular tubular body and evenly spaced along the circumferential direction, and the positions of the at least four second hooks correspond to the positions of the at least four first hooks, and the two ends of the at least four springs are respectively hung on the corresponding at least four first hooks and at least four second hooks.

[0010] Furthermore, the opening is a spherical table-shaped opening.

[0011] Furthermore, the spherical table-shaped opening portion is concentric with the first spherical crown portion and the second spherical crown portion.

[0012] Furthermore, assuming that the radii of the first spherical crown portion, the spherical table-shaped opening portion, and the second spherical crown portion are R1, R2, and R3 respectively, then R1<R2<R3 is satisfied.

[0013] Furthermore, the maximum rotation angle of the second member to be connected is smaller than the maximum rotation angle of the safety member.

[0014] Furthermore, the maximum rotation angle of the second member to be connected is 60°.

[0015] Furthermore, the maximum rotation angle of the safety element is 90°.

[0016] Furthermore, the stiffness of at least four springs is 2-5 N / mm.

[0017] Furthermore, the first member to be connected and the second member to be connected are in the shape of a cuboid or a cylinder.

[0018] The utility model also provides a robot, comprising the passive joint assembly of the robot mentioned above.

[0019] Compared with the prior art, the passive joint assembly of the robot provided by the utility model can improve the flexibility of the robot, make the movement of the robot smoother and more stable, the first to-be-connected part and the second to-be-connected part are not easy to loosen, and the service life of the spring is long. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the structure decomposition of a passive joint assembly of a robot according to an embodiment of the utility model is shown;

[0021] Figure 2A schematic structural diagram of a spring mounting member in a passive joint assembly of a robot according to an embodiment of the utility model is shown;

[0022] Figure 3 A schematic diagram showing the maximum rotation angles of the second to-be-connected member and the safety member in the passive joint assembly of the robot according to an embodiment of the utility model is shown;

[0023] Description of main reference numerals:

[0024] 1: first part to be connected, 11: bracket, 111: first spherical crown, 112: first round tube, 2: second part to be connected, 21: opening, 22: first hook, 3: safety part, 31: second spherical crown, 32: second round tube, 4: spring mounting part, 41: round tube body, 42: second hook, α: maximum rotation angle of the first part to be connected, β: maximum rotation angle of the safety part. DETAILED DESCRIPTION

[0025] The specific implementation of the utility model is described in detail below. It should be understood that the implementation of the utility model is not limited to the embodiments shown in the accompanying drawings, and the protection scope of the utility model is not limited by the specific implementation. The words "first", "second" and similar words used in the utility model do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one", "one" or "the" do not indicate quantity restrictions, but indicate that there is at least one. Unless otherwise expressly indicated, throughout the specification and claims, the term "include" or its changes such as "include" or "include" will be understood to include the stated elements or components, without excluding other elements or other components. Similar words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] Unless otherwise defined, the meanings of all technical terms and scientific terms used in the present invention are the same as those generally understood by ordinary technicians in the field. In addition, the meanings of the technical terms and scientific terms used in the present invention should be interpreted as having the same meaning as the corresponding terms defined in commonly used technical manuals, and should not be interpreted as having idealized or excessively formal meanings, unless explicitly defined in this utility model.

[0027] Figure 1 The schematic diagram of the structure decomposition of the passive joint assembly of the robot of the present utility model is shown in FIG. Figure 1The passive joint assembly includes: a first part to be connected 1, a second part to be connected 2, a safety part 3 for preventing the first part to be connected 1 and the second part to be connected 2 from loosening, and a spring mounting part 4 for mounting at least 4 springs 5. The second part to be connected 2 and the safety part 3 can rotate in three directions in space.

[0028] A bracket 11 is fixedly arranged at the first end of the first part 1 to be connected toward the second part 2 to be connected, and the bracket includes a first spherical crown portion 111 and a first circular tube 112 which form an integral structure and have overlapping symmetry axes, and the first circular tube 112 is arranged along the symmetry axis of the first spherical crown portion 111, and the first end of the first circular tube 112 is located on the side of the first spherical crown portion 111 facing the first part 1 to be connected, and the second end is located on the side of the first spherical crown portion 111 away from the first part 1 to be connected.

