Robot joint self-locking structure, robot
By designing the robot joint self-locking structure and using the movable limiting parts and telescopic parts to lock or release the joint, the power consumption waste caused by the joint activation when the foot robot is standing is solved, and energy consumption savings and normal robot movement is achieved.
Patent Information
- Application Number
- CN202420097569.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-15
- Publication Date
- 2025-04-01
- Estimated Expiration
- 2034-01-15
AI Technical Summary
In order to maintain balance when standing, the relevant joints need to be enabled, resulting in serious power waste.
A robot joint self-locking structure is designed, including a movable limiting member and a telescopic member. The movable limiting member is driven to rotate about the rotation axis through the telescopic rod, changing the relative position between the movable limiting member and the second limb, thereby locking or releasing the joint to be locked.
It realizes locking specific joints when the robot stands, limiting relative movement between joints and saving energy consumption; releases the joints when needed to ensure that the robot walks and works normally.
Smart Images
Figure CN222697063U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of robots, and in particular to a robot joint self-locking structure and a robot. Background Art
[0002] In recent years, robot technology has been developing continuously, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. Robots can perform specific tasks on behalf of users in their production and life, thus bringing convenience to users. Legged robots can imitate animals or humans to walk and stand. For example, bipedal robots can imitate humans to walk and stand, and quadrupedal robots can imitate dogs and other animals to walk and stand. However, in the related technology, when a legged robot is standing, in order to maintain the balance of the whole machine, the relevant joints still need to be in an enabled state, resulting in serious power consumption waste. Summary of the invention
[0003] In order to overcome the problems existing in the related art, the embodiments of the present disclosure provide a robot joint self-locking structure and a robot to solve the defects in the related art.
[0004] According to a first aspect of an embodiment of the present disclosure, a robot joint self-locking structure is provided, the structure comprising:
[0005] A movable stopper, having an axial hole arranged in the middle, and used for being sleeved on a rotating shaft on the degree of freedom to be locked of the joint to be locked;
[0006] A telescopic member, comprising a main body and a telescopic rod, wherein the main body is used to be connected to the first limb, and the telescopic rod is used to be connected to one end of the movable stopper, and drives the movable stopper to rotate around the rotation axis through telescoping to change the relative position between the other end of the movable stopper and the second limb;
[0007] Among them, the telescopic rod of the telescopic member has a self-locking function, the first limb and the second limb are two limbs connected by the joint to be locked, and when the movable limiting member is against the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted.
[0008] In a possible embodiment of the present disclosure, the structure further includes a fixed stopper for fixedly connecting with the second limb;
[0009] The telescopic rod is used to drive the movable stopper to rotate around the rotation axis by telescoping, so as to change the relative position between the other end of the movable stopper and the fixed stopper;
[0010] When the movable limiting member abuts against the fixed limiting member, the relative movement between the first limb and the second limb in at least one direction is restricted.
[0011] In a possible embodiment of the present disclosure, a position detection sensor is provided at the other end of the movable limiting member for detecting the relative position with the fixed limiting member.
[0012] In a possible embodiment of the present disclosure, the second limb is provided with a position identification element for identifying the position of the second limb; the other end of the movable limiting member is provided with an in-position detection sensor for detecting the relative position with the position identification element.
[0013] In a possible embodiment of the present disclosure, when the movable limiting member abuts against the second limb, the relative movement between the first limb and the second limb in a direction of reducing the included angle is restricted.
[0014] In a possible embodiment of the present disclosure, the telescopic rod is used to be hinged to one end of the movable limiting member.
[0015] In a possible embodiment of the present disclosure, the main body of the telescopic member is used for hinged connection with the first limb.
[0016] In a possible embodiment of the present disclosure, the telescopic rod is used to drive the other end of the movable limiting member away from the second limb when extending from the main body of the telescopic member, and to drive the other end of the movable limiting member closer to the second limb when retracting into the main body of the telescopic member.
[0017] In a possible embodiment of the present disclosure, the joint to be locked includes a knee joint or an ankle joint.
[0018] According to a second aspect of the embodiments of the present disclosure, a robot is provided, wherein the robot comprises a joint self-locking structure provided in any embodiment of the first aspect.
