Mechanical device and robot

Abstract

The embodiment of the utility model provides a mechanical device, which comprises a first driving object, a second driving object and a third driving object, the second driving object is detachably connected with the first driving object through a movable mechanism; wherein the connection relation between the second driving object and the first driving object is associated with the connection relation between the movable mechanism and the tail end assembly of the first driving object. Therefore, the second driving object is detachable, so that the use flexibility of the robot can be improved, and diversified use requirements of users are met.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a mechanical device and a robot. Background Technology

[0002] With the continuous development of technology, robots are widely used in many fields. In existing technologies, the mechanical legs and foot components of robots are usually fixedly connected, and the mechanical arms and hand components of robots are usually fixedly connected, which cannot be disassembled by the user, resulting in poor flexibility in the use of robots. Utility Model Content

[0003] This utility model provides a mechanical device and robot to improve the flexibility of robot use and meet the diverse needs of users.

[0004] In a first aspect, embodiments of the present invention provide a mechanical device, comprising:

[0005] The first driving object is connected to the robot's body;

[0006] The second driving object is detachably connected to the first driving object via an active mechanism;

[0007] The connection relationship between the second driving object and the first driving object is associated with the connection relationship between the active mechanism and the end component of the first driving object.

[0008] In the mechanical device provided in this application embodiment, the first driving object and the second driving object are detachably connected by a movable mechanism, so that the second driving object can be detached, thereby improving the flexibility of robot use and meeting the diverse needs of users.

[0009] The first driving object may include, for example, the robot's leg structure and / or arm structure, and the second driving object may include the robot's foot component and / or hand component.

[0010] In one possible design, the connection between the second driving object and the first driving object is associated with the connection between the movable mechanism and the end component of the first driving object, including: when the movable mechanism is connected to the end component of the first driving object, the second driving object is connected to the first driving object; or, when the movable mechanism is not connected to the end component of the first driving object, the second driving object is separated from the first driving object. In this design, by adjusting the connection between the movable mechanism and the end component of the first driving object, the connection between the first driving object and the second driving object can be adjusted.

[0011] In one possible design, the active mechanism is connected to the end component of the first drive object, including: the active mechanism and the end component of the first drive object are connected by a fastener; wherein the fastener includes at least one of the following: a magnetic structure, a snap-fit ​​structure, a screw structure, or a bolt structure.

[0012] In one possible design, the end component of the first drive object includes a first part, a mounting bracket, and a screw. The mounting bracket is disposed on the first drive object, and the first part is sleeved on the mounting bracket and mounted to the first drive object by the screw. When the second drive object is sleeved on the first part, the portion of the mounting bracket exposed on the first part is coupled to the movable mechanism, thereby connecting the first drive object and the second drive object. Alternatively, when the second drive object is not sleeved on the first part, the portion of the mounting bracket exposed on the first part is not coupled to the movable mechanism, and the first drive object and the second drive object are separated. In this design, by providing a mounting bracket on the end component of the first drive object, the end component of the first drive object can be flexibly connected to the movable mechanism.

[0013] In one possible design, the second drive object is provided with a first mounting hole and a second mounting hole, the centers of the first mounting hole and the second mounting hole being aligned with the center of the mounting bracket, respectively. The second drive object is sleeved onto the first component through the first mounting hole, and the mounting bracket is sleeved into the second mounting hole, with a portion of the mounting bracket exposed outside the second mounting hole. When the portion of the mounting bracket exposed outside the second mounting hole is coupled to the movable mechanism, the second drive object is connected to the first drive object; when the portion of the mounting bracket exposed outside the second mounting hole is not coupled to the movable mechanism, the second drive object is separated from the first drive object. In this design, the first and second drive objects are connected or separated by providing a first mounting hole and a second mounting hole in the second drive object.

[0014] In one possible design, the movable mechanism is a screw or lead screw, and the first mounting hole and the second mounting hole are provided with corresponding threads. In this design, by setting the movable mechanism as a screw or lead screw, the movable mechanism can be flexibly implemented.

[0015] In one possible design, after the second driving object is separated from the first driving object, the third driving object is connected to the first driving object through the moving mechanism; wherein the second driving object and the third driving object correspond to different usage scenarios of the robot.