[0029] The second connecting member 2 is fixedly provided with an opening 21 toward the second end of the first connecting member 1, and the opening 21 is used to accommodate the second ends of the first spherical crown 111 and the first round tube 112. At least four first hooks 22 are evenly spaced on the inner surface of the second connecting member 2 along the circumferential direction.

[0030] The safety member 3 is arranged in the second part to be connected 2, and includes a second spherical crown portion 31 and a second circular tube 32 which form an integral structure and have overlapping symmetry axes. The second circular tube 32 is arranged along the symmetry axis of the second spherical crown portion 31 and is located on the side of the second spherical crown portion 31 away from the first part to be connected 1, and the second end of the first circular tube 112 passes through the second circular tube 32.

[0031] Figure 2 The schematic diagram of the structure of the spring mounting part in the passive joint assembly of the robot is shown in FIG. Figure 1 , Figure 2 The spring mounting member 4 is fixed to the outer surface of the second end of the first circular tube 112 and is located on the side of the safety member 3 away from the first to-be-connected member 1, and includes a circular tubular body 41, and at least four second hooks 42 located on the outer surface of the circular tubular body 41 and evenly spaced along the circumferential direction. The positions of the at least four second hooks 42 correspond to the positions of the at least four first hooks 22, and the two ends of the at least four springs 5 ​​are respectively hung on the corresponding at least four first hooks 22 and at least four second hooks 42.

[0032] Furthermore, in order to better accommodate the first spherical crown portion 111 and the second end of the first circular tube 112 , the opening portion 21 is a spherical table-shaped opening portion 21 .

[0033] Furthermore, the spherical table-shaped opening portion 21 is concentric with the first spherical crown portion 111 and the second spherical crown portion 31 .

[0034] Furthermore, in order to ensure that the position of the second spherical crown 31 remains on the side of the spherical cone-shaped opening 21 away from the first component to be connected 1 and does not pass through the spherical cone-shaped opening 21, the radii of the first spherical crown 111, the spherical cone-shaped opening 21, and the second spherical crown 31 are R1, R2, and R3 respectively, then R1<R2<R3 is satisfied.

[0035] Figure 3 The maximum rotation angle diagram of the second to-be-connected part and the safety part in the passive joint assembly of the robot is shown in FIG. Figure 3 Taking the rotation axis of the second connected part 2 and the safety part 3 relative to the length direction of the first round tube 112 as an example, in order to further prevent the first connected part 1 and the second connected part 2 from loosening, the maximum rotation angle α of the second connected part 2 is smaller than the maximum rotation angle β of the safety part 3.

[0036] Specifically, considering that the force exerted on the spring 5 is positively correlated with the maximum rotation angle of the second member to be connected 2, in order to ensure the normal operation of the spring 5 and extend its service life, the maximum rotation angle α of the second member to be connected 2 is 60°.

[0037] Likewise, in order to ensure the normal operation of the spring 5 and extend its service life, the maximum rotation angle β of the safety element 3 is 90°.

[0038] Furthermore, considering that the stiffness of spring 5 determines the amount of movement caused by external force, when the robot is a humanoid robot, due to its heavy weight, the stiffness requirement for spring 5 is higher, while the stiffness requirement for spring 5 is slightly lower for a quadruped robot. After comprehensive consideration, the stiffness of spring 5 is set to 2 to 5 N / mm.

[0039] Furthermore, in order to reduce the force borne by each spring 5 and reduce the requirement on the stiffness of the spring 5, the number of the springs 5 ​​is 6 or 8.

[0040] The present embodiment does not limit the specific shapes of the first member to be connected 1 and the second member to be connected 2. The shapes of the first member to be connected 1 and the second member to be connected 2 are rectangular parallelepiped or cylindrical.

