Joint driving assembly, dexterous hand and humanoid robot

Abstract

The utility model belongs to the technical field of humanoid robots, and particularly relates to a joint driving assembly, a dexterous hand and a humanoid robot. The joint driving assembly comprises a transmission shaft (13), a motor (1) and a bearing (14), wherein the motor (1) and the bearing (14) are located in a shell (21). A coil stator (11) of the motor (1) is coaxially and annularly arranged outside a magnet rotor (12), and the axial front end of the coil stator (11) is higher than the magnet rotor (12), so that an accommodating space is axially formed between the coil stator (11) and the magnet rotor (12). An inner ring of the bearing (14) is connected to the outer wall of the annular step (132) of the transmission shaft (13), and at least part of the inner ring is located within the height range of the coil stator (11) in the axial direction. In this way, the axial size of the joint driving assembly can be shortened, and the structure of the joint driving assembly is more compact.

Description

TECHNICAL FIELD

[0001] The utility model belongs to humanoid robot technical field, especially relates to a joint drive assembly, dexterous hand and humanoid robot. BACKGROUND

[0002] With the rapid development of robot technology in the direction of intelligent and fine, the end effector as the core carrier of human-computer interaction, its function realization highly depends on the optimization design of bionic structure. Among them, the dexterous hand with multi-degree-of-freedom operation ability gradually becomes the research focus in the field of industrial assembly, medical surgery and service robot. The traditional dexterous hand usually adopts series joint configuration, and each finger joint is equipped with independent driving unit to realize bending, twisting and other compound motion. However, limited by the space layout and transmission efficiency of the driving unit, the existing dexterous hand generally has the problems of thick finger joint and high self-weight, which seriously restricts its application in narrow working scene.

[0003] As the basic execution unit of the motion function of the dexterous hand, the performance of the joint module directly affects the dexterity and load capacity of the end effector. The typical joint module is composed of a micro motor, a harmonic reducer, a torque sensor and an encoder, and needs to realize the integration of multiple functions such as power transmission, motion feedback and overload protection in a limited space, which challenges the compact design of the joint module. SUMMARY

[0004] Therefore, the utility model provides a joint drive assembly, dexterous hand and humanoid robot, which aims to reduce the volume of the joint module of the humanoid robot and make the structure of the joint module more compact.

[0005] In a joint drive assembly provided by the utility model, the joint drive assembly comprises a motor, a transmission shaft, a bearing and a shell. The motor is provided with a coil stator and a magnet rotor, the coil stator is coaxially arranged outside the magnet rotor, and the front end of the coil stator in the axial direction is higher than the magnet rotor. The transmission shaft is arranged on the output end of the magnet rotor and has a ring-shaped step formed on the front end. The inner ring of the bearing is connected to the outer wall of the ring-shaped step and at least partially located in the height range of the coil stator in the axial direction. The front end of the shell is provided with a through hole for the front end connecting part of the transmission shaft to extend out, and the front end inner wall of the shell is further provided with a mounting groove for mounting the bearing. The annular inner wall of the shell is connected to the annular outer wall of the coil stator.

[0006] In the joint drive assembly provided by the utility model, the magnet rotor rotates under the action of the electromagnetic field of the stator coil after the stator coil is electrified. Since the front end of the coil stator in the axial direction is higher than the magnet rotor, and the bearing is at least partially located in the height range of the coil stator in the axial direction, it is beneficial to shorten the axial dimension of the joint drive assembly and make the structure of the joint drive assembly more compact.

[0007] In the preferred embodiment of the joint driving assembly provided by the utility model, the motor can be selected as a frameless motor, the magnet rotor is formed with a shaft hole, and the transmission shaft is arranged in the shaft hole. The joint motor assembly further comprises an encoder assembly, which comprises a magnet and a magnetic sensor. The magnet is connected to the rear end of the transmission shaft and located within the height range of the coil stator in the axial direction. The magnetic sensor is arranged opposite to the magnet to detect the change of the magnetic field direction of the magnet.

[0008] In the embodiment of the joint driving assembly, the frameless motor has the advantage of small volume, and is different from other motors. Selecting the frameless motor is conducive to making the structure of the joint driving assembly more compact and smaller. The magnet of the encoder assembly is located within the height range of the coil stator in the axial direction, which is also conducive to further shortening the axial dimension of the joint driving assembly and making the structure of the joint driving assembly more compact. The magnetic sensor can comprise a Hall element or be a Hall element.