[0016] The current robot's foot and hand components are of a single form, making it difficult to meet the diverse usage scenarios of users. In this design, since the second driving object is separable from the first driving object, and the third driving object is connected to the first driving object through the movable mechanism, the second driving object can be replaced with the third driving object. Because the second and third driving objects correspond to different usage scenarios of the robot, replacing the second driving object with the third driving object can effectively expand the robot's usage scenarios, thereby meeting the diverse usage needs of users.

[0017] In one possible design, when the first driving object includes the robot's leg mechanism, the second or third driving object includes the robot's foot assembly; or, when the first driving object includes the robot's arm mechanism, the second or third driving object includes the robot's hand assembly; or, when the first driving object includes both the robot's leg and arm mechanisms, the second or third driving object includes both the robot's leg and hand assemblies. In this design, the first driving object can include a leg mechanism and / or an arm mechanism, and the second or third driving object can include a foot assembly and / or a hand assembly. That is, the embodiments of this application can achieve the disassembly of the leg mechanism and the foot assembly and / or the disassembly of the arm mechanism and the hand assembly, improving the user's flexibility in using the robot.

[0018] In one possible design, the system further includes a control component for controlling the robot's prompting device to output prompting information based on the robot's usage scenario. This prompting information instructs the user to replace the second driving object with a third driving object; or, based on the robot's usage scenario, replaces the second driving object with a third driving object. In this design, the mechanical device can output prompting information to prompt the user to replace the second driving object with a third driving object (i.e., replace the foot component and / or hand component) based on the robot's usage scenario; or, the mechanical device can replace the second driving object with a third driving object (i.e., replace the foot component and / or hand component) based on the robot's usage scenario, thus adapting the robot's usage scenario to the robot's foot component and / or hand component, effectively improving the user experience of using the robot.

[0019] In one possible design, the mechanical device further includes a control component for controlling the disengagement of the end effector of the first driven object from the movable mechanism according to user instructions, thereby separating the first driven object from the second driven object. In this design, the mechanical device can also respond to user instructions to control the separation of the first and second driven objects, eliminating the need for the user to manually disassemble the second driven object and effectively improving the user experience of using the robot.

[0020] In one possible design, it further includes: a first driving mechanism disposed at one end of the first driving object and connected to the second driving object, for driving the first driving object and / or the second driving object to move.

[0021] In one possible design, the second driving object includes a roller for supporting the robot on its bearing surface and rolling on the bearing surface; the first driving mechanism includes a motor and a transmission assembly, the transmission assembly including a first transmission wheel, a second transmission wheel, and a flexible transmission element; the motor is disposed at one end of the first driving object, the first transmission wheel is connected to the output shaft of the motor; the second transmission wheel is connected to the roller, and the first transmission wheel and the second transmission wheel are connected by the flexible transmission element.

[0022] Secondly, embodiments of this application provide a robot, which includes a body and a mechanical device as described in the first aspect and any optional design of the first aspect, the mechanical device being connected to the body. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 One of the structural schematic diagrams of a mechanical device provided in an embodiment of this utility model;

[0025] Figure 2 A second schematic diagram of the structure of a mechanical device provided in an embodiment of this utility model;

[0026] Figure 3 A third schematic diagram of the structure of a mechanical device provided for an embodiment of this utility model;

[0027] Figure 4 A schematic diagram of the structure of a second driving object provided in an embodiment of this utility model;

[0028] Figure 5 One of the structural schematic diagrams of another mechanical device provided in the embodiments of this utility model;

[0029] Figure 6 A second schematic diagram of the structure of another mechanical device provided in an embodiment of this utility model;

[0030] Figure 7 The third schematic diagram of another mechanical device provided in the embodiment of this utility model.

[0031] Explanation of key figure labels:

[0032] 100. Mechanical devices;

[0033] 101. First driving object; 1011. End component of the first driving object; 1011A. First housing; 1011B. Mounting bracket; 1011C. Screw;

[0034] 102. Second driving object; 1021. First mounting hole; 1022. Second mounting hole;

[0035] 103. Organizing bodies;

[0036] 201. Arm mechanism; 202. Hand assembly; 203. Motion mechanism. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0038] Please see Figure 1 In a first aspect, the mechanical device 100 provided in the embodiments of this application includes a first driving object 101 and a second driving object 102; the second driving object 102 is detachably connected to the first driving object 101 via a movable mechanism 103. The connection relationship between the second driving object 102 and the first driving object 101 is associated with the connection relationship between the movable mechanism 103 and the end effector 1011 of the first driving object 101. Thus, the first driving object 101 and the second driving object 102 are detachably connected via the movable mechanism, making the second driving object 102 detachable, thereby improving the robot's flexibility and meeting diverse user needs.

