Rotating mechanism and robot

Abstract

The utility model relates to a rotating mechanism and a robot. The rotating mechanism comprises a joint module and a limiting structure, the joint module comprises a fixed part and a rotating part, the rotating part is rotationally connected with the fixed part, the limiting structure comprises a limiting column and a flexible part, any one of the limiting column and the flexible part is arranged on the fixed part, and the limiting column is arranged on the rotating part. The other one of the limiting column and the flexible piece is arranged on the rotating part, and the flexible piece can be flexibly connected with the limiting column in an abutting mode.

Description

Technical Field

[0001] This utility model relates to the field of robot manufacturing technology, and more specifically, to a rotating mechanism and a robot. Background Technology

[0002] In related technologies, robots typically incorporate a rotation mechanism. This mechanism enables the rotation of limb modules, head modules, and other components. The rotation mechanism usually includes a limit structure to restrict the rotation angle. This limit structure typically comprises two rigid limit blocks, each mounted on one of the relatively rotating components of the mechanism. The two limit blocks abut against each other to limit the rotation angle. However, the two rigid limit blocks themselves occupy space, resulting in a smaller rotation angle for the mechanism. Utility Model Content

[0003] One objective of this invention is to provide a new technical solution for a rotating mechanism.

[0004] According to one aspect of the present invention, a rotating mechanism is provided. The rotating mechanism includes:

[0005] A joint module, comprising a fixed part and a rotating part, wherein the rotating part is rotatably connected to the fixed part, and

[0006] A limiting structure is provided, comprising a limiting post and a flexible member, wherein either the limiting post or the flexible member is disposed in the fixed part, and the other of the limiting post or the flexible member is disposed in the rotating part, and the flexible member can flexibly abut against the limiting post.

[0007] Optionally, the flexible element includes at least one of a metal belt, a belt, a chain, and a rope.

[0008] Optionally, the flexible element has a ring-shaped structure.

[0009] Optionally, the rotating part includes an output flange, and a cavity is provided on the side of the output flange near the fixed part. At least a portion of the flexible member is located in the cavity, and the fixed part is provided with the limiting post, which is located in the cavity.

[0010] Optionally, the sidewalls and topwalls of the output flange are provided with notches, and a portion of the flexible element is located within the notches.

[0011] Optionally, it also includes a latch, which secures the two ends of the flexible member to form a ring structure, the latch being located on the top wall of the output flange.

[0012] Optionally, it also includes a rotating connecting rod, which is sleeved outside the output flange and has a protrusion protruding from the top wall of the output flange, the protrusion partially covering the notch.

[0013] Optionally, the flexible member forms a bent portion, a portion of which is located below the protrusion.

[0014] Optionally, the width of the latch is greater than the width of the notch.

[0015] Optionally, the limiting post includes a limiting screw.

[0016] According to another aspect of the present invention, a robot is provided. This robot includes the rotating mechanism described in the present invention.

[0017] One technical advantage of this invention is that the rotating mechanism is equipped with a limiting structure. The limiting structure includes a limiting post and a flexible member. One of the limiting post and the flexible member is disposed in the fixed part, and the other is disposed in the rotating part. The flexible member can flexibly abut against the limiting post. The rotation angle between the rotating part and the fixed part is controlled by the mutual abutment of the limiting post and the flexible member. Because the flexible member itself can deform, the starting position of the rotating mechanism in this embodiment of the invention can be further forward than the starting position where the rigid member contacts the positioning post, and the ending position can be further backward than the ending position where the rigid member contacts the positioning post. Therefore, this limiting structure significantly increases the rotation angle of the rotating mechanism.

[0018] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0019] The accompanying drawings, which form part of this specification, illustrate embodiments of the present invention and, together with the specification, serve to explain the principles of the present invention.

[0020] Figure 1 This is a schematic diagram of a rotating mechanism according to an embodiment of the present invention.

[0021] Figure 2 This is a partial cross-sectional view of a rotating mechanism according to an embodiment of the present invention.

[0022] Figure 3 This is a partial perspective view of a rotating mechanism according to an embodiment of the present invention.

