Shoulder structure and robot

Abstract

The utility model relates to the technical field of robots, in particular to a shoulder structure and a robot. Wherein the shoulder structure comprises a supporting body, a differential driving assembly, a differential transmission assembly, a rope driving assembly and a shoulder joint, and the differential driving assembly and the rope driving assembly are installed on the supporting body; the shoulder joint comprises a rotating seat and an adapter seat, the rotating seat is fixedly arranged at the power output end of the differential transmission assembly, the power input end of the differential transmission assembly is in transmission connection with the power output end of the differential driving assembly, and the adapter seat is pivoted to the rotating seat and is in transmission connection with the power output end of the rope driving assembly. The differential driving assembly and the rope driving assembly are arranged far away from the shoulder joint, on one hand, the mass of the shoulder joint can be reduced, and therefore the inertia of the shoulder joint is reduced, the mechanical arm is more stable in the movement process, and the movement precision and stability of the mechanical arm are improved; the mechanical arm has small inertia in the moving process and can quickly respond to a control instruction.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a shoulder structure and a robot. Background Technology

[0002] With the development of robotics technology, the performance and application scenarios of robotic arms are constantly expanding. Whether in military or civilian applications, higher demands are being placed on the response speed and safety of human-computer interaction. There is a desire for robot arms to possess characteristics such as low mass, low inertia, high speed, and high dexterity. Humanoid robots, which resemble humans in appearance and possess certain human-computer interaction and movement capabilities, have their shoulder structure as a crucial component of their robotic arms.

[0003] In related technologies, the shoulder structure of the robotic arm of a humanoid robot is basically set up with reference to the structure of an industrial robot, adopting a series structure and driven by a motor, harmonic reducer or synchronous toothed belt; however, it also has the following shortcomings: the drive components such as motors are located at the shoulder joint, resulting in a large shoulder joint mass and large inertia. Utility Model Content

[0004] The first objective of this invention is to provide a shoulder structure to solve the technical problems of large shoulder joint mass and large inertia in robotic arms of the related technologies.

[0005] This utility model provides a shoulder structure, including a support body, a differential drive assembly, a differential transmission assembly, a cable drive assembly, and a shoulder joint. The differential drive assembly and the cable drive assembly are mounted on the support body. The shoulder joint includes a rotating seat and an adapter seat. The rotating seat is fixed to the power output end of the differential transmission assembly, and the power input end of the differential transmission assembly is tractively connected to the power output end of the differential drive assembly. The differential drive assembly is configured to drive the differential transmission assembly to cause the rotating seat to perform pitching motion around a lateral axis extending in the left-right direction, and / or deflection motion around a vertical axis extending in the up-down direction. The adapter seat is pivotally connected to the rotating seat and tractively connected to the power output end of the cable drive assembly. The cable drive assembly is configured to drive the adapter seat to perform rotational motion relative to the rotating seat around a longitudinal axis extending in the front-back direction.

[0006] Optionally, the differential transmission assembly includes two first driven bevel gears rotatably arranged around the vertical axis, and a planetary bevel gear meshing with the two first driven bevel gears; the rotating seat is fixed to the planetary bevel gear;

[0007] The differential drive assembly has two sets, and its power output ends are respectively connected to the first driven bevel gear. It is configured to: drive the two first driven bevel gears to drive the planetary bevel gear to rotate around the transverse axis to realize the pitch movement of the rotating seat; and / or drive the two first driven bevel gears to drive the planetary bevel gear to rotate around the vertical axis to realize the deflection movement of the rotating seat.

[0008] Optionally, the differential transmission assembly further includes a planetary support, which is a U-shaped support including two sidewalls arranged opposite each other along the vertical direction and a bottom wall that is perpendicularly connected to both sidewalls. The two first driven bevel gears are respectively pivotally connected to the two sidewalls. The planetary bevel gears are fixed to the rotating seat by a transverse shaft, and the transverse shaft is pivotally connected to the bottom wall.

[0009] Optionally, each differential drive assembly includes a differential motor, a differential drive mounting base, a driving bevel gear, a vertical shaft, and a second driven bevel gear. The differential drive mounting base includes a differential motor mounting plate and a bevel gear mounting plate connected to each other. The differential motor mounting plate is mounted on the support body, the differential motor is fixed to the differential motor mounting plate, the driving bevel gear is driven and connected to the power output end of the differential motor, the second driven bevel gear meshes with the driving bevel gear, the vertical shaft is pivotally connected to the bevel gear mounting plate, and both the second driven bevel gear and the first driven bevel gear are fixed to the vertical shaft.

[0010] Optionally, the rope drive assembly includes a rope drive motor, a rope drive mounting base, a rope transmission shaft, a first rope, a second rope, and a rope pulley. The rope drive mounting base is mounted on the support body, the rope drive motor is mounted on the rope drive mounting base, the rope transmission shaft is drivenly connected to the power output end of the rope drive motor, the rope transmission shaft has a helical winding groove along its outer wall surface, and the rope pulley is fixed to the adapter seat. The rope pulley has a first rope groove and a second rope groove.

[0011] Both the planetary bevel gear and the rotary seat have rope channels;

[0012] The first end of the first rope is fixed to the spiral winding groove and wound clockwise around the spiral winding groove, and the second end passes through the rope channel of the planetary bevel gear and the rotating seat and is wound clockwise around the first rope groove of the rope wheel; the first end of the second rope is fixed to the winding groove and wound counterclockwise around the spiral winding groove, and the second end passes through the rope channel of the planetary bevel gear and the rotating seat and is wound clockwise around the second rope groove of the rope wheel.

[0013] Optionally, the rope drive assembly is located above or below the differential drive assembly;

[0014] The other end of the first rope passes sequentially through the second driven bevel gear, the vertical shaft, the first driven bevel gear, the planetary bevel gear, and the rotating seat;

[0015] The other end of the second rope passes sequentially through the second driven bevel gear, the vertical shaft, the first driven bevel gear, the planetary bevel gear, and the rotating seat.

