Joint angular displacement measuring mechanism of intelligent robot

Abstract

The utility model provides a joint angular displacement measuring mechanism of an intelligent robot, and relates to the technical field of robots. The joint angular displacement measuring mechanism comprises two joint ends which are rotationally connected through a rotating shaft. One joint end is provided with an angular displacement sensor, the fixed end of the angular displacement sensor is connected with the joint end, and the output end of the angular displacement sensor is connected with the rotating shaft through a first fixing block. And the other joint end is connected with the rotating shaft. A first insertion hole matched with the output end of the angular displacement sensor is formed in the first fixing block, and the output end of the angular displacement sensor can synchronously rotate along with the first fixing block. The rotating shaft is provided with a second inserting hole matched with the first fixing block, and the first fixing block can synchronously rotate along with the rotating shaft. A first locking screw is arranged on the rotating shaft, and the end of the first locking screw penetrates through the side wall of the second inserting hole and then is in threaded connection with the first fixing block. The mechanism can effectively reduce the maintenance cost, and facilitates the later maintenance work.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a joint angle displacement measuring mechanism of an intelligent robot. Background Art

[0002] In recent years, the field of intelligent robotics has rapidly developed, with products such as robots, robot dogs, and exoskeletons increasingly appearing on the scene. For intelligent robots, deviations in angular displacement measurement can lead to deformation of joint movements. Therefore, the accuracy and stability of joint angular displacement measurement are directly related to the robot's operational performance.

[0003] At present, the commonly used joint angular displacement measurement mechanism is to install an angular displacement sensor at the joint, the fixed end of the angular displacement sensor is fixedly connected to one joint end, and the output end of the angular displacement sensor is fixedly connected to the rotating shaft used to realize the rotational connection between the two joint ends. The change in joint angular displacement is measured by the angular displacement sensor and fed back to the host computer in real time.

[0004] However, the output end of the current angular displacement sensor is generally directly connected to the rotating shaft. Once the connection between the rotating shaft and the output end of the angular displacement sensor is worn, the measurement accuracy will decrease. At this time, the only way to solve the problem of decreased measurement accuracy is to replace the rotating shaft, which will not only increase maintenance costs but also reduce maintenance efficiency. Utility Model Content

[0005] In response to the above problems, the present application provides a joint angular displacement measurement mechanism for an intelligent robot, which can effectively reduce maintenance costs and facilitate subsequent maintenance work.

[0006] The technical solution adopted by the utility model to solve its technical problems is:

[0007] A joint angular displacement measuring mechanism for an intelligent robot comprises two joint ends rotatably connected by a rotating shaft;

[0008] An angular displacement sensor is provided on one of the joint ends, a fixed end of the angular displacement sensor is connected to the joint end, and an output end of the angular displacement sensor is connected to the rotating shaft via a first fixed block;

[0009] The other joint end is connected to the rotating shaft;

[0010] The first fixing block is provided with a first plug hole that matches the output end of the angular displacement sensor, and the output end of the angular displacement sensor can rotate synchronously with the first fixing block;

[0011] The rotating shaft is provided with a second plug hole that matches the first fixing block, and the first fixing block can rotate synchronously with the rotating shaft;

[0012] A first locking screw is provided on the rotating shaft, and an end portion of the first locking screw passes through the side wall of the second plug hole and is threadedly connected to the first fixing block.

[0013] Furthermore, a flat opening is provided on the output end of the angular displacement sensor, and a set screw for tightening the flat opening of the output end of the angular displacement sensor is provided on the first fixing block.

[0014] Furthermore, when the first fixing block is inserted into the second inserting hole of the rotating shaft, the outer end of the set screw fits against the side surface of the second inserting hole.

[0015] Furthermore, an avoidance groove is provided at the connection between the arc-shaped surface and the positioning surface of the first plug hole.

[0016] Furthermore, a positioning boss is provided on the outer side of the end of the first fixing block facing the angular displacement sensor.

[0017] Furthermore, a disassembly groove is provided on the end surface of the rotating shaft facing the angular displacement sensor.