[0023] Figure 4 This is a partial top view of a rotating mechanism according to an embodiment of the present invention.

[0024] Figures 5-6 This is a schematic diagram of the limiting principle of the rotating mechanism according to an embodiment of the present invention.

[0025] Figures 7-8 This is a schematic diagram of the limiting principle of the rotating mechanism according to another embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Base; 2. Joint module; 3. Output flange; 301. Notch; 4. Rotating connecting rod; 401. Protrusion; 501. Lock; 502. Wire rope; 503. Bending part; 6. Limit screw. Detailed Implementation

[0028] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0029] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0030] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0031] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0033] The rotating mechanism according to an embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[0034] According to one embodiment of the present invention, a rotating mechanism is provided. For example... Figures 1-2 As shown, the rotating mechanism includes:

[0035] Joint module 2, the joint module 2 including a fixed part and a rotating part, the rotating part being rotatably connected to the fixed part, and

[0036] A limiting structure is provided, comprising a limiting post and a flexible member, wherein either the limiting post or the flexible member is disposed in the fixed part, and the other of the limiting post or the flexible member is disposed in the rotating part, and the flexible member can flexibly abut against the limiting post.

[0037] Specifically, such as Figure 1 , Figure 2 As shown, the rotation mechanism can be used in robots. The rotation module enables rotation of different parts of the robot. Joint module 2 is used to output rotation. Joint module 2 includes a fixed part and a rotating part. For example, the fixed part includes the motor housing, stator, drive plate, etc. The rotating part includes the motor rotor, etc. Optionally, joint module 2 also includes a reducer, torque sensor, angle sensor, etc. The reducer includes an input end, an output end, and a fixing member. The input end and output end are rotatably disposed within the fixing member. The input end is connected to the motor rotor. The output end is used to output rotation. The fixing member is connected to the motor housing. In this case, the rotating part also includes the input end and output end of the reducer. The fixed part also includes the fixing member of the reducer. The reducer can reduce the rotational speed of joint module 2 and increase the torque of joint module 2. The torque sensor is used to measure the torque of joint module 2. The angle sensor is used to measure the rotational angle of joint module 2.

[0038] Optionally, the fixing part also includes a base 1. The base 1 is fitted over the motor housing and the reducer. The base 1 serves to support and protect the motor and the reducer.

[0039] The limiting structure is used to define the starting and ending positions of the joint module 2's rotation, thereby limiting the rotation angle of the rotating mechanism. The limiting post is a rigid component. Optionally, the limiting post can be made of materials such as metal, plastic, glass, ceramic, or wood. The limiting post can be a cylinder, elliptical cylinder, prism, etc.

[0040] A flexible component is a part that can deform itself when subjected to external force. After contacting the limiting post, the flexible component, due to its deformation, still provides a certain amount of rotational space for the rotor. Instead of the rotating part immediately stopping after contact with the limiting post, the flexible component's deformation increases, as does its resistance to the limiting post. When the deformation reaches its maximum value, the rotating part stops rotating. Therefore, although the limiting post occupies a certain amount of rotational space, the flexible component can at least partially compensate for this space through its own deformation, thus significantly increasing the rotation angle of the rotating mechanism, for example, reaching greater than or equal to 360°.

[0041] However, in existing technologies, the limiting structures are all rigid components. Since rigid components cannot deform or deform very little, the rotating part immediately stops rotating after the rigid component contacts the limiting post. Because the limiting post occupies a certain amount of rotation space, the rotation angle of the rotating mechanism cannot be greater than or equal to 360°.

[0042] Figures 5-6 This is a schematic diagram of the limiting principle of the rotating mechanism according to an embodiment of the present invention.

[0043] like Figure 5 As shown, the starting position is defined as the location where the flexible component contacts one side of the limiting post and undergoes maximum deformation. Since the flexible component itself can deform, this starting position can be further forward than the starting position where the rigid component contacts the positioning post.

[0044] like Figure 6 As shown, the position where the flexible element contacts the other side of the limiting post and undergoes maximum deformation is defined as the termination position. Since the flexible element itself can deform, this termination position can be further back than the termination position where the rigid element contacts the positioning post.