[0009] In the preferred embodiment of the joint driving assembly provided by the utility model, the joint driving assembly further comprises a driver, the annular outer wall of the driver is connected to the inner wall of the rear end of the shell, the circuit of the driver is integrated with the magnetic sensor, and the driver is electrically connected to the coil stator.

[0010] In the embodiment of the joint driving assembly, the driver controls the movement of the frameless motor in response to the electrical signal fed back by the magnetic sensor. Integrating the magnetic sensor circuit on the driver is also conducive to further shortening the axial dimension of the joint driving assembly and making the structure of the joint driving assembly more compact.

[0011] In the preferred embodiment of the joint driving assembly provided by the utility model, the joint driving assembly further comprises a first heat-conducting pad and a second heat-conducting pad. The first heat-conducting pad is arranged in the annular groove of the top wall of the inner end of the shell and tightly abuts the front end face of the coil stator. The second heat-conducting pad is tightly arranged between the bottom wall of the driver and the top wall of the base of the shell.

[0012] In the embodiment of the joint driving assembly, the first heat-conducting pad conducts the heat generated by the motor to the surface of the shell to dissipate the heat of the motor, and the second heat-conducting pad conducts the heat generated by the driver to the base of the shell. At the same time, the first heat-conducting pad and the second heat-conducting pad are arranged in the axial direction, which is different from the annular arrangement, and is more conducive to reducing the radial dimension of the joint driving assembly.

[0013] In the preferred embodiment of the joint driving assembly provided by the utility model, a convex ring is formed on the top of the shell, the joint motor further comprises a speed reducer, an annular opening is formed on the bottom of the shell of the speed reducer, and the annular opening is inserted and positioned with the convex ring.

[0014] In the embodiment of the joint driving assembly, in addition to adjusting the rotating speed of the motor through the servo driver, the speed reducer can also be used, and on the basis of inserting and positioning the annular opening of the shell of the speed reducer with the convex ring of the shell, the fixed pin is used for positioning and connecting and then welded to realize the compact structural connection between the motor module and the speed reducer.

[0015] In the preferred embodiment of the joint driving assembly provided by the utility model, the speed reducer is a planetary speed reducer, the connecting part of the front end of the transmission shaft is outwardly extended from the convex ring, and the connecting part of the front end of the transmission shaft is connected with the sun gear of the planetary speed reducer.

[0016] In the embodiment of the joint driving assembly, the planetary speed reducer has the advantages of small volume and light weight, which is beneficial to further reducing the volume and weight of the joint driving assembly and improving the compactness of the joint driving assembly.

[0017] In the preferred embodiment of the joint driving assembly provided by the utility model, the joint motor assembly further comprises a worm, a support and a worm gear, the worm is connected to the output shaft of the speed reducer, the support is arranged on the shell of the output end of the speed reducer, the worm gear has a circumferential angle of not more than 180 degrees, is connected to the support through a rotating shaft and is in meshing transmission with the worm, wherein when the motor rotates, the worm gear swings around the rotating shaft.

[0018] In the embodiment of the joint driving assembly, the worm gear preferably has a circumferential angle of not more than 180 degrees. In this way, not only the swinging demand of the joint driving assembly is met through the meshing of the worm and the worm gear, but also the volume occupied by the worm gear is smaller relative to the worm gear with a larger circumferential angle, which is beneficial to improving the compactness of the joint driving assembly.

[0019] In the preferred embodiment of the joint driving assembly provided by the utility model, the bottom wall of the base of the shell is provided with a hinged seat, and the hinged seat is used for connecting another bionic knuckle assembly or bionic palm.

[0020] In the embodiment of the joint driving assembly, the joint driving assembly can be used as a distal interphalangeal joint, a proximal interphalangeal joint or a metacarpophalangeal joint, and the bottom wall of the base of the shell of the joint driving assembly is provided with a hinged seat, so that the joint driving assembly is convenient to connect with another bionic knuckle assembly or bionic palm.

[0021] In a second aspect, the utility model also provides a dexterous hand, this dexterous hand includes the joint drive assembly in any embodiment in the first aspect.

[0022] In a third aspect, the utility model also provides a humanoid robot, the humanoid robot includes the dexterous hand of the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0023] The preferred embodiments of the utility model will be described below in detail by referring to the drawings, so that the above-mentioned and other features and advantages of the utility model are more apparent to those skilled in the art, and the drawings are as follows:

[0024] Figure 1 It is the structure schematic view of the preferred embodiment of the joint drive assembly of the embodiment.