[0018] Furthermore, the fixed end of the angular displacement sensor is connected to the joint end through a mounting base, the mounting base includes a mounting plate, a support column is provided on the mounting plate, the support column is connected to the joint end, and the fixed end of the angular displacement sensor is connected to the mounting plate.

[0019] Furthermore, the rotating shaft is connected to the joint end through a second fixed block, the second fixed block includes a positioning plate, a plug-in block is provided on the positioning plate, a third plug-in hole is provided on the joint end, the plug-in block passes through the third plug-in hole and rests on the rotating shaft, and is connected to the rotating shaft through a second locking screw.

[0020] Furthermore, a plane is provided on the rotating shaft, and the plug-in block abuts against the plane of the rotating shaft after passing through the third plug-in hole.

[0021] Furthermore, a third locking screw is provided on the positioning plate, and the third locking screw is connected to the joint end.

[0022] The beneficial effects of the utility model are:

[0023] In an embodiment of the present application, a joint angular displacement measurement mechanism for an intelligent robot is provided with a first fixing block disposed between the output end of an angular displacement sensor and a rotating shaft. The rotating shaft is connected to the output end of the angular displacement sensor via the first fixing block. This transfers wear from the rotating shaft to the first fixing block, requiring only replacement of the first fixing block during use. This not only reduces maintenance costs but also improves maintenance efficiency by eliminating the need to disassemble the rotating shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the three-dimensional structure of a joint angular displacement measurement mechanism of an intelligent robot provided in an embodiment of the present application;

[0025] Figure 2 A front view of a joint angular displacement measurement mechanism of an intelligent robot provided in an embodiment of the present application;

[0026] Figure 3 A cross-sectional view of the connection structure between the joint motion end, the joint fixed end and the rotating shaft;

[0027] Figure 4 for Figure 3 Schematic diagram of the enlarged structure of part A;

[0028] Figure 5 An exploded view of a joint angular displacement measurement mechanism of an intelligent robot provided in an embodiment of the present application;

[0029] Figure 6 is a schematic diagram of the three-dimensional structure of the second fixed block;

[0030] Figure 7 Schematic diagram of the connection relationship between the angular displacement sensor and the mounting base;

[0031] Figure 8 is a cross-sectional view of the mounting base;

[0032] Figure 9 is a schematic diagram of the three-dimensional structure of the first fixing block;

[0033] Figure 10 Schematic diagram of the three-dimensional structure of the rotating shaft.

[0034] In the figure: 1, joint motion end; 11, connecting plate;

[0035] 2. Joint fixing end; 21. Connecting end; 211. Third plug hole; 212. Recessed portion;

[0036] 3. Rotating shaft; 31. Second plug hole; 32. Through hole; 33. Disassembly slot; 34. Mounting boss; 35. Flat surface; 36. Stud;

[0037] 4. Angular displacement sensor;

[0038] 5. First fixing block; 51. First plug hole; 52. First threaded hole; 53. Positioning boss; 54. Avoidance groove;

[0039] 61. Bearing assembly; 62. Limit nut; 63. First washer; 64. Second washer; 65. Bushing;

[0040] 71. First locking screw; 72. Second locking screw; 73. Third locking screw; 74. First fixing screw; 75. Second fixing screw; 76. Set screw;

[0041] 8. Mounting seat; 81. Mounting plate; 811. Avoidance hole; 82. Support column; 821. Countersunk hole;

[0042] 9. Second fixing block; 91. Positioning plate; 92. Connecting block. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below in conjunction with the drawings in the embodiments of this application. The described embodiments are only part of the embodiments of this application, not all of the embodiments. All other embodiments obtained by those skilled in the art without creative work based on the embodiments of this application should fall within the scope of protection of this application.

[0044] like Figure 1 、 Figure 2 、 Figure 3 and Figure 5 As shown, a joint angular displacement measurement mechanism for an intelligent robot includes two joint ends, which are rotatably connected via a rotating shaft 3. An angular displacement sensor 4 is provided on one joint end, the fixed end of which is detachably fixed to the joint end. The output end of the angular displacement sensor 4 is connected to the rotating shaft 3 via a first fixing block 5. The other joint end is fixedly connected to the rotating shaft 3.