[0045] It should be noted that when the amplitude of the forward starting position and the amplitude of the backward ending position are exactly equal to the circumferential dimension of the limiting post in the rotating part, the rotating part can rotate within a 360° range. This limiting structure significantly increases the rotation angle of the rotating mechanism. Of course, by adjusting the dimensions of the flexible element, the amplitude of the forward starting position and the amplitude of the backward ending position can be adjusted, thereby further increasing the rotation angle of the rotating mechanism.

[0046] Of course, the rotation angle of the rotating mechanism is not limited here, and those skilled in the art can set it according to actual needs.

[0047] In this embodiment of the invention, the rotating mechanism is provided with a limiting structure. The limiting structure includes a limiting post and a flexible member. One of the limiting post and the flexible member is disposed in the fixed part, and the other is disposed in the rotating part. The flexible member can flexibly abut against the limiting post. The rotation angle between the rotating part and the fixed part is controlled by the mutual abutment of the limiting post and the flexible member. Because the flexible member itself can deform, the starting position of the rotating mechanism in this embodiment of the invention can be further forward than the starting position where the rigid member contacts the positioning post, and the ending position can be further backward than the ending position where the rigid member contacts the positioning post. Therefore, this limiting structure significantly increases the rotation angle of the rotating mechanism.

[0048] In one embodiment of this utility model, the flexible element includes at least one of a metal belt, a belt, a chain, and a rope.

[0049] Alternatively, the metal strip may be, for example, steel strip, aluminum strip, copper strip, etc. The rope may be, for example, steel wire rope 502, hemp rope, etc. For ease of explanation, the flexible element is steel wire rope 502.

[0050] All of the above-described flexible components can deform when subjected to external force. Of course, the flexible components are not limited to the above embodiments, and those skilled in the art can make modifications according to actual needs.

[0051] In one embodiment of this utility model, the flexible element has a ring-shaped structure.

[0052] like Figure 2 As shown, the flexible component is a ring-shaped structure. After contacting the limiting post, the ring-shaped structure can be fitted over the limiting post. This makes the limiting structure's positioning more secure and reliable.

[0053] Optionally, the ring structure can be rectangular, circular, elliptical, rhomboid, trapezoidal, etc.

[0054] Of course, the size and shape of the ring structure are not limited here, and those skilled in the art can choose according to actual needs.

[0055] In one embodiment of the present invention, the rotating part includes an output flange 3, and a cavity is provided on the side of the output flange 3 near the fixed part. At least a portion of the flexible member is located in the cavity, and the fixed part is provided with the limiting post, which is located in the cavity.

[0056] like Figure 3 As shown, in this embodiment, the rotation mechanism outputs rotation via the output flange 3. For example, the output flange 3 is provided with bolts. The output flange 3 is connected to other components via bolts. A cavity is formed on the side of the output flange 3 opposite to the fixing part. This cavity can be formed by a partial recess in the output flange 3; it can also be formed by a partial indentation in the fixing part; or it can be formed by partial recesses in both the output flange 3 and the fixing part.

[0057] The wire rope 502 is fixed relative to the output flange 3 and extends at least partially into the cavity. A limiting post is fixed to the fixing part and protrudes from the cavity. That is, the limiting post is also located within the cavity. For example, the limiting post includes a limiting screw 6. The fixing part is provided with a threaded hole. The limiting screw 6 is fastened in the threaded hole. The head and part of the rod of the limiting screw 6 can be located within the cavity and form a limiting effect with the wire rope 502. Here, since the diameter of the screw head is larger than the diameter of the rod, the wire rope 502 can be more effectively restricted, preventing the wire rope 502 from slipping off the limiting rod, thereby improving the reliability of the limiting structure.

[0058] In this embodiment, since at least a portion of the limiting post and the flexible member are located within the cavity, the limiting structure does not occupy the external space of the output flange 3, thereby not increasing the overall volume of the rotating mechanism.

[0059] It should be noted that the fixing part used to install the limit post can be the aforementioned motor housing, motor stator, reducer fixing part, base 1, etc.; or it can be other parts fixedly set relative to the motor stator.