[0016] Optionally, the rope drive mounting base is fixedly provided with a rope transmission support base, and the rope transmission shaft is pivotally connected to the rope transmission support base;

[0017] The rope drive support is provided with a first rope joint and a second rope joint; the rotating seat is provided with a third rope joint and a fourth rope joint; the first rope passes through the first rope joint, the rope channel and the third rope joint; the second rope passes through the second rope joint, the rope channel and the fourth rope joint.

[0018] Optionally, the rotating seat includes a vertical plate and a connecting plate that are perpendicularly connected to each other. There are two connecting plates that are arranged in parallel and spaced apart. A transverse shaft is fixed to the vertical plate, and the end of the transverse shaft is fixed to the planetary bevel gear.

[0019] The adapter includes an adapter plate and side plates that are perpendicularly connected to each other. There are two side plates that are arranged in parallel and spaced apart. The two side plates are respectively pivotally connected to the two connecting plates.

[0020] The rope pulley is located between the two side plates; the rope pulley has a flat portion, which is fixed to the adapter plate, and the flat portion has a first rope groove and a second rope groove; the second end of the first rope is fixed between the first rope groove of the flat portion and the adapter plate, and the second end of the second rope is fixed between the second rope groove of the flat portion and the adapter plate.

[0021] Optionally, the adapter plate has a third rope groove and a fourth rope groove on the side facing the flat portion, the space formed by the first rope groove and the third rope groove is used to accommodate the first rope, and the space formed by the second rope groove and the fourth rope groove is used to accommodate the second rope;

[0022] One of the adapter plate and the flat portion is threadedly connected to a fastener, the fastener being configured to restrict the movement of the first rope along the length direction of the third rope groove and to restrict the movement of the second rope along the length direction of the fourth rope groove.

[0023] The shoulder structure provided by this utility model has at least the following beneficial technical effects:

[0024] (1) The differential drive assembly is connected to the shoulder joint via the differential transmission assembly to realize the pitch and yaw movements of the shoulder joint; and the cable drive assembly is connected to the shoulder joint to realize the rotation movement of the shoulder joint; that is, through the combination of the differential drive assembly, the differential transmission assembly and the cable drive assembly, the pitch, yaw and rotation movements of the shoulder joint are realized, so that the shoulder joint has three degrees of freedom and has flexible movement capabilities;

[0025] (2) By setting the differential drive assembly and the rope drive assembly away from the shoulder joint, on the one hand, the mass of the shoulder joint can be reduced, thereby reducing the inertia of the shoulder joint, making the robotic arm more stable during movement and improving the accuracy and stability of the robotic arm movement; on the other hand, the robotic arm has a smaller inertia during movement and can respond quickly to control commands; and the robotic arm has less impact on surrounding people in the event of power failure, thus improving the safety of human-machine interaction; on the other hand, the size of the shoulder joint can be reduced, making the shoulder joint structure of the robotic arm more compact.

[0026] The second objective of this invention is to provide a robot that solves the technical problems of large mass and large inertia in the shoulder structure of existing robotic arms.

[0027] The present invention provides a robot including the aforementioned shoulder structure.

[0028] The robot provided by this utility model has at least the following beneficial technical effects:

[0029] By incorporating the aforementioned shoulder structure into the robot, the robot consequently possesses all the advantages of the aforementioned shoulder structure, which will not be elaborated upon here. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 A schematic diagram of the assembly structure of a shoulder structure provided for an embodiment of this utility model;

[0032] Figure 2 A front view schematic diagram of a shoulder structure provided for an embodiment of this utility model;

[0033] Figure 3(a) illustrates the differential principle of a shoulder structure provided in an embodiment of this utility model. Figure 1 ;

[0034] Figure 3(b) illustrates the differential principle of a shoulder structure provided in an embodiment of this utility model. Figure 2 ;

[0035] Figure 4 A top view of a shoulder structure provided for an embodiment of this utility model;

[0036] Figure 5 for Figure 4 Schematic diagram of the cross-sectional structure of the middle AA section;

[0037] Figure 6 An isometric schematic diagram of a shoulder structure provided for an embodiment of this utility model;

[0038] Figure 7 A partial structural diagram of the shoulder joint in a shoulder structure provided in this embodiment of the present utility model;

[0039] Figure 8 A left-side view of the shoulder joint in a shoulder structure provided for an embodiment of this utility model;

[0040] Figure 9 for Figure 8 Schematic diagram of the cross-sectional structure of the middle BB section;

[0041] Figure 10 for Figure 8 Schematic diagram of the cross-sectional structure of the middle CC section;

[0042] Figure 11 for Figure 1 A magnified schematic diagram of the portion circled at point D in the middle;

[0043] Figure 12 This is a schematic diagram of the assembly structure of a robot provided for an embodiment of the present utility model.