[0045] When the two joint ends rotate relative to each other, the output end of the angular displacement sensor 4 can be driven to rotate relative to the fixed end of the angular displacement sensor 4, thereby achieving the measurement of the joint angular displacement.

[0046] For ease of description and understanding of this embodiment, the two joint ends are respectively designated as a joint motion end 1 and a joint fixed end 2, and the joint motion end 1 and the joint fixed end 2 are rotatably connected via a rotating shaft 3. The fixed end of the angular displacement sensor 4 is fixedly connected to the joint motion end 1, and the output end of the angular displacement sensor 4 is fixedly connected to the rotating shaft 3 via a first fixing block 5. The rotating shaft 3 is fixedly connected to the joint fixed end 2.

[0047] As a specific embodiment, the joint motion end 1 described in this embodiment includes two connecting plates 11. The end of the joint fixed end 2 facing the joint motion end 1 is located between the two connecting plates 11. For ease of description, the end of the joint fixed end 2 facing the joint motion end 1 is referred to as the connecting end 21. The rotating shaft 3 is fixedly connected to the connecting end 21 of the joint fixed end 2. The ends of the rotating shaft 3 are rotatably connected to the connecting plates 11 via bearing assemblies 61.

[0048] like Figure 4 and Figure 9 As shown, the first fixing block 5 is provided with a first plug hole 51 that matches the output end of the angular displacement sensor 4 , and the output end of the angular displacement sensor 4 can rotate synchronously with the first fixing block 5 under the drive of the first fixing block 5 .

[0049] As a specific embodiment, the output end of the angular displacement sensor 4 in this embodiment is provided with a flat opening, and the first fixing block 5 is provided with a first insertion hole 51 that matches the output end of the angular displacement sensor 4. That is, the cross-sectional shape of the first insertion hole 51 matches the cross-sectional shape of the output end of the angular displacement sensor 4. The first insertion hole 51 passes through the first fixing block 5.

[0050] like Figure 4 、 Figure 9 and Figure 10As shown, a second insertion hole 31 is provided on the end face of the rotating shaft 3 facing the angular displacement sensor 4. The end of the first fixing block 5 facing away from the angular displacement sensor 4 is inserted into the second insertion hole 31 and cooperates with the second insertion hole 31. That is, the cross-sectional shape of the second insertion hole 31 matches the cross-sectional shape of the outer portion of the insertion end of the first fixing block 5. The first fixing block 5 can rotate synchronously with the rotating shaft 3 under the drive of the rotating shaft 3. A first locking screw 71 is provided on the rotating shaft 3. The end of the first locking screw 71 passes through the side wall of the second insertion hole 31 and is threadedly connected to the first fixing block 5. The side wall of the second insertion hole 31 is provided with a through hole 32 that allows the first locking screw 71 to pass through. The first fixing block 5 is provided with a first threaded hole 52 that cooperates with the first locking screw 71.

[0051] As a specific embodiment, the rotating shaft 3 described in this embodiment is provided with multiple first locking screws 71. The first locking screws 71 extend radially along the rotating shaft 3 and are evenly arranged around the circumference of the rotating shaft 3, forming an overall radial structure. For example, the rotating shaft 3 is provided with four first locking screws 71.

[0052] As a specific implementation, in this embodiment, the insertion end of the first fixing block 5 is a regular octagonal structure, and correspondingly, the cross-section of the second plug hole 31 is a regular octagonal structure.

[0053] By providing the first locking screw 71, a reliable connection between the first fixed block 5 and the rotating shaft 3 can be achieved, so that the first fixed block 5 and the rotating shaft 3 form a rigid whole. In this way, during the rotation process, power is mainly transmitted through the first locking screw 71 rather than through the second plug hole 31, thereby avoiding direct force on the side of the second plug hole 31 and effectively protecting the rotating shaft 3.