[0025] Figure 2 It is the external structure schematic view of the motor drive module in the joint drive assembly of the embodiment.

[0026] Figure 3 It is the internal structure schematic view of the motor drive module in the joint drive assembly of the embodiment.

[0027] Figure 4 It is the structure schematic view of the motor in the joint drive assembly of the embodiment.

[0028] Figure 5 It is the position relation schematic view of the encoder and transmission shaft in the joint drive assembly of the embodiment.

[0029] Figure 6 It is the connection relation schematic view of the speed reducer and transmission shaft in the joint drive assembly of the embodiment.

[0030] Figure 7 It is the structure relation schematic view of the swing assembly in the joint drive assembly of the embodiment.

[0031] Wherein, the reference signs are as follows:

[0032] 1-motor; 11-coil stator; 12-magnet rotor; 13-transmission shaft; 131-connection part; 132-ring step; 14-bearing;

[0033] 21-housing; 211-convex ring;

[0034] 22-base; 221-hinge seat;

[0035] 31-magnet; 32-magnetic sensor;

[0036] 4-driver;

[0037] 51-first heat-conducting pad; 52-second heat-conducting pad;

[0038] 6-reducer; 61-annular opening;

[0039] 71-worm; 72-stand; 73-worm gear; 74-rotation shaft. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the utility model more clear, the following examples further explain the utility model in detail.

[0041] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0042] The joint driving assembly of the embodiment can be used as a core actuating unit of a robot dexterous hand. The robot system can include a mechanical arm assembly, a control center and a dexterous hand, wherein the dexterous hand can be connected with the end of the mechanical arm through a flange interface to form an operation execution mechanism with spatial pose adaptive capability.

[0043] Each finger of the dexterous hand contains three groups of joint assemblies, i.e. proximal joints, intermediate joints and distal joints, and the joint driving assembly of the embodiment can be used in any joint assembly.

[0044] The joint driving assembly provided in the embodiment can reduce the volume of the joint module of the humanoid robot, so that the structure of the joint module is more compact.

[0045] Figure 1 A preferred embodiment of the joint driving assembly is shown, which includes a shell 21 and an internal motor 1, a reducer 6 and a swing assembly. The motor 1 drives the reducer 6 to rotate through a transmission shaft 13, the reducer 6 drives the worm 71 in the swing assembly to rotate, and then the worm gear 73 swings. The joint driving assembly is used in a humanoid robot and can be used to simulate the flexion and extension movement of the human finger joint.

[0046] Reference Figure 2 and Figure 4 In the joint driving assembly provided in the embodiment, the joint driving assembly includes a motor 1, a transmission shaft 13, a bearing 14 and a shell 21. Figure 2It is an external structure diagram of the motor driving module in the joint driving assembly of the embodiment. Wherein, the motor 1 is provided with a coil stator 11 and a magnet rotor 12, the coil stator 11 is coaxially and annularly arranged outside the magnet rotor 12, and the front end of the coil stator 11 is higher than the magnet rotor 12 in the axial direction, so that a containing space is formed between the coil stator 11 and the magnet rotor 12 in the axial direction. The transmission shaft 13 extends out of the output end of the magnet rotor 12, and the front end of the transmission shaft 13 forms an annular step 132. The inner ring of the bearing 14 is connected to the outer wall of the annular step 132, and is at least partially located in the height range of the coil stator 11 in the axial direction. The front end of the shell 21 forms a through hole for the front end connecting part 131 of the transmission shaft 13 to extend out, and the front end inner wall of the shell 21 further forms a mounting groove for mounting the bearing 14; and the annular inner wall of the shell 21 is connected to the annular outer wall of the coil stator 11.

[0047] In the joint driving assembly provided by the embodiment, the magnet rotor 12 will rotate under the action of the electromagnetic field of the stator coil after the stator coil is energized. Since the front end of the coil stator 11 is higher than the magnet rotor 12 in the axial direction, and the bearing 14 is at least partially located in the height range of the coil stator 11 in the axial direction, it is beneficial to shorten the axial size of the joint driving assembly and make the structure of the joint driving assembly more compact.