[0019] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:
[0020] In the robot joint self-locking structure provided in the embodiment of the present disclosure, the telescopic part can drive the movable limiting part to rotate around the rotation axis through the extension and retraction of the telescopic rod, thereby changing the relative position between the movable limiting part and the second limb. Specifically, if the movable limiting part is against the second limb (and the telescopic rod is self-locking at this time, that is, the movement of the movable limiting part away from the second limb is restricted), the relative movement in at least one direction between the first limb and the second limb is restricted. Conversely, if the movable limiting part does not against the second limb (that is, separate from each other), the relative movement between the first limb and the second limb is not restricted. That is to say, the joint self-locking structure can lock or release the joint to be locked. When locked, the relative movement in at least one direction between the first limb and the second limb connected to the joint to be locked is restricted, and when released, the movement between the first limb and the second limb returns to normal. If it is applied to joints such as elbow joints and ankle joints that still need to be enabled when the robot stands, the joint can be locked by the joint self-locking structure when the robot stands, and the relative movement between the limbs connected to the joint is restricted, so that the robot's standing is not affected when the joint is not enabled, thereby saving the energy consumption required for joint enabling and reducing energy waste. When the robot stands, the joint is released by the joint self-locking structure to avoid affecting the robot's normal walking, operation, etc. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.
[0022] Figure 1 is a schematic diagram of the joint degrees of freedom of a motion robot shown in an exemplary embodiment of the present disclosure;
[0023] Figure 2 is a schematic diagram of a joint self-locking structure when the joint is not locked, shown in an exemplary embodiment of the present disclosure;
[0024] Figure 3 It is a schematic diagram of a joint self-locking structure locking a joint, shown as an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION
[0025] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.
[0026] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.
[0027] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".
[0028] In recent years, robot technology has been developing continuously, becoming more and more intelligent and automated, and the richness, stability and flexibility of actions have been improved to varying degrees. Robots can perform specific tasks on behalf of users in their production and life, thus bringing convenience to users. Legged robots can imitate animals or humans to walk and stand. For example, bipedal robots can imitate humans to walk and stand, and quadrupedal robots can imitate dogs and other animals to walk and stand. However, in the related technology, when a legged robot is standing, in order to maintain the balance of the whole machine, the relevant joints still need to be in an enabled state, resulting in serious power consumption waste.
[0029] Based on this, on the first aspect, at least one embodiment of the present disclosure provides a robot joint self-locking structure, which can lock or release the joint to be locked. When locked, the relative movement in at least one direction between the first limb and the second limb connected to the joint to be locked is restricted, and when released, the movement between the first limb and the second limb returns to normal.
[0030] First, some concepts involved in the following text are explained to facilitate understanding.
[0031] Robot joint degrees of freedom: Please refer to the attached Figure 1, the robot is generally composed of three parts: upper limbs, waist, and lower limbs. The single arm in the upper limbs generally has 4 to 7 degrees of freedom, including at least 3 degrees of freedom of the shoulder joint in the pitch, roll, and yaw directions, 1 degree of freedom of the elbow joint in the pitch direction, and in addition, it can also include 3 degrees of freedom of the wrist joint in the yaw, roll, and ptich directions. The waist generally has 0 to 3 degrees of freedom, including 3 degrees of freedom in the roll, pitch, and yaw directions. The single leg in the lower limbs generally has 6 degrees of freedom, including 3 degrees of freedom of the hip joint in the yaw, roll, and pitch directions, 1 degree of freedom of the knee joint in the pitch direction, and 2 degrees of freedom of the ankle joint in the pitch and roll directions. The above-mentioned yaw, roll, and pitch are the directions of rotation around the three coordinate axes of Z, X, and Y, respectively.
[0032] Joint to be locked: The joint to which the self-locking structure of the joint is installed, such as the attached Figure 2 , Attachment Figure 3 The knee joint 500 and the ankle joint 600 are shown in FIG.
[0033] First limb and second limb: The two limbs connected by the joint to be locked, such as the Figure 2 , Attachment Figure 3 The first limb and the second limb corresponding to the middle knee joint 500 are the thigh 200 and the calf 300, respectively. Figure 2 , Attachment Figure 3 The first limb and the second limb corresponding to the mid-ankle joint 600 are the calf 300 and the foot 400 respectively.