[0044] Explanation of reference numerals in the attached figures:

[0045] 1-Shoulder structure;

[0046] 10 - Support body;

[0047] 20 - Differential drive assembly; 210 - Differential drive mounting base; 211 - Differential motor mounting plate; 212 - Bevel gear mounting plate; 220 - Differential motor; 230 - Driving bevel gear; 240 - Vertical shaft; 250 - Second driven bevel gear;

[0048] 30 - Differential transmission assembly; 310 - First driven bevel gear; 320 - Planetary bevel gear; 330 - Planetary support; 331 - Side wall; 332 - Bottom wall;

[0049] 40-Rope drive assembly; 401-First rope connector; 402-Second rope connector; 410-Rope drive mounting base; 420-Rope drive motor; 430-Rope drive shaft; 431-Helical rope groove; 440-First rope; 450-Second rope; 460-Rope pulley; 461-First rope groove; 462-Second rope groove; 463-Flat section; 470-Rope drive support base;

[0050] 50-Shoulder joint; 501-Third rope connector; 502-Fourth rope connector; 510-Rotating seat; 511-Vertical plate; 512-Connecting plate; 520-Adapter seat; 521-Adapter plate; 522-Side plate; 523-Third rope groove; 524-Fourth rope groove; 530-Transverse axis. Detailed Implementation

[0051] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the following description is provided in conjunction with the appendix. Figure 1-12 Specific embodiments of the present invention will be described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0052] Please refer to Figure 2 As shown, the present invention provides a shoulder structure 1. The front, back, left, right, up, and down directions are defined with the shoulder structure 1 as a reference. The height direction of the shoulder is the up-down direction, which is the Y direction shown in the figure. Correspondingly, the length direction of the shoulder is the left-right direction, which is the X direction shown in the figure. The thickness direction of the shoulder is the front-back direction, which is the Z direction shown in the figure.

[0053] This utility model embodiment provides a shoulder structure 1, please refer to the appendix. Figure 1 and Figure 2 The shoulder structure 1 includes a support body 10, a differential drive assembly 20, a differential transmission assembly 30, a cable drive assembly 40, and a shoulder joint 50. The differential drive assembly 20 and the cable drive assembly 40 are mounted on the support body 10. The shoulder joint 50 includes a rotating seat 510 and an adapter seat 520. The rotating seat 510 is fixed to the power output end of the differential transmission assembly 30, and the power input end of the differential transmission assembly 30 is driveably connected to the power output end of the differential drive assembly 20. The differential drive assembly 20 is configured to drive the differential transmission assembly 30 to cause the rotating seat 510 to pitch around a transverse axis extending in the left-right direction, and / or to deflect around a vertical axis extending in the up-down direction. The adapter seat 520 is pivotally connected to the rotating seat 510 and drively connected to the power output end of the cable drive assembly 40. The cable drive assembly 40 is configured to drive the adapter seat 520 to rotate relative to the rotating seat 510 around a longitudinal axis extending in the front-back direction.

[0054] This utility model provides a shoulder structure 1, which is connected to the shoulder joint 50 via a differential drive assembly 20 and a differential transmission assembly 30 to realize the pitch and yaw movements of the shoulder joint 50; and is also connected to the shoulder joint 50 via a rope drive assembly 40 to realize the rotational movement of the shoulder joint 50. In other words, the combination of the differential drive assembly 20, the differential transmission assembly 30, and the rope drive assembly 40 enables the pitch, yaw, and rotational movements of the shoulder joint 50, giving the shoulder joint 50 three degrees of freedom and flexible movement capabilities. In contrast to related technologies, where drive components such as motors are arranged on the shoulder joint 50... Compared to the previous embodiment, this utility model, by moving the differential drive assembly 20 and the rope drive assembly 40 away from the shoulder joint 50, can, on the one hand, reduce the mass of the shoulder joint 50, thereby reducing its inertia and making the robotic arm more stable during movement, thus improving the accuracy and stability of the robotic arm's movement; it also allows the robotic arm to have a smaller inertia during movement, enabling it to respond quickly to control commands; and it reduces the impact on surrounding personnel in the event of a power outage, improving the safety of human-machine interaction; on the other hand, it can reduce the size of the shoulder joint 50, making the structure of the robotic arm's shoulder joint 50 more compact.

[0055] Please continue reading the appendix. Figure 2In this embodiment of the present invention, the differential transmission assembly 30 includes two first driven bevel gears 310 rotatably arranged around a vertical axis, and a planetary bevel gear 320 meshing with the two first driven bevel gears 310; the rotating seat 510 is fixed to the planetary bevel gear 320; the differential drive assembly 20 has two sets, and the power output ends of the two sets of differential drive assemblies 20 are respectively meshed with the first driven bevel gears 310, configured as follows: for driving the two first driven bevel gears 310 to drive the planetary bevel gear 320 to rotate around a horizontal axis, thereby realizing the pitching motion of the rotating seat 510; and / or for driving the two first driven bevel gears 310 to drive the planetary bevel gear 320 to rotate around a vertical axis, thereby realizing the deflection motion of the rotating seat 510.Specifically, the differential drive assembly 20 is used to drive two first driven bevel gears 310 to move in the same direction and at the same speed. The "same direction" in the movement of the first driven bevel gears 310 means that, looking from the small end to the large end of the first driven bevel gear 310 (as shown by arrow b in Figure 3(a)), the movement direction of the first driven bevel gears 310 is either clockwise or counterclockwise. At this time, the first driven bevel gears 310 drive the planetary bevel gears 320 to move in the same direction and at the same speed. The planetary bevel gears 320 drive the rotating seat 510 to rotate around the transverse axis. The pitch motion of the rotating base 510, wherein the same-direction and same-speed motion of the planetary bevel gears 320 refers to the direction of rotation or rotational tendency of the planetary bevel gears 320 under the driving action of the corresponding first driven bevel gears 310, as shown by arrow a in Figure 3(a), when viewed from the small end to the large end of the planetary bevel gears 320. The planetary bevel gears 320 rotate in either clockwise or counterclockwise directions. The differential drive assembly 20 is also used to drive the two first driven bevel gears 310 to move in opposite directions at the same speed, wherein the first driven bevel gears 310 move in opposite directions at the same speed. The reverse motion in the movement refers to the direction from the small end to the large end of the first driven bevel gear 310, as shown by arrow b in Figure 3(b). The movement directions of the first driven bevel gear 310 are clockwise and counterclockwise, respectively. At this time, the first driven bevel gear 310 drives the planetary bevel gear 320 to move in the opposite direction at the same speed. The planetary bevel gear 320 drives the rotating seat 510 to move around the vertical axis, realizing the deflection motion of the rotating seat 510. The reverse motion in the reverse same speed motion of the planetary bevel gear 320 refers to the direction from the small end of the planetary bevel gear 320 to the large end. Looking towards the larger end, as shown by arrow a in Figure 3(b), the planetary bevel gear 320 rotates or tends to rotate under the driving action of the corresponding first driven bevel gear 310. The planetary bevel gear 320 rotates in the clockwise and counterclockwise directions respectively. The differential drive assembly 20 can also drive the planetary bevel gear 320 to move at different speeds through the two first driven bevel gears 310. The planetary bevel gear 320 drives the rotating seat 510 to rotate around the horizontal axis while rotating around the vertical axis, that is, simultaneously realizing the pitch and yaw movements of the rotating seat 510. With this configuration, the pitch and / or yaw motion of the rotating seat 510 is achieved through differential transmission of bevel gears. Since the tooth line of the bevel gear is curved, at least two teeth mesh simultaneously, which reduces impact and makes the pitch and / or yaw motion of the shoulder smoother and quieter. The bevel gear differential transmission structure is compact and saves space, thereby reducing the size of the shoulder joint 50. In addition, the bevel gear differential transmission has good load-bearing capacity and can withstand large loads.