[0054] Furthermore, if Figure 4 and Figure 9 As shown, a positioning boss 53 is provided on the outer side of the end of the first fixing block 5 facing the angular displacement sensor 4. When the positioning boss 53 abuts against the end face of the rotating shaft 3, the through holes 32 are aligned one-to-one with the first threaded holes 52. For example, the outer side of the positioning boss 53 is a circular structure.

[0055] Furthermore, if Figure 4 and Figure 9As shown, the first fixing block 5 is provided with a flat-end set screw 76 for tightening the output end of the angular displacement sensor 4. When the first fixing block 5 is inserted into the second insertion hole 31 of the rotating shaft 3, the outer end of the set screw 76 (the end away from the axis of the output end of the angular displacement sensor 4 is the outer end) abuts against the side of the second insertion hole 31. This prevents the set screw 76 from loosening, thereby ensuring a reliable connection between the first fixing block 5 and the output end of the angular displacement sensor 4 and eliminating rotational play.

[0056] Furthermore, if Figure 9 As shown, an avoidance groove 54 is provided at the connection between the arcuate surface and the positioning surface of the first plug hole 51. For example, the cross-section of the avoidance groove 54 is an arc-shaped structure. In this way, on the one hand, the processing difficulty can be reduced, thereby ensuring the matching accuracy between the first plug hole 51 and the output end of the angular displacement sensor 4. On the other hand, the angular displacement sensor 4 will also wear during operation, and this wear generally occurs at the corners with stress concentration, that is, the connection between the flat mouth and the cylindrical surface. By providing the avoidance groove 54, even if the connection between the flat mouth and the cylindrical surface is worn, it can still form a good fit with the replaced first fixing block 5 and ensure the matching accuracy.

[0057] Furthermore, a disassembly slot 33 is provided on the end face of the rotating shaft 3 facing the angular displacement sensor 4, and the disassembly slot 33 radially penetrates the rotating shaft 3. Thus, when the positioning boss 53 of the first fixing block 5 is pressed against the end face of the rotating shaft 3, the disassembly slot 33 facilitates inserting a finger into the disassembly slot 33, thereby conveniently grasping the positioning boss 53 of the first fixing block 5 and removing the first fixing block 5.

[0058] As a specific embodiment, in this embodiment, a mounting boss 34 is provided on the end of the rotating shaft 3 facing the angular displacement sensor 4. For example, the outer edge of the mounting boss 34 is square. The through hole 32 and the disassembly slot 33 are both provided on the mounting boss 34.

[0059] In this embodiment, the first fixing block 5 fastens the angular displacement sensor 4 to the rotating shaft 3 , and the connection between the set screw 76 and the first locking screw 71 makes the relative rotational clearance between the two substantially zero, with extremely high precision.

[0060] like Figure 1 and Figure 2 As shown, the fixed end of the angular displacement sensor 4 is connected to the joint motion end 1 through a mounting seat 8 .

[0061] like Figure 4 、 Figure 5 and Figure 7 As shown, the mounting base 8 includes a mounting plate 81, which is provided with a support column 82 extending toward the side of the joint motion end 1. The support column 82 is fixedly connected to the connecting plate 11 of the joint motion end 1 via a first fixing screw 74. The fixed end of the angular displacement sensor 4 is fixedly connected to the mounting plate 81 via a second fixing screw 75. The mounting plate 81 is provided with an avoidance hole 811. The output end of the angular displacement sensor 4 extends through the avoidance hole 811 to the inner side of the mounting plate 81 (with the side facing the rotating shaft 3 as the inner side).

[0062] As a specific implementation, three support columns 82 are provided on the mounting plate 81 in this embodiment. The three support columns 82 are located at the edge of the mounting plate 81 and are evenly arranged around the angular displacement sensor 4 .

[0063] As a specific implementation method, Figure 8 As shown, the support column 82 described in this embodiment is provided with a countersunk hole 821 for accommodating the first fixing screw 74.

[0064] like Figure 1 and Figure 2 As shown, the rotating shaft 3 is fixedly connected to the joint fixed end 2 through a second fixing block 9 .