[0034] Next, combine with Figure 2 , Attachment Figure 3 , taking the two joint self-locking structures of the knee joint 500 and the ankle joint 600 installed on the legs of the robot as an example, the joint self-locking structure provided by the present disclosure is specifically introduced. Among them, Figure 2 is a schematic diagram of a joint self-locking structure when the joint is not locked, shown in an exemplary embodiment of the present disclosure; Figure 3 FIG. 1 is a schematic diagram of a joint self-locking structure locking a joint according to an exemplary embodiment of the present disclosure. Figure 2 , Attachment Figure 3 The two joint self-locking structures shown in the figure do not limit the installation position, specific shape and structure of the joint self-locking structure of the present invention.
[0035] The joint self-locking structure includes a movable limiting component 101 and a telescopic component 102 .
[0036] The following is a brief introduction to the movable stopper 101:
[0037] The movable stopper 101 has an axial hole 1011 in the middle, which is used to be mounted on the rotation axis of the degree of freedom to be locked of the joint to be locked. Optionally, the movable stopper 101 can be narrow at both ends and wide in the middle, so that the size and instructions of the movable stopper 101 can be reduced, making it lightweight, reducing the increase in mass and space occupied by the robot by adding this structure, and facilitating the setting of the axial hole 1011 in the middle. Optionally, there can be a groove around the rotation axis of the movable stopper 101 (for example, an attached groove). Figure 2 , Attachment Figure 3 After the movable stopper 101 is sleeved on the rotating shaft, an element fixedly connected to the rotating shaft can be arranged in the groove to limit the movement of the movable stopper 101 in the axial direction of the rotating shaft.
[0038] The joint to be locked may have at least one degree of freedom. The joint self-locking structure may lock one or more degrees of freedom of the joint to be locked. A certain degree of freedom of the joint is locked, that is, the movement of the joint in this degree of freedom is restricted or partially restricted. It should be understood that the rotation axis on the degree of freedom to be locked is the rotation axis around which the degree of freedom to be locked is rotated. Figure 1 The rotation axis for the yaw direction is the Z axis, the rotation axis for the roll direction is the X axis, and the rotation axis for the pitch direction is the Y axis.
[0039] For example, Figure 2 , Attachment Figure 3 The joint self-locking structure installed on the knee joint 500 is used to lock the freedom of the knee joint 500 in the pitch direction, so its movable stopper 101 is set on the rotation axis (i.e., the Y axis) around which the knee joint 500 has the pitch freedom. Figure 2 , Attachment Figure 3 The joint self-locking structure installed on the ankle joint 600 is used to lock the freedom of the ankle joint 600 in the pitch direction, so its movable limiter 101 is sleeved on the rotation axis (ie, the Y axis) around which the freedom of the knee joint 500 in the ptich direction rotates.
[0040] The following is a brief introduction to the movable stopper 101:
[0041] The telescopic rod 1022 is provided. The main body 1021 is used to connect with the first limb, and the telescopic rod 1022 is used to connect with one end of the movable stopper 101, and drives the movable stopper 102 to rotate around the rotation axis by telescoping, so as to change the relative position between the other end of the movable stopper 101 and the second limb. For example, the telescopic rod 1022 is used to drive the other end of the movable stopper 101 away from the second limb when extending from the main body 1021 of the telescopic member 102, and drives the other end of the movable stopper 101 close to the second limb when retracting into the main body 1021 of the telescopic member 102. Figure 2 , Attachment Figure 3 The telescopic rod 1022 installed in the joint self-locking structure of the knee joint 500 is used to drive the other end of the movable limiting component 101 away from the second limb (i.e., the calf 300) when it is extended from the main body 1021 of the telescopic component 102; the telescopic rod 1022 installed in the joint self-locking structure of the ankle joint 600 is used to drive the other end of the movable limiting component 101 away from the second limb (i.e., the foot 400) when it is extended from the main body 1021 of the telescopic component 102.
[0042] Optionally, the telescopic member 102 may be an electric telescopic member 102, a hydraulic telescopic member 102, etc., and the telescopic rod 1022 of the telescopic member 102 has a self-locking function, which means that when the telescopic member 102 does not drive the telescopic rod 1022 to be extended or retracted, the movement of the telescopic rod 1022 in the telescopic direction is restricted and cannot be extended or retracted. For example, the telescopic member 102 relies on a lead screw to drive the telescopic rod 1022 to be extended or retracted. Then, when the telescopic member 102 does not drive the telescopic rod 1022 to be extended or retracted, the lead screw can limit the extension or retraction of the telescopic rod 1022.