[0039] The mechanical device 100 can be applied to a robot, and the mechanical device 100 may include, for example, a mechanical leg and / or a mechanical arm; correspondingly, the first driving object 101 may include the robot's leg structure and / or arm structure, and the second driving object 102 may include the robot's foot assembly and / or hand assembly.

[0040] In this embodiment, the connection between the second driving object 102 and the first driving object 101, and the connection between the moving mechanism 103 and the end component 1011 of the first driving object 101, may include, but are not limited to, the following:

[0041] Case 1, such as Figure 1 As shown, when the active mechanism 103 is connected to the end component 1011 of the first drive object 101, the second drive object 102 is connected to the first drive object 101.

[0042] Case 2, such as Figure 2 As shown, when the active mechanism 103 is not connected to the end component 1011 of the first driving object 101, the second driving object 102 is separated from the first driving object 101.

[0043] In cases 1 and 2, the connection between the first driving object 101 and the second driving object 102 can be adjusted by adjusting the connection between the active mechanism 103 and the end component 1011 of the first driving object 101.

[0044] In one possible implementation, the active mechanism 103 and the end component 1011 of the first driven object 101 can be connected by fasteners; wherein the fasteners may include, but are not limited to, at least one of the following: magnetic structure, snap-fit ​​structure, screw structure or bolt structure.

[0045] like Figure 3As shown, in one possible implementation, the end component 1011 of the first driving object 101 includes a first part 1011A, a mounting bracket 1011B, and a screw 1011C. The first part 1011A is sleeved on the mounting bracket 1011B and mounted on the first driving object 101 by the screw 1011C. The second driving object 102 can be sleeved on the first part 1011A. When the movable mechanism 103 is sleeved on the mounting bracket 1011B, that is, when the end component 1011 of the first driving object 101 is connected to the movable mechanism 103, the first driving object 101 is connected to the second driving object 102. Correspondingly, when the movable mechanism 103 is not sleeved on the mounting bracket 1011B, that is, when the end component 1011 is not connected to the movable mechanism 103, the first driving object 101 is separated from the second driving object 102. For example, the active mechanism 103 is a rotating mechanism, and the user can separate or connect the first driving object 101 and the second driving object 102 by rotating the active mechanism 103.

[0046] Please see Figure 4 In one possible implementation, the second driving object 102 is provided with a first mounting hole 1021 and a second mounting hole 1022; the center of the first mounting hole 1021 and the center of the second mounting hole 1022 are respectively aligned with the center of the mounting bracket 1011B. The second driving object 102 is sleeved on the first component 1011A through the first mounting hole 102, and the mounting bracket 1011B is sleeved in the second mounting hole 1022, with a portion of the mounting bracket 1011B exposed outside the second mounting hole 1022. When the portion of the mounting bracket 1011B exposed outside the second mounting hole 1022 is coupled to the movable mechanism 103, the second driving object 102 is mounted on the first driving object 101, and at this time the second driving object 102 is connected to the first driving object 101. When the portion of the mounting bracket 1011B exposed outside the second mounting hole 1022 is not coupled to the movable mechanism 103, the second driving object 102 cannot be mounted on the first driving object 101, and at this time the second driving object 102 is separated from the first driving object 101. In one possible implementation, the movable mechanism 103 is provided with a thread that is coupled to the thread of the mounting bracket 1011B, so that the movable mechanism 103 can lock the second drive object 102 onto the end component 1011, thereby connecting the first drive object 101 and the second drive object 102.

[0047] In this embodiment, after the second drive object 102 separates from the first drive object 101, the third drive object is connected to the first drive object 101 via a moving mechanism; wherein, the second drive object 102 and the third drive object correspond to different usage scenarios of the robot. Thus, by replacing the second drive object 102 with the third drive object, the robot's usage scenarios can be effectively expanded, thereby meeting diverse user needs.