[0056] Please continue reading the appendix. Figure 2In this embodiment of the invention, the differential transmission assembly 30 further includes a planetary support 330, which is a U-shaped support with its opening facing the differential drive assembly 20. The planetary support 330 includes two sidewalls 331 arranged opposite each other in the vertical direction and a bottom wall 332 perpendicularly connected to both sidewalls 331. Two first driven bevel gears 310 are pivotally connected to the two sidewalls 331 respectively. The planetary bevel gear 320 is fixed to the rotating seat 510 via a transverse shaft 530, which is pivotally connected to the bottom wall 332. The axis of the transverse shaft 530 is a transverse axis. With this configuration, the planetary support 330 supports the two first driven bevel gears 310 and the planetary bevel gear 320, ensuring the stability and safety of their operation.

[0057] Please continue reading the appendix. Figure 2 and Figure 5 In this embodiment of the invention, the bottom wall 332 of the planetary support 330 has a transverse hole, within which a bearing is installed, and a transverse shaft 530 passes through the inner hole of the bearing. Specifically, the transverse hole is a stepped hole, and the transverse shaft 530 is a stepped shaft. The outer ring end face of the bearing abuts against the stepped surface of the stepped hole, and the inner ring end face of the bearing abuts against the stepped end face of the stepped shaft and the protrusion of the planetary bevel gear 320, respectively. A bearing end cap is fixedly installed on the bottom wall 332, and the outer ring end face of the bearing abuts against the bearing end cap. This arrangement reduces the friction between the transverse shaft 530 and the bottom wall 332, making the rotation of the transverse shaft 530 smoother.

[0058] In this embodiment of the invention, the bearing inside the transverse bore can be a self-aligning roller bearing, a crossed roller bearing, a tapered roller bearing, or an angular contact ball bearing. This configuration allows it to withstand larger axial and radial loads, giving the robotic arm shoulder joint 50 of this embodiment good axial and radial load capacity.

[0059] Please continue reading the appendix. Figure 2 and Figure 5In this embodiment of the present invention, the differential drive components 20 are spaced apart along the vertical direction. Each differential drive component 20 includes a differential motor 220, a differential drive mounting base 210, a driving bevel gear 230, a vertical shaft 240, and a second driven bevel gear 250. The differential drive mounting base 210 includes a differential motor mounting plate 211 and a bevel gear mounting plate 212 connected to each other. The differential motor mounting plate 211 is mounted on the support body 10. The differential motor 220 is fixed to the differential motor mounting plate 211, and its power output end passes through the differential motor mounting plate 211. The driving bevel gear 230 is connected to the power output end of the differential motor 220. The second driven bevel gear 250 meshes with the driving bevel gear 230. The vertical shaft 240 is pivotally connected to the bevel gear mounting plate 212. The second driven bevel gear 250 and the first driven bevel gear 310 are both fixed to the vertical shaft 240. With this configuration, the differential motor 220 rotates, transmitting power sequentially through the driving bevel gear 230 and the second driven bevel gear 250 to the first driven bevel gear 310. As shown in Figure 3(a), if the two differential motors 220 move in the same direction and at the same speed, they drive the two driving bevel gears 230 to move in the same direction and at the same speed, which in turn drives the two second driven bevel gears 250 and the two first driven bevel gears 310 to move in the same direction and at the same speed. The "same direction" movement of the first driven bevel gear 310 refers to the movement from the first driven bevel gear 310... Looking from the small end to the large end, as shown by arrow b in Figure 3(a), the first driven bevel gear 310 moves in either a clockwise or counterclockwise direction, thereby driving the planetary bevel gear 320 to rotate the rotating seat 510 around its own axis, thus achieving flexion or extension of the shoulder joint 50, i.e., pitching or bending of the shoulder joint 50; as shown in Figure 3(b), if the two differential motors 220 move in opposite directions at the same speed, they drive the two driving bevel gears 230 to move in opposite directions at the same speed, driving the two second driven bevel gears 250 The two driven bevel gears 310 move in opposite directions at the same rotational speed. The "reverse movement" in this context refers to the direction from the small end to the large end of the driven bevel gear 310, as shown by arrow b in Figure 3(b). The directions of movement of the driven bevel gears 310 are clockwise and counterclockwise, respectively. This locks the planetary bevel gear 320 in place with the two driven bevel gears 310, thereby driving the planetary bevel gear 320 to rotate around the rotating seat 510. The first driven bevel gear 310 revolves around the axis, thereby realizing the internal or external rotation of the shoulder joint 50, that is, the deflection movement of the shoulder joint 50; if the two differential motors 220 move at different speeds, they drive the planetary bevel gear 320 to move at different speeds in sequence through the driving bevel gear 230, the second driven bevel gear 250, and the first driven bevel gear 310, thereby driving the rotating seat 510 to rotate around the horizontal axis while simultaneously rotating around the vertical axis, that is, simultaneously realizing the pitch and deflection movements of the rotating seat 510; in addition, the differential drive and transmission structure is compact.