[0065] like Figure 3 、 Figure 5 and Figure 6 As shown, the second fixing block 9 includes a positioning plate 91, on which a plug-in block 92 is mounted. Together, the plug-in block 92 and the positioning plate 91 form a T-shaped structure. The connecting end 21 of the joint fixing end 2 is provided with a third plug-in hole 211 that mates with the plug-in block 92. The plug-in block 92 passes through the third plug-in hole 211, rests against the rotating shaft 3, and is fixedly connected to the rotating shaft 3 via a second locking screw 72.

[0066] As a specific implementation, the cross-section of the plug-in block 92 in this embodiment is a square structure. Correspondingly, the third plug-in hole 211 is a square structure that matches the plug-in block 92 .

[0067] Furthermore, if Figure 3 and Figure 10 As shown, a plane 35 is provided on the rotating shaft 3 , and the plug-in block 92 abuts against the plane 35 of the rotating shaft 3 after passing through the third plug-in hole 211 .

[0068] Furthermore, third locking screws 73 are provided on both sides of the positioning plate 91 on the plug-in block 92, and the third locking screws 73 are fixedly connected to the connecting end 21 of the joint fixing end 2. The reason for this design is that, in order to facilitate installation and disassembly, an intermittent fit should be adopted between the plug-in block 92 and the third plug-in hole 211, and it is also difficult for the plug-in block 92 with a square structure to ensure the shape fit with the third plug-in hole 211. Therefore, if it is connected to the rotating shaft 3 only by the second locking screw 72, although the connection and fixation of the rotating shaft 3 and the joint fixing end 2 can be achieved, there is a rotation intermittent, which will reduce the accuracy of the angle measurement. By providing the third locking screw 73, a reliable connection between the rotating shaft 3 and the joint fixing end 2 can be achieved while facilitating disassembly, eliminating the rotation gap.

[0069] Furthermore, a recessed portion 212 for accommodating the positioning plate 91 is provided on the connecting end portion 21 of the joint fixing end 2 .

[0070] like Figure 3 and Figure 10 As shown, a stud 36 is provided at one end of the rotating shaft 3 facing away from the angular displacement sensor 4 , and a step surface is formed between the stud 36 and the rotating shaft 3 , and a limiting nut 62 is provided on the stud 36 .

[0071] Furthermore, if Figure 3 As shown, a first washer 63 is sleeved on the rotating shaft 3 between the mounting boss 34 and the joint motion end 1, and a second washer 64 is sleeved on the stud 36 on the inner side of the locking nut (with the side close to the joint motion end 1 as the inner side), and the second washer 64 is pressed against the step surface under the locking action of the locking nut.

[0072] The first washer 63 and the second washer 64 are both made of copper to reduce the friction between the shaft 3 and the joint motion end 1 when the joint rotates.

[0073] Furthermore, the distance between the mounting boss 34 and the step surface is greater than the distance between the outer sides of the two connecting plates 11. In this way, the locking nut is locked on the shaft 3 instead of the joint motion end 1, and the locking nut is firmly locked without causing additional resistance to the rotation of the shaft 3.

[0074] Furthermore, the bearing assembly 61 utilizes a combination bearing, comprising a needle roller bearing and a thrust cylindrical roller bearing. Sleeves 65 are sleeved on either side of the joint fixing end 2 of the rotating shaft 3. The inner ends of the sleeves 65 abut against the joint fixing end 2, while the outer ends of the sleeves 65 abut against the combination bearings. This combination bearing ensures smooth rotation of the rotating shaft 3 while being able to withstand significant radial and axial loads.

[0075] As a specific implementation, the angular displacement sensor 4 described in this embodiment adopts a single-turn absolute encoder with high precision and good stability. Here, different types of encoders can be selected according to different application scenarios.

[0076] During operation, the joint motion end 1 rotates relative to the joint fixed end 2, generating angular displacement; the fixed end of the angular displacement sensor 4 is fixed to the joint motion end 1 and rotates with it; the output end of the angular displacement sensor 4 is fixedly connected to the joint fixed end 2 through the first fixed block 5 and the rotating shaft 3; as the joint rotates, the output end of the angular displacement sensor 4 rotates relative to the fixed end of the angular displacement sensor 4, and the angular displacement sensor 4 collects angular displacement information and sends it to the host computer.