[0048] In the embodiments of this application, the first driving object 101 can be implemented in multiple ways, and correspondingly, the second driving object 102 and the third driving object can also be implemented in multiple ways, including but not limited to the following implementation methods: Implementation method 1, the first driving object 101 may include the robot's leg mechanism, and the second driving object 102 and the third driving object may include the robot's foot components, such as foot wheels or foot pads.

[0049] In embodiment 2, the first driving object 101 may include the robot's arm mechanism, and the second driving object 102 and the third driving object may be the robot's hand components, such as wheels or palm structures.

[0050] In embodiment 3, when the first driving object 101 may include the robot's leg mechanism and arm mechanism, the second driving object 102 or the third driving object may include the robot's leg assembly and hand assembly.

[0051] Optionally, the mechanical device 100 may also include a control component. This control software can control the robot's prompting device to output prompting information based on the robot's usage scenario. The prompting information instructs the user to replace the second driving object 102 with a third driving object; or, based on the robot's usage scenario, replace the second driving object 102 with a third driving object. The robot's usage scenario may include, but is not limited to, indoor and outdoor environments, surfaces with high friction coefficients, and surfaces with low friction coefficients.

[0052] In this way, the mechanical device can prompt the user to replace the second drive object 102 with the third drive object (i.e., replace the foot component and / or hand component) according to the robot's usage scenario; or, automatically replace the second drive object 102 with the third drive object (i.e., replace the foot component and / or hand component), so that the robot's usage scenario is compatible with the robot's foot component and / or hand component, effectively improving the user's experience of using the robot.

[0053] In one possible implementation, the control component 104 can also control the end effector 1011 of the first driven object 101 to separate from the moving mechanism 103 according to user instructions, so as to separate the first driven object 101 and the second driven object 102. In this way, the user does not need to manually disassemble the second driven object 102, effectively improving the user's experience in using the robot.

[0054] In embodiments of this application, the mechanical device 100 further includes a first driving mechanism, which is disposed at one end of the first driving object 101 and connected to the second driving object 102, for driving the first driving object 101 and / or the second driving object 102 to move. For example, the first driving mechanism can drive the first driving object 101 to extend or retract linearly, and drive the second driving object 102 to rotate; or, for another example, the first driving mechanism can drive the first driving object 101 to extend or retract linearly; or, for yet another example, the first driving mechanism can drive the second driving object 102 to rotate.

[0055] For example, please see Figure 5 The first driving object 101 is taken as an example of the robot's leg mechanism, and the second driving object 102 is taken as an example of the robot's foot assembly. The first driving mechanism is taken as an example of motor 1 and motor 2. Figure 5 The second driving object 102 takes a roller as an example. The roller can support the robot's bearing surface (i.e., the robot's driving surface) and roll on the bearing surface. The first driving mechanism includes motor 1 and motor 2 and a transmission assembly (not shown in the figure). The transmission assembly includes a first transmission wheel, a second transmission wheel and a flexible transmission element. Motor 1 and motor 2 are located at one end of the leg mechanism. The first transmission wheel is connected to the output shaft of motor 1 and motor 2. The second transmission wheel is connected to the roller. The first transmission wheel and the second transmission wheel are connected by a flexible transmission element.

[0056] Please see Figure 6 and Figure 7 In this application, embodiments also provide a mechanical device 200. In the mechanical device 200, the first driving object 101 can be the robot's arm mechanism 201, and the second driving object 102 can be the hand assembly 202. The arm structure 201 is detachably connected to the hand assembly 202 via a movable mechanism 203. Specifically, the movable mechanism 203 is coupled to the end component of the arm mechanism 201, thereby connecting the arm structure 201 to the hand assembly 202; conversely, the movable mechanism 203 is not coupled to the end component of the arm mechanism 201, thereby separating the arm structure 201 from the hand assembly 202. This allows for flexible disassembly and reassembly of the hand assembly. For example, the movable mechanism 203 is a rotating mechanism; by rotating the movable mechanism 203, the user can separate or connect the arm structure 201 to the hand assembly 202.

[0057] Optionally, the robot's mechanical legs also include a second drive mechanism, which can drive the first driven object 101 to swing along a first axis. The first axis can be in the left-right direction or the front-back direction.