[0060] In this embodiment of the utility model, the differential motor 220 can be a first disc motor, the power output end of the first disc motor is fixedly provided with a first flange shaft, and the active bevel gear 230 is fixedly provided with the first flange shaft.

[0061] Please continue reading the appendix. Figure 5 In this embodiment of the present invention, the axis of the vertical shaft 240 is a vertical axis, and the vertical shaft 240 is pivotally connected to the bevel gear mounting plate 212 of the differential drive mounting base 210 and the side wall 331 of the planetary support 330 respectively; the second driven bevel gear 250 is fixed to the first end of the vertical shaft 240, and the first driven bevel gear 310 is fixed to the second end of the vertical shaft 240.

[0062] Please continue reading the appendix. Figure 5 In this embodiment of the present invention, the bevel gear mounting plate 212 of the differential drive mounting base 210 has a first vertical hole, in which a first bearing is provided, and a vertical shaft 240 passes through the inner hole of the first bearing; the side wall 331 of the planetary support 330 has a second vertical hole, in which a second bearing is provided, and a vertical shaft 240 passes through the inner hole of the second bearing; specifically, the first vertical hole is a first stepped hole, the bevel gear mounting plate 212 is fixedly provided with a first bearing end cap, the side wall 331 is fixedly provided with a second bearing end cap, and the second vertical shaft 240 passes through the inner hole of the second bearing; specifically, the first vertical hole is a first stepped hole, the bevel gear mounting plate 212 is fixedly provided with a first bearing end cap, the side wall 331 is fixedly provided with a second bearing end cap, and the second vertical shaft 240 passes through the inner hole of the second bearing. The hole is a second-step hole, and the vertical shaft 240 has a flange in the middle. The inner ring end face of the first bearing abuts against the protrusion of the second driven bevel gear 250 and the upper surface of the flange of the vertical shaft 240, respectively. The outer ring end face of the first bearing abuts against the stepped surface of the first-step hole and the first bearing end cover, respectively. The inner ring end face of the second bearing abuts against the protrusion of the first driven bevel gear 310 and the lower surface of the flange of the vertical shaft 240, respectively. The outer ring end face of the second bearing abuts against the stepped end face of the second-step hole and the second bearing end cover, respectively. This arrangement reduces the friction between the vertical shaft 240 and the bevel gear mounting plate 212 and the side wall 331, making the rotation of the vertical shaft 240 smoother.

[0063] In this embodiment of the invention, the first bearing can be a self-aligning roller bearing, a crossed roller bearing, a tapered roller bearing, or an angular contact ball bearing. This configuration allows it to withstand larger axial and radial loads, giving the robotic arm shoulder joint 50 of this embodiment good axial and radial load capacity.

[0064] In this embodiment of the invention, the second bearing can be a self-aligning roller bearing, a crossed roller bearing, a tapered roller bearing, or an angular contact ball bearing. This configuration allows it to withstand larger axial and radial loads, giving the robotic arm shoulder joint 50 of this embodiment good axial and radial load capacity.

[0065] Please continue reading the appendix. Figure 2 and Figure 5In this embodiment of the present invention, the rope drive assembly 40 includes a rope drive motor 420, a rope drive mounting base 410, a rope drive shaft 430, a first rope 440, a second rope 450, and a rope pulley 460. The rope drive mounting base 410 is mounted on the support body 10, the rope drive motor 420 is mounted on the rope drive mounting base 410, the rope drive shaft 430 is drively connected to the power output end of the rope drive motor 420, the rope drive shaft 430 has a helical rope groove 431 along its outer wall surface, and the rope pulley 460 is fixedly mounted on the adapter 520, the rope pulley 460 has a first rope groove 461 and a second rope groove 460. 62; Both the planetary bevel gear 320 and the rotating seat 510 have rope channels; the first end of the first rope 440 is fixed to the spiral winding groove 431 and wound clockwise around the spiral winding groove 431, and the second end passes through the rope channels of the planetary bevel gear 320 and the rotating seat 510 and is wound clockwise around the first rope groove 461 of the rope wheel 460; the first end of the second rope 450 is fixed to the winding groove and wound counterclockwise around the spiral winding groove 431, and the second end passes through the rope channels of the planetary bevel gear 320 and the rotating seat 510 and is wound counterclockwise around the second rope groove 462 of the rope wheel 460. With this configuration, on the one hand, the rope drive motor 420 is controlled to rotate forward or backward, and the first rope 440 and the second rope 450 are controlled to wind or release in the spiral winding groove 431 of the rope drive shaft 430. This causes the first rope 440 and the second rope 450 to pull the rope wheel 460, which in turn drives the adapter 520 to rotate relative to the rotating seat 510 around the longitudinal axis extending in the front-back direction. This achieves the abduction or adduction of the shoulder joint 50, that is, the rotational movement of the shoulder joint 50.

[0066] Please continue reading the appendix. Figure 2 In this embodiment of the invention, the rope drive assembly 40 can be located above or below the differential drive assembly 20; the second driven bevel gear 250, the vertical shaft 240, and the first driven bevel gear 310 all have rope channels; the second end of the first rope 440 passes through the rope channels of the second driven bevel gear 250, the vertical shaft 240, the first driven bevel gear 310, the planetary bevel gear 320, and the rotating seat 510 and is wound clockwise and fixed in the first rope groove 461 of the rope wheel 460; the second end of the second rope 450 passes through the rope channels of the second driven bevel gear 250, the vertical shaft 240, the first driven bevel gear 310, the planetary bevel gear 320, and the rotating seat 510 and is wound counterclockwise and fixed in the second rope groove 462 of the rope wheel 460. With this arrangement, the first rope 440 and the second rope 450 utilize the internal space of the shoulder through the differential transmission assembly 30, thereby avoiding increasing the size of the shoulder; furthermore, the ropes can be protected.