[0048] In a preferred embodiment of the above-mentioned joint driving assembly provided by the embodiment, referring to Figure 4 , the motor 1 can be selected as a frameless motor 1, which has the advantage of small volume. Unlike other motors 1, selecting a frameless motor 1 is beneficial to make the structure of the joint driving assembly more compact and smaller. In combination with Figure 3 and Figure 5 , the magnet rotor 12 forms a shaft hole, and the transmission shaft 13 is arranged in the shaft hole. The joint motor 1 assembly further includes an encoder assembly, which includes a magnet 31 and a magnetic sensor 32. Wherein, the magnet 31 is connected to the rear end of the transmission shaft 13 and is located in the height range of the coil stator 11 in the axial direction. The magnetic sensor 32 is arranged opposite to the magnet 31 to detect the change of the magnetic field direction of the magnet 31, and then output an electric signal indicating the parameters such as the rotation angle, position and rotation speed of the motor 1.

[0049] In the embodiment of the joint driving assembly, the magnet 31 of the encoder assembly is located in the height range of the coil stator 11 in the axial direction, which is also beneficial to further shorten the axial size of the joint driving assembly and make the structure of the joint driving assembly more compact. Wherein, the magnetic sensor 32 can include a Hall element, or can be a Hall element. For example, the magnet 31 can be a circular magnetic bead, and the rear end of the transmission shaft 13 can be provided with a mounting groove for arranging the circular magnetic bead.

[0050] In a preferred embodiment of the joint driving assembly provided in the present embodiment, the joint driving assembly further comprises a driver 4, the annular outer wall of the driver 4 is connected to the inner wall of the rear end of the shell 21, and the circuit integrated with the magnetic sensor 32 is arranged on the driver 4, and the driver 4 is electrically connected with the coil stator 11.

[0051] In the embodiment of the joint driving assembly, the driver 4 controls the movement of the frameless motor 1 in response to the electrical signal fed back by the magnetic sensor 32, for example, precisely controls the rotating speed, torque, rotating direction, etc. of the motor 1. Integrating the circuit of the magnetic sensor 32 on the driver 4 is also conducive to further shortening the axial dimension of the joint driving assembly and making the structure of the joint driving assembly more compact. For example, the base 22 can be integrally formed with the shell 21, and the base 22 can also be connected to the rear end of the shell 21 to facilitate the installation of the driver 4.

[0052] In a preferred embodiment of the joint driving assembly provided in the present embodiment, referring to Figure 3 , the joint driving assembly further comprises a first heat-conducting pad 51 and a second heat-conducting pad 52, the first heat-conducting pad 51 is arranged in the annular groove of the top wall of the inner end of the shell 21 and tightly abuts the front end face of the coil stator 11, and the second heat-conducting pad 52 is arranged tightly between the bottom wall of the driver 4 and the top wall of the base 22 of the shell 21.

[0053] In the embodiment of the joint driving assembly, the first heat-conducting pad 51 conducts the heat generated by the motor 1 to the surface of the shell 21 to dissipate the heat of the motor 1, and the second heat-conducting pad 52 conducts the heat generated by the driver 4 to the base 22 of the shell 21. At the same time, the first heat-conducting pad 51 and the second heat-conducting pad 52 are both arranged in the axial direction, which is different from the annular arrangement of the heat-conducting pad, and the present embodiment is more conducive to reducing the radial dimension of the joint driving assembly.

[0054] In a preferred embodiment of the joint driving assembly provided in the present embodiment, referring to Figure 2 , the top of the shell 21 is formed with a protruding ring 211, and the joint motor 1 further comprises a speed reducer 6, the bottom of the housing of the speed reducer 6 is formed with an annular opening 61, referring to Figure 6 , the annular opening 61 is inserted and positioned with the protruding ring 211.

[0055] In the embodiment of the joint driving assembly, in addition to adjusting the rotating speed of the motor 1 through the servo driver 4 by using the direct-drive motor 1, the speed reducer 6 can also be used. On the basis of the annular opening 61 of the housing of the speed reducer 6 being inserted and positioned with the protruding ring 211 of the shell 21, the motor 1 module and the speed reducer 6 can be connected through the fixed pin positioning and then welded to realize a more compact structural connection between the motor 1 module and the speed reducer 6.

[0056] In a preferred embodiment of the joint driving assembly provided in the present embodiment, the reducer 6 is a planetary reducer 6, the connecting portion 131 of the front end of the transmission shaft 13 extends outwardly by the convex ring 211, and the connecting portion 131 of the front end of the transmission shaft 13 is connected to the sun gear of the planetary reducer 6. In the embodiment of the joint driving assembly, the planetary reducer 6 has the advantages of small volume and light weight, which is conducive to further reducing the volume and weight of the joint driving assembly and improving the compactness of the joint driving assembly.