[0077] Other embodiments obtained by those skilled in the art by combining, splitting, reorganizing, etc. the embodiments provided in this application do not exceed the scope of protection of this application.

[0078] The above specific implementation methods provide a detailed description of the purpose, technical solutions and beneficial effects of the embodiments of the present application. The above is only a specific implementation method of the embodiments of the present application and is not intended to limit the scope of protection of the embodiments of the present application. That is, any modifications, equivalent replacements, improvements, etc. made on the basis of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A joint angular displacement measurement mechanism for an intelligent robot, characterized by: It comprises two joint ends rotatably connected via a rotating shaft (3); An angular displacement sensor (4) is provided on one of the joint ends, a fixed end of the angular displacement sensor (4) is connected to the joint end, and an output end of the angular displacement sensor (4) is connected to the rotating shaft (3) via a first fixed block (5); The other joint end is connected to the rotating shaft (3); The first fixed block (5) is provided with a first plug hole (51) that matches the output end of the angular displacement sensor (4), and the output end of the angular displacement sensor (4) can rotate synchronously with the first fixed block (5); The rotating shaft (3) is provided with a second plug hole (31) that matches the first fixed block (5), and the first fixed block (5) can rotate synchronously with the rotating shaft (3); A first locking screw (71) is provided on the rotating shaft (3), and the end of the first locking screw (71) passes through the side wall of the second plug hole (31) and is threadedly connected to the first fixing block (5).

2. The joint angular displacement measuring mechanism of an intelligent robot according to claim 1, characterized in that: The output end of the angular displacement sensor (4) is provided with a flat opening, and the first fixing block (5) is provided with a set screw (76) for tightening the flat opening of the output end of the angular displacement sensor (4).

3. The joint angular displacement measuring mechanism of an intelligent robot according to claim 2, characterized in that: When the first fixing block (5) is inserted into the second insertion hole (31) of the rotating shaft (3), the outer end of the set screw (76) fits against the side surface of the second insertion hole (31).

4. The joint angular displacement measuring mechanism of an intelligent robot according to claim 2, characterized in that: An avoidance groove (54) is provided at the connection between the arcuate surface and the positioning surface of the first plug hole (51).

5. The joint angular displacement measuring mechanism of an intelligent robot according to claim 1, characterized in that: A positioning boss (53) is provided on the outer side of one end of the first fixing block (5) facing the angular displacement sensor (4).

6. The joint angular displacement measuring mechanism of an intelligent robot according to claim 5, characterized in that: A disassembly groove (33) is provided on the end surface of the rotating shaft (3) facing the angular displacement sensor (4).

7. The joint angular displacement measuring mechanism of an intelligent robot according to claim 1, characterized in that: The fixed end of the angular displacement sensor (4) is connected to the joint end via a mounting seat (8); the mounting seat (8) comprises a mounting plate (81); a support column (82) is provided on the mounting plate (81); the support column (82) is connected to the joint end; and the fixed end of the angular displacement sensor (4) is connected to the mounting plate (81).

8. The joint angular displacement measuring mechanism of an intelligent robot according to claim 1, characterized in that: The rotating shaft (3) is connected to the joint end through a second fixing block (9), the second fixing block (9) includes a positioning plate (91), a plug-in block (92) is provided on the positioning plate (91), a third plug-in hole (211) is provided on the joint end, the plug-in block (92) passes through the third plug-in hole (211) and abuts against the rotating shaft (3), and is connected to the rotating shaft (3) through a second locking screw (72).

9. The joint angular displacement measuring mechanism of an intelligent robot according to claim 8, characterized in that: A plane (35) is provided on the rotating shaft (3), and the plug-in block (92) is abutted against the plane (35) of the rotating shaft (3) after passing through the third plug-in hole (211).

10. The joint angular displacement measuring mechanism of an intelligent robot according to claim 8, characterized in that: A third locking screw (73) is provided on the positioning plate (91), and the third locking screw (73) is connected to the joint end.

Images