[0043] Exemplarily, the telescopic rod 1022 is used to be hinged to one end of the movable stopper 101, so that when the telescopic rod 1022 drives the movable stopper 101 to rotate around the rotation axis through telescopic movement, the telescopic rod 1022 can adapt to the position change of the two.
[0044] As another example, the main body 1021 of the telescopic member 102 is used to be hinged with the first limb, so that when the telescopic rod 1022 drives the movable limiting member 101 to rotate around the rotation axis through telescoping, it can adapt to the position change of the telescopic member 102, thereby avoiding the problem of the telescopic member 102 being stuck when the main body 1021 of the telescopic member 102 is fixedly connected to the first limb.
[0045] Since the telescopic rod 1022 of the telescopic member 102 has a self-locking function, when the telescopic rod 1022 is not driven to extend or retract, the rotation of the movable stopper 101 connected to the telescopic rod 1022 relative to the rotation axis is restricted. It should be understood that if the first limb and the second limb collide with the movable stopper 101 that cannot rotate during the relative movement, the relative movement between the first limb and the second limb is prevented or restricted. In other words, when the movable stopper 101 is collided with the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted, that is, the movable stopper 101 is driven by the telescopic rod 1022 to collide with the second limb, and the movement of the second limb relative to the first limb in at least one direction is restricted. Specifically, when the movable limit member 101 is against the second limb, the relative movement between the first limb and the second limb in the direction of reducing the angle is restricted; and when the robot stands, the knee joint 500 and the ankle joint 600 of the leg are continuously enabled to maintain leg support, precisely to prevent the thigh 200 and the calf 300 from moving in the direction of reducing the angle, and to prevent the calf 300 and the foot 400 from moving in the direction of reducing the angle. The self-locking joint structure can control the relative movement between the first limb and the second limb in the direction of reducing the angle. Even if the knee joint 500 and the ankle joint 600 are not enabled, the thigh 200 and the calf 300 can be prevented from moving in the direction of reducing the angle, and the calf 300 and the foot 400 can be prevented from moving in the direction of reducing the angle, thereby reducing the energy consumption caused by enabling.
[0046] Attach Figure 2 , Attachment Figure 3 Taking the joint self-locking structure installed on the ankle joint 600 as an example, the movable limiting member 101 can abut against the foot 400 as the second limb to limit the movement between the first limb and the second limb in the direction of reducing the angle between the two limbs.
[0047] In this case, a position identification element can be provided on the second limb to identify the position of the second limb. The position identification element is used to cooperate with the in-place detection sensor 104 provided on the other end of the movable limit member 101 (i.e., the end used to abut against the second limb). The in-place detection sensor 104 is used to detect the relative position with the above-mentioned position identification element, that is, to detect the relative position with the second limb to determine whether it abuts against the second limb. For example, the position identification element can be a magnetic material, and the in-place detection sensor 104 can be a Hall sensor. For another example, the position identification element can be a light-shielding material, and the in-place detection sensor 104 can be a photoelectric sensor. It should be understood that other materials and sensors that can cooperate with each other can also be used as the position identification element and the in-place detection sensor 104 in the present disclosure, respectively.
[0048] Attach Figure 2 , Attachment Figure 3 Taking the joint self-locking structure installed on the knee joint 500 as an example, a fixed stopper 103 fixedly connected to the second limb can also be provided on the second limb, and the fixed stopper 103 is used to facilitate the movable stopper 101 to abut against the second limb, that is, the movable stopper 101 abutting against the fixed stopper 103 is equivalent to the movable stopper 101 abutting against the second limb, because the fixed stopper 103 is fixed to the second limb. In other words, the telescopic rod 1022 is used to drive the movable stopper 102 to rotate around the rotation axis through telescoping to change the relative position between the other end of the movable stopper 101 and the fixed stopper 103; when the movable stopper 101 abuts against the fixed stopper 103, the relative movement between the first limb and the second limb in at least one direction is restricted. Specifically, when the movable stopper 101 abuts against the fixed stopper 103, the relative movement between the first limb and the second limb in the direction of reducing the angle is restricted.