[0067] In this embodiment of the utility model, the rope drive motor 420 can be a second disc motor, the power output end of the second disc motor is fixedly provided with a second flange shaft, and the rope transmission shaft 430 is fixedly provided on the second flange shaft.

[0068] Please continue reading the appendix. Figure 6 In this embodiment of the present invention, the rope drive mounting base 410 is fixedly provided with a rope transmission support base 470, and the rope transmission shaft 430 is pivotally connected to the rope transmission support base 470; the rope transmission support base 470 is provided with a first rope connector 401 and a second rope connector 402; the rotating base 510 is provided with a third rope connector 501 and a fourth rope connector 502; the second end of the first rope 440 passes sequentially through the first rope connector 401, the second driven bevel gear 250, the vertical shaft 240, the first driven bevel gear 310, the planetary bevel gear 320 and the third rope connector 501 and is wound and fixed in the first rope groove 461 of the rope wheel 460 in a clockwise direction; the second end of the second rope 450 passes sequentially through the second rope connector 402, the second driven bevel gear 250, the vertical shaft 240, the first driven bevel gear 310, the planetary bevel gear 320 and the fourth rope connector 502 and is wound and fixed in the second rope groove 462 of the rope wheel 460 in a counterclockwise direction. This configuration, with multiple rope joints, provides guidance and support for the first rope 440 and the second rope 450.

[0069] In this embodiment of the utility model, the first rope connector 401 and the second rope connector 402 are threadedly connected to the rope transmission support 470; the third rope connector 501 and the fourth rope connector 502 are threadedly connected to the rotating seat 510. Specifically, the third rope connector 501 and the fourth rope connector 502 are connected to the transverse shaft 530 fixed to the rotating seat 510.

[0070] Please continue reading the appendix. Figure 5 In this embodiment of the utility model, the planetary bevel gear 320 has a third hollow portion for accommodating the third rope connector 501 and the fourth rope connector 502; the second driven bevel gear 250 has a second hollow portion, the first driven bevel gear 310 has a first hollow portion, and the middle of the vertical shaft 240 is provided with at least two wire holes. The second end of the first rope 440 passes through the first rope connector 401, the second hollow portion, the wire holes, the first hollow portion, the third hollow portion, and the third rope connector 501 in sequence and is wound and fixed in the first rope groove 461 of the rope wheel 460 in a clockwise direction; the second end of the second rope 450 passes through the second rope connector 402, the second hollow portion, the wire holes, the first hollow portion, the third hollow portion, and the fourth rope connector 502 in sequence and is wound and fixed in the second rope groove 462 of the rope wheel 460 in a counterclockwise direction. This configuration avoids friction between the first rope 440 or the second rope 450 and the first driven bevel gear 310 or the second driven bevel gear 250, thus extending the lifespan of the first rope 440 or the second rope 450.

[0071] Please continue reading the appendix. Figure 5 In this embodiment of the utility model, a partition is provided in the middle of the vertical shaft 240, and at least two wire holes are provided on the partition. The wire holes are used to pass through the first rope 440 and the second rope 450.

[0072] Please continue reading the appendix. Figure 7 In this embodiment of the present invention, the rotating seat 510 includes a vertical plate 511 and a connecting plate 512 that are perpendicularly connected to each other. There are two connecting plates 512 that are arranged in parallel and spaced apart. A horizontal shaft 530 is fixedly mounted on the vertical plate 511, and the end of the horizontal shaft 530 is fixedly mounted on the planetary bevel gear 320. The adapter seat 520 includes an adapter plate 521 and a side plate 522 that are perpendicularly connected to each other. There are two side plates 522 that are arranged in parallel and spaced apart. The two side plates 522 are respectively pivotally connected to the two connecting plates 512. The rope pulley 460 is located between the two side plates 522.

[0073] Please continue reading the appendix. Figures 9-11 The winding directions of the first rope 440 and the second rope 450 are illustrated. In this embodiment of the invention, the rope pulley 460 has a flat portion 463, which is fixed to the adapter plate 521. The flat portion 463 has a first rope groove 461 and a second rope groove 462. The second end of the first rope 440 is wound clockwise and fixed between the first rope groove 461 of the flat portion 463 and the adapter plate 521, and the second end of the second rope 450 is wound counterclockwise and fixed between the second rope groove 462 of the flat portion 463 and the adapter plate 521. This arrangement facilitates the fixing of the rope pulley 460 to the adapter plate 521, as well as the fixing of the first rope 440 and the second rope 450.

[0074] Please continue reading the appendix. Figures 9-11 In this embodiment of the invention, the adapter plate 521 has a third rope groove 523 and a fourth rope groove 524 on the side facing the flat portion 463. The space formed by the first rope groove 461 and the third rope groove 523 is used to accommodate the first rope 440, and the space formed by the second rope groove 462 and the fourth rope groove 524 is used to accommodate the second rope 450. One of the adapter plate 521 and the flat portion 463 is threadedly connected to a fastener, which is configured to restrict the movement of the first rope 440 along the length direction of the third rope groove 523 and to restrict the movement of the second rope 450 along the length direction of the fourth rope groove 524. This configuration achieves the fixation of the ends of the first rope 440 and the second rope 450.