[0058] Based on the same technical concept, this utility model embodiment also provides a robot, which includes a body and the mechanical device described in the first aspect above, the mechanical device being rotatably connected to the body. The mechanical device in this application embodiment can be the mechanical leg or mechanical arm described in the above embodiment, or it can have other similar structures. The leg mechanism in the mechanical leg can be a single leg or multiple legs, and the mechanical arm can be a single arm or multiple arms. Those skilled in the art can configure it according to actual needs, and this application embodiment does not impose specific limitations.

[0059] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A mechanical device, characterized in that, include: The first driving object is connected to the robot's body; The second driving object is detachably connected to the first driving object via an active mechanism; The connection relationship between the second driving object and the first driving object is associated with the connection relationship between the active mechanism and the end component of the first driving object.

2. The mechanical device according to claim 1, characterized in that, The connection relationship between the second driving object and the first driving object, and the connection relationship between the active mechanism and the end component of the first driving object are associated, including: When the active mechanism is connected to the end component of the first driving object, the second driving object is connected to the first driving object; or... When the active mechanism is not connected to the end component of the first driving object, the second driving object is separated from the first driving object.

3. The mechanical device according to claim 1 or 2, characterized in that, The active mechanism is connected to the end component of the first driven object, including: The active mechanism is connected to the end component of the first driven object via fasteners; wherein the fasteners include at least one of the following: a magnetic structure, a snap-fit ​​structure, a screw structure, or a bolt structure.

4. The mechanical device according to any one of claims 1-3, characterized in that, The end component of the first driving object includes a first component, a mounting bracket, and a screw. The mounting bracket is disposed on the first driving object, and the first component is sleeved on the mounting bracket and installed on the first driving object by the screw. When the second driving object is sleeved on the first component, the portion of the mounting bracket exposed on the first component is coupled to the movable mechanism, and the first driving object is connected to the second driving object; or, When the second drive object is not fitted onto the first component, the portion of the mounting bracket exposed on the first component is not coupled to the movable mechanism, and the first drive object is separated from the second drive object.

5. The mechanical device according to claim 4, characterized in that, The second drive object is provided with a first mounting hole and a second mounting hole, the center of the first mounting hole and the center of the second mounting hole are respectively aligned with the center of the mounting bracket; The second driving object is sleeved on the first component through the first mounting hole, and the mounting bracket is sleeved in the second mounting hole, with a portion of the mounting bracket exposed outside the second mounting hole; When the portion of the mounting bracket exposed in the second mounting hole is coupled to the movable mechanism, the second driving object is connected to the first driving object; When the portion of the mounting bracket exposed in the second mounting hole is not coupled to the movable mechanism, the second driving object is separated from the first driving object.

6. The mechanical device according to any one of claims 1-5, characterized in that, After the second driving object separates from the first driving object, the third driving object is connected to the first driving object through the moving mechanism; The second driving object and the third driving object correspond to different usage scenarios of the robot.

7. The mechanical device according to claim 6, characterized in that, When the first driving object includes the robot's leg mechanism, the second driving object or the third driving object includes the robot's foot assembly; or, When the first driving object includes the robot's arm mechanism, the second driving object or the third driving object includes the robot's hand assembly; or, When the first driving object includes the robot's leg mechanism and arm mechanism, the second driving object or the third driving object includes the robot's leg assembly and hand assembly.

8. The mechanical device according to claim 7, characterized in that, Also includes: A control component is configured to control the robot's prompting device to output prompting information based on the robot's usage scenario. The prompting information instructs the user to replace the second driving object with a third driving object; or... Based on the robot's usage scenario, the second driving object is replaced with a third driving object.

9. The mechanical device according to any one of claims 1-8, characterized in that, Also includes: A control component is used to control the end component of the first drive object to separate from the active mechanism according to user instructions, so as to separate the first drive object and the second drive object.

10. The mechanical device according to any one of claims 1-9, characterized in that, Also includes: A first driving mechanism is disposed at one end of the first driving object and connected to the second driving object, for driving the first driving object and / or the second driving object to move.

11. A robot, characterized in that, The robot includes a body and a mechanical device as described in any one of claims 1-10, the mechanical device being connected to the body.

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