[0057] In a preferred embodiment of the joint driving assembly provided in the present embodiment, referring to Figure 1 and Figure 7 The joint motor 1 assembly further comprises a swing assembly, which comprises a worm 71, a support 72 and a worm wheel 73. The worm 71 is connected to the output shaft of the reducer 6, the support 72 is arranged on the housing 21 of the output end of the reducer 6, and the worm wheel 73, whose circumferential angle is not more than 180 degrees, is connected to the support 72 through a rotating shaft 74 and is in meshing transmission with the worm 71. Wherein, when the motor 1 rotates, the worm wheel 73 swings around the rotating shaft 74.

[0058] In the embodiment of the joint driving assembly, the worm wheel 73 is preferably a worm wheel with a circumferential angle not more than 180 degrees. In this way, not only the swing requirement of the joint driving assembly is met through the meshing of the worm 71 and the worm wheel 73, but also the volume occupied by the worm wheel 73 is smaller relative to a worm wheel with a larger circumferential angle, which is conducive to improving the compactness of the joint driving assembly.

[0059] In a preferred embodiment of the joint driving assembly provided in the present embodiment, the bottom wall of the base 22 of the housing 21 is provided with a hinged seat 221, which is used to connect another bionic knuckle assembly or bionic palm. Exemplarily, in the embodiment of the joint driving assembly, the joint driving assembly can be used as a distal interphalangeal joint, a proximal interphalangeal joint or a metacarpophalangeal joint, and the hinged seat 221 is arranged on the bottom wall of the base 22 of the housing 21 of the joint driving assembly, which facilitates the connection with another bionic knuckle assembly or bionic palm.

[0060] It should be understood that although the present specification is described in terms of various embodiments, not every embodiment or implementation contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

[0061] The above merely describes the specific implementation of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application. Any equivalent changes, modifications and combinations made by any person skilled in the art without departing from the concept and principle of the embodiments of the present application shall fall within the scope of protection of the embodiments of the present application.

Claims

1. An articulation drive assembly, comprising: The motor (1) is a frameless motor (1), the magnet rotor (12) is formed with an axle hole, and the transmission shaft (13) is arranged in the axle hole; the joint driving assembly further comprises an encoder assembly, which comprises: a magnet (31) connected to the rear end of the transmission shaft (13) and located in the height range of the coil stator (11) in the axial direction; a magnetic sensor (32) arranged opposite to the magnet (31) to detect the change of the magnetic field direction of the magnet (31). Further comprising: a driver (4) with an annular outer wall connected to the inner wall at the rear end of the housing (21), and an upper circuit integrated with the magnetic sensor (32), and the driver (4) is electrically connected with the coil stator (11).

2. The articulation drive assembly of claim 1, wherein, Further comprising: a first heat-conducting pad (51) arranged in the annular groove of the inner end top wall of the housing (21) and closely attached to the front end face of the coil stator (11); a second heat-conducting pad (52) closely arranged between the bottom wall of the driver (4) and the top wall of the base (22) of the housing (21).

3. The articulation drive assembly of claim 2, wherein, The top of the housing (21) is formed with a convex ring (211), and the joint driving assembly further comprises: a speed reducer (6) with a bottom of the housing formed with an annular opening (61), and the annular opening (61) is inserted and positioned with the convex ring (211).

4. The articulation drive assembly of claim 3, wherein, The speed reducer (6) is a planetary speed reducer (6), the connecting part (131) of the front end of the transmission shaft (13) is outwardly extended by the convex ring (211), and the connecting part (131) of the front end of the transmission shaft (13) is connected with the sun gear of the planetary speed reducer (6). Further comprising: a worm (71) connected to the output shaft of the speed reducer (6); 5. The articulation drive assembly of claim 3, wherein, a support (72) arranged on the housing (21) at the output end of the speed reducer (6); a worm gear part (73) with a circumferential angle not more than 180 degrees, connected to the support (72) through a rotating shaft (74) and in meshing transmission with the worm (71); 6. The articulation drive assembly of claim 5, wherein, wherein, when the motor (1) rotates, the worm gear part (73) swings around the rotating shaft (74).

7. The articulation drive assembly of claim 5, wherein, ​ ​ ​ ​ ​ 8. The articulation drive assembly of claim 5, wherein, The bottom wall of the base (22) of the housing (21) is provided with a hinge seat (221) for connecting another bionic knuckle assembly or a bionic palm.

9. A dexterous hand characterized by, A dexterous hand comprising the joint drive assembly of any one of claims 1 to 8.

10. A humanoid robot, characterized by, A dexterous hand comprising the joint drive assembly of claim 9.

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