[0075] The working principle of the shoulder structure 1 provided by this utility model is as follows: When the shoulder joint 50 needs to rotate around the lateral axis extending in the left-right direction, that is, when the shoulder joint 50 is in pitch motion, the two differential motors 220 can be controlled to move in the same direction and at the same speed, driving the two active bevel gears 230 to move in the same direction and at the same speed, thereby driving the two second driven bevel gears 250 that mesh with the two active bevel gears 230 to move in the same direction and at the same speed, so that the two first driven bevel gears 310 rotate in the same direction. The same direction motion of the first driven bevel gears 310 in the same direction and at the same speed refers to the direction of movement of the first driven bevel gears 310 when viewed from the small end to the large end of the first driven bevel gear 310, as shown by arrow b in Figure 3(a). The direction of rotation is either clockwise or counterclockwise. In this case, the first driven bevel gear 310 drives the planetary bevel gear 320 to move in the same direction and at the same speed. The planetary bevel gear 320 drives the rotating seat 510 to rotate around its own transverse axis, achieving the pitching motion of the rotating seat 510, thereby achieving flexion or extension of the shoulder joint 50. The "same direction" in the same-direction, same-speed movement of the planetary bevel gear 320 refers to the direction of rotation or rotational tendency of the planetary bevel gear 320 under the driving action of the corresponding first driven bevel gear 310, as shown by arrow a in Figure 3(a), when viewed from the small end to the large end of the planetary bevel gear 320. The planetary bevel gear 320 rotates in either clockwise or counterclockwise. When the shoulder joint 50 needs to rotate around... When the vertical axis extending in the up-down direction rotates, i.e., when the shoulder joint 50 deflects, the two differential motors 220 can be controlled to move in opposite directions at the same speed, driving the two active bevel gears 230 to move in opposite directions at the same speed, which in turn drives the two second driven bevel gears 250 to move in opposite directions at the same speed, so that the two first driven bevel gears 310 move in opposite directions at the same speed. The reverse movement of the first driven bevel gears 310 refers to the direction from the small end to the large end of the first driven bevel gear 310, as shown by arrow b in Figure 3(b). The movement directions of the first driven bevel gears 310 are clockwise and counterclockwise, respectively. At this time, the first driven bevel gears 310 drive the planetary bevel gears 320 to move in opposite directions at the same speed. The wheel 320 is locked to the two first driven bevel gears 310, so that the planetary bevel gear 320 cannot rotate around its own axis. Instead, it drives the planetary bevel gear 320 to drive the rotating seat 510 and the planetary support 330 to revolve around the axis of the first driven bevel gear 310, thereby realizing the deflection movement of the rotating seat 510 and thus realizing the internal or external rotation of the shoulder joint 50. The reverse movement in the reverse same speed movement of the planetary bevel gear 320 refers to the direction of rotation or rotation trend of the planetary bevel gear 320 under the driving action of the corresponding first driven bevel gear 310, as shown by arrow a in Figure 3(b), when viewed from the small end to the large end of the planetary bevel gear 320. The planetary bevel gear 320 rotates in the clockwise and counterclockwise directions respectively.When the shoulder joint 50 needs to rotate around the horizontal axis and simultaneously around the vertical axis, i.e., to simultaneously achieve pitch and yaw movements of the shoulder joint 50, two differential motors 220 can be controlled to move at different speeds. These motors sequentially drive the planetary bevel gear 320 at different speeds via the driving bevel gear 230, the second driven bevel gear 250, and the first driven bevel gear 310. The planetary bevel gear 320 drives the rotating seat 510 to rotate around the horizontal axis and simultaneously around the vertical axis, thereby achieving pitch and yaw movements of the shoulder joint 50. When the shoulder joint 50 needs to rotate around the longitudinal axis extending in the forward and backward direction, i.e., to achieve rotational movements of the shoulder joint 50, the rope drive motor 420 of the rope drive assembly 40 can be controlled to rotate forward or backward. This controls the first rope 440 and the second rope 450 to wind around or unwind on the rope drive shaft 430. The first rope 440 and the second rope 450 pull the rope pulley 460, causing the adapter seat 520 to rotate relative to the rotating seat 510, thereby achieving abduction or adduction of the shoulder joint 50.

[0076] Please see the appendix Figure 11 The present invention provides a robot, which includes the aforementioned shoulder structure 1.

[0077] The robot provided in this embodiment of the utility model has at least the following beneficial technical effects:

[0078] By incorporating the aforementioned shoulder structure into the robot, the robot consequently possesses all the advantages of the aforementioned shoulder structure, which will not be elaborated upon here.

[0079] Although the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0080] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Terms such as "connected" or "linked" are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect. In the above embodiments, descriptions of orientations such as "front," "rear," "upper," "lower," "left," "right," "inner," "outer," and "side" are based on the accompanying drawings. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A shoulder structure, characterized in that, The device includes a support body (10), a differential drive assembly (20), a differential transmission assembly (30), a cable drive assembly (40), and a shoulder joint (50). The differential drive assembly (20) and the cable drive assembly (40) are mounted on the support body (10). The shoulder joint (50) includes a rotating seat (510) and an adapter seat (520). The rotating seat (510) is fixed to the power output end of the differential transmission assembly (30), and the power input end of the differential transmission assembly (30) is drively connected to the power output end of the differential drive assembly (20). The differential drive assembly (20) is configured to drive the differential transmission assembly (30) to make the rotating seat (510) pitch around a horizontal axis extending in the left-right direction, and / or deflect around a vertical axis extending in the up-down direction; the adapter (520) is pivotally connected to the rotating seat (510) and drively connected to the power output end of the rope drive assembly (40), and the rope drive assembly (40) is configured to drive the adapter (520) to rotate relative to the rotating seat (510) around a longitudinal axis extending in the front-back direction.