[0041] In summary, the utility model provides a passive joint assembly of a robot, which can improve the flexibility of the robot and make the movement of the robot smoother and more stable by providing a bracket 11 including a first spherical crown portion 111 and a first circular tube 112, an opening portion 21, a safety member 3 including a second spherical crown portion 31 and a second circular tube 32, at least 4 first hooks 22, a spring mounting member 4 including at least 4 second hooks 42, and at least 4 springs 5; in addition, by setting the maximum rotation angle α of the second part to be connected 2 to be smaller than the maximum rotation angle β of the safety member 3, the first part to be connected 1 and the second part to be connected 2 are not easy to loosen and the service life of the spring 5 is long.

[0042] The utility model also provides a robot, comprising the passive joint assembly of the robot mentioned above.

[0043] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different options and changes. The scope of protection of the present invention is defined by the claims and their equivalents.

Claims

1. A passive joint assembly of a robot, characterized in that: include: A first part to be connected, a second part to be connected, a safety part for preventing the first part to be connected and the second part to be connected from being loosened, and a spring mounting part for mounting at least four springs, wherein the second part to be connected and the safety part can rotate in three directions in space; in, A bracket is fixedly arranged at the first end of the first member to be connected toward the second member to be connected, the bracket comprising a first spherical crown portion and a first circular tube which form an integral structure and have overlapping symmetry axes, and the first circular tube is arranged along the symmetry axis of the first spherical crown portion, the first end of the first circular tube is located at a side of the first spherical crown portion facing the first member to be connected, and the second end is located at a side of the first spherical crown portion away from the first member to be connected; The second member to be connected is fixedly provided with an opening toward the second end of the first member to be connected, the opening being used to accommodate the first spherical crown and the second end of the first round tube, and at least four first hooks are evenly spaced along the circumferential direction on the inner surface of the second member to be connected; The safety member is arranged in the second member to be connected, and includes a second spherical crown portion and a second round tube which form an integral structure and have overlapping symmetry axes. The second round tube is arranged along the symmetry axis of the second spherical crown portion and is located on the side of the second spherical crown portion away from the first member to be connected. The second end of the first round tube passes through the second round tube. The spring mounting member is fixed to the outer surface of the second end of the first circular tube and is located on the side of the safety member away from the first member to be connected. It includes a circular tubular body, and at least four second hooks located on the outer surface of the circular tubular body and evenly spaced along the circumferential direction. The positions of the at least four second hooks correspond to the positions of the at least four first hooks, and the two ends of the at least four springs are respectively hung on the corresponding at least four first hooks and at least four second hooks.

2. The passive joint assembly of the robot according to claim 1, characterized in that: The opening is a spherical table-shaped opening.

3. The passive joint assembly of the robot according to claim 2, characterized in that: The spherical table-shaped opening portion is concentric with the first spherical crown portion and the second spherical crown portion.

4. The passive joint assembly of the robot according to claim 3, characterized in that The radii of the first spherical crown portion, the spherical table-shaped opening portion, and the second spherical crown portion are R1, R2, and R3 respectively, and R1<R2<R3 is satisfied.

5. The passive joint assembly of the robot according to claim 4, characterized in that: The maximum rotation angle of the second to-be-connected member is smaller than the maximum rotation angle of the safety member.

6. The passive joint assembly of the robot according to claim 5, characterized in that: The maximum rotation angle of the second member to be connected is 60°.

7. The passive joint assembly of the robot according to claim 5, characterized in that: The maximum rotation angle of the safety element is 90°.

8. The passive joint assembly of the robot according to claim 4, characterized in that: The stiffness of the at least four springs is 2-5 N / mm.

9. The passive joint assembly of the robot according to claim 4, characterized in that: The first to-be-connected member and the second to-be-connected member are in the shape of a cuboid or a cylinder.

10. A robot, characterized in that A passive joint assembly of a robot comprising any one of claims 1 to 9.

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