[0049] In this case, the other end of the movable stopper 101 may be provided with an in-place detection sensor 104 for detecting the relative position with the fixed stopper 103 to determine whether it is against the fixed stopper 103. For example, the fixed stopper 103 may be a magnetic material, and the in-place detection sensor 104 may be a Hall sensor. For another example, the fixed stopper 103 may be a light-shielding material, and the in-place detection sensor 104 may be a photoelectric sensor. It should be understood that other materials and sensors that can cooperate with each other may also be used as the fixed stopper 103 and the in-place detection sensor 104 in the present disclosure, respectively.
[0050] In the robot joint self-locking structure provided in the embodiment of the present disclosure, the telescopic member 102 can drive the movable limiting member 102 to rotate around the rotation axis through the extension and retraction of the telescopic rod 1022, thereby changing the relative position between the movable limiting member 101 and the second limb. Specifically, if the movable limiting member 101 is against the second limb (and the telescopic rod 1022 is self-locking at this time, that is, the movement of the movable limiting member 101 away from the second limb is restricted), the relative movement in at least one direction between the first limb and the second limb is restricted. Conversely, if the movable limiting member 101 does not resist the second limb (that is, separate from each other), the relative movement between the first limb and the second limb is not restricted. That is to say, the joint self-locking structure can lock or release the joint to be locked. When locked, the relative movement in at least one direction between the first limb and the second limb connected to the joint to be locked is restricted, and when released, the movement between the first limb and the second limb returns to normal. If it is applied to joints such as elbow joints and ankle joints 600 that still need to be enabled when the robot stands, the joint can be locked by the joint self-locking structure when the robot stands, and the relative movement between the limbs connected to the joint is restricted, so that the robot's standing is not affected when the joint is not enabled, thereby saving the energy consumption required for joint enabling and reducing energy waste. When the robot stands, the joint is released by the joint self-locking structure to avoid affecting the robot's normal walking, operation, etc.
[0051] According to a second aspect of the embodiments of the present disclosure, a robot is provided, wherein the robot comprises a joint self-locking structure provided in any embodiment of the first aspect.
[0052] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.
[0053] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims
1. A robot joint self-locking structure, characterized in that: The structure comprises: A movable stopper, having an axial hole arranged in the middle, and used for being sleeved on a rotating shaft on the degree of freedom to be locked of the joint to be locked; A telescopic member, comprising a main body and a telescopic rod, wherein the main body is used to be connected to the first limb, and the telescopic rod is used to be connected to one end of the movable stopper, and drives the movable stopper to rotate around the rotation axis through telescoping to change the relative position between the other end of the movable stopper and the second limb; Among them, the telescopic rod of the telescopic member has a self-locking function, the first limb and the second limb are two limbs connected by the joint to be locked, and when the movable limiting member is against the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted.
2. The robot joint self-locking structure according to claim 1, characterized in that: The structure also includes a fixed stopper for fixedly connecting with the second limb; The telescopic rod is used to drive the movable stopper to rotate around the rotation axis by telescoping, so as to change the relative position between the other end of the movable stopper and the fixed stopper; When the movable limiting member abuts against the fixed limiting member, the relative movement between the first limb and the second limb in at least one direction is restricted.
3. The robot joint self-locking structure according to claim 2, characterized in that: The other end of the movable limiting member is provided with an in-position detection sensor for detecting the relative position with the fixed limiting member.
4. The robot joint self-locking structure according to claim 1, characterized in that: The second limb is provided with a position identification element for identifying the position of the second limb; the other end of the movable limiting member is provided with an in-position detection sensor for detecting the relative position with the position identification element.
5. The robot joint self-locking structure according to claim 1, characterized in that: When the movable limiting member abuts against the second limb, the relative movement between the first limb and the second limb in the direction of reducing the included angle is restricted.
6. The robot joint self-locking structure according to claim 1, characterized in that: The telescopic rod is used for being hinged to one end of the movable limiting member.
7. The robot joint self-locking structure according to claim 1, characterized in that: The main body of the telescopic member is used for being hinged to the first limb.
8. The robot joint self-locking structure according to claim 1, characterized in that: The telescopic rod is used to drive the other end of the movable limiting member away from the second limb when extending from the main body of the telescopic member, and to drive the other end of the movable limiting member close to the second limb when retracting into the main body of the telescopic member.
9. The robot joint self-locking structure according to claim 1, characterized in that: The joint to be locked includes a knee joint or an ankle joint.
10. A robot, characterized in that: The robot comprises the joint self-locking structure according to any one of claims 1 to 8.