2. The shoulder structure according to claim 1, characterized in that, The differential transmission assembly (30) includes two first driven bevel gears (310) rotatably arranged around the vertical axis, and a planetary bevel gear (320) meshing with the two first driven bevel gears (310); the rotating seat (510) is fixed to the planetary bevel gear (320); The differential drive assembly (20) has two sets of power output terminals that are respectively connected to the first driven bevel gear (310). It is configured to drive the two first driven bevel gears (310) to drive the planetary bevel gear (320) to rotate around the transverse axis, thereby realizing the pitch movement of the rotating seat (510). And / or, to drive the two first driven bevel gears (310) to drive the planetary bevel gear (320) to rotate around the vertical axis, thereby realizing the deflection motion of the rotating seat (510).

3. The shoulder structure according to claim 2, characterized in that, The differential transmission assembly (30) further includes a planetary support (330), which is a U-shaped support, including two side walls (331) arranged opposite to each other along the vertical direction and a bottom wall (332) that is perpendicularly connected to both side walls (331). Two first driven bevel gears (310) are respectively pivotally connected to the two side walls (331). The planetary bevel gear (320) is fixed to the rotating seat (510) through a transverse shaft (530), and the transverse shaft (530) is pivotally connected to the bottom wall (332).

4. The shoulder structure according to claim 2 or 3, characterized in that, The differential drive assembly (20) includes a differential motor (220), a differential drive mounting base (210), a driving bevel gear (230), a vertical shaft (240), and a second driven bevel gear (250). The differential drive mounting base (210) includes a differential motor mounting plate (211) and a bevel gear mounting plate (212) connected to each other. The differential motor mounting plate (211) is mounted on the support body (10). The differential motor (220) is fixed to the differential motor mounting plate (211). The driving bevel gear (230) is driven and connected to the power output end of the differential motor (220). The second driven bevel gear (250) meshes with the driving bevel gear (230). The vertical shaft (240) is pivotally connected to the bevel gear mounting plate (212). The second driven bevel gear (250) and the first driven bevel gear (310) are both fixed to the vertical shaft (240).

5. The shoulder structure according to claim 4, characterized in that, The rope drive assembly (40) includes a rope drive motor (420), a rope drive mounting base (410), a rope drive shaft (430), a first rope (440), a second rope (450), and a rope pulley (460). The rope drive mounting base (410) is mounted on the support body (10). The rope drive motor (420) is mounted on the rope drive mounting base (410). The rope drive shaft (430) is connected to the power output end of the rope drive motor (420). The rope drive shaft (430) has a helical rope groove (431) along its outer wall surface. The rope pulley (460) is fixed to the adapter (520). The rope pulley (460) has a first rope groove (461) and a second rope groove (462). Both the planetary bevel gear (320) and the rotary seat (510) have rope channels; The first end of the first rope (440) is fixed to the spiral winding groove (431) and wound clockwise around the spiral winding groove (431), and the second end passes through the rope channel of the planetary bevel gear (320) and the rotating seat (510) and is wound clockwise around the first rope groove (461) of the rope wheel (460); the first end of the second rope (450) is fixed to the winding groove and wound counterclockwise around the spiral winding groove (431), and the second end passes through the rope channel and is wound counterclockwise around the second rope groove (462) of the rope wheel (460).

6. The shoulder structure according to claim 5, characterized in that, The rope drive assembly (40) is located above or below the differential drive assembly (20); The second driven bevel gear (250), the vertical shaft (240), and the first driven bevel gear (310) all have the rope channel; The second end of the first rope (440) and the second end of the second rope (450) pass through the rope channels of the second driven bevel gear (250), the vertical shaft (240), the first driven bevel gear (310), the planetary bevel gear (320) and the rotating seat (510), respectively.

7. The shoulder structure according to claim 6, characterized in that, The rope drive mounting base (410) is fixedly provided with a rope transmission support base (470), and the rope transmission shaft (430) is pivotally connected to the rope transmission support base (470); The rope drive support (470) is provided with a first rope joint (401) and a second rope joint (402); the rotating seat (510) is provided with a third rope joint (501) and a fourth rope joint (502); the first rope (440) passes through the first rope joint (401), the rope channel and the third rope joint (501); the second rope (450) passes through the second rope joint (402), the rope channel and the fourth rope joint (502).

8. The shoulder structure according to any one of claims 5-7, characterized in that, The rotating seat (510) includes a vertical plate (511) and a connecting plate (512) that are perpendicularly connected to each other. There are two connecting plates (512) that are arranged in parallel and spaced apart. A horizontal shaft (530) is fixedly provided on the vertical plate (511). The end of the horizontal shaft (530) is fixedly provided on the planetary bevel gear (320). The adapter (520) includes an adapter plate (521) and a side plate (522) that are perpendicularly connected to each other. There are two side plates (522) that are arranged in parallel and spaced apart. The two side plates (522) are respectively pivotally connected to the two connecting plates (512). The pulley (460) is located between the two side plates (522); the pulley (460) has a flat portion (463) fixed to the adapter plate (521), the flat portion (463) having a first rope groove (461) and a second rope groove (462); the second end of the first rope (440) is fixed between the first rope groove (461) of the flat portion (463) and the adapter plate (521), and the second end of the second rope (450) is fixed between the second rope groove (462) of the flat portion (463) and the adapter plate (521).

9. The shoulder structure according to claim 8, characterized in that, The adapter plate (521) has a third rope groove (523) and a fourth rope groove (524) on the side facing the flat portion (463). The space formed by the first rope groove (461) and the third rope groove (523) is used to accommodate the first rope (440), and the space formed by the second rope groove (462) and the fourth rope groove (524) is used to accommodate the second rope (450). One of the adapter plate (521) and the flat portion (463) is threadedly connected to a fastener configured to restrict the movement of the first rope (440) along the length direction of the third rope groove (523) and to restrict the movement of the second rope (450) along the length direction of the fourth rope groove (524).

10. A robot, characterized in that, Includes the shoulder structure (1) as described in any one of claims 1-9.

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