[0060] In one embodiment of the present invention, the sidewall and topwall of the output flange 3 are provided with notches 301, and a portion of the flexible member is located within the notches 301.

[0061] like Figure 3 As shown, bolts are installed on the side wall of the output flange 3 for connection with other components. The top of the output flange 3 is connected to the output end of the reducer. Notches 301 are provided at the edge of the top wall and on the side wall. It can be seen that the notch 301 extends from the top wall to the side wall. The notch 301 is generally L-shaped. The notch 301 is strip-shaped. The notch 301 can be formed by laser cutting, plasma cutting, high-pressure water cutting, etc.

[0062] A portion of the flexible element is positioned within the notch 301. During installation, the flexible element is partially positioned into the cavity through the notch 301. This facilitates the installation of the flexible element.

[0063] During fabrication, an existing rotating mechanism can be utilized. First, notches 301 are made in the side and top walls of the output flange 3. Then, the flexible element is installed into the cavity through the notches 301. In this embodiment, the output flange 3 does not need to be removed when setting the notches 301, making the installation of the flexible element easier.

[0064] In one embodiment of the present invention, the rotating mechanism further includes a latch 501, which fastens the two ends of the flexible member to form a ring structure. The latch 501 is located on the top wall of the output flange 3.

[0065] like Figures 1-4As shown, the locking buckle 501 is used to secure both ends of the wire rope 502. For example, the locking buckle 501 includes a double-hole aluminum fitting. The double-hole aluminum fitting includes two holes. The two holes are used to secure the two ends of the wire rope 502 respectively. The double-hole aluminum fitting can securely lock the two ends of the wire rope 502 to form a loop structure in the flexible member. During installation, firstly, the two ends of the wire rope 502 are secured with the double-hole aluminum fitting to form a loop structure. Then, a portion of the loop structure is passed through the notch 301 so that the loop structure is partially located within the cavity. The double-hole aluminum fitting is located on the top wall of the output flange 3. In this way, the double-hole aluminum fitting can both secure the wire rope 502 and position the wire rope 502 within the notch 301. The locking buckle 501 makes it easier to form a loop structure in the flexible member and facilitates the installation of the wire rope 502 at the notch 301.

[0066] Furthermore, the circumference of the ring structure can be adjusted using the double-hole aluminum fitting. For example, by loosening the double-hole aluminum fitting, the portion of the wire rope 502 that is secured between the two holes of the fitting can be made longer or shorter.

[0067] Figures 7-8 This is a schematic diagram of the limiting principle of the rotating mechanism according to another embodiment of this utility model. Figures 7-8 As shown, due to the longer length of wire rope 502 ( Figure 7 , Figure 8 The length of the steel wire rope 502 shown is L2. Figure 5 , Figure 6 The length of the steel wire rope 502 shown is L1. (L2 > L1), therefore, the starting position is compared to the starting position where the shorter steel wire rope 502 contacts the positioning post (e.g., L2 > L1). Figure 5 As shown, the termination position can be further forward, and the termination position is compared to the termination position where the shorter wire rope 502 contacts the positioning post (as shown). Figure 6 (As shown) can be positioned further back. This configuration can significantly increase the rotation angle of the rotating mechanism, for example, reaching 390°.

[0068] Of course, the length of the wire rope 502 is not limited here, and those skilled in the art can set it according to actual needs. The locking buckle 501 is not limited to the double-hole aluminum kit, but can also be a U-shaped locking buckle 501, an O-shaped locking buckle 501, a clamping locking buckle 501, etc. Those skilled in the art can choose according to actual needs.

[0069] In one embodiment of the present invention, the rotating mechanism further includes a rotating connecting rod 4, which is sleeved on the output flange 3. The rotating connecting rod 4 is provided with a protrusion 401 protruding from the top wall of the output flange 3, and the protrusion 401 partially covers the notch 301.

[0070] like Figures 1-2As shown, the rotating link 4 is used to connect to external equipment of the rotating mechanism. At least a portion of the rotating link 4 is a cylindrical structure. The rotating link 4 is sleeved on the output flange 3. For example, it is fixed to the side wall of the output flange 3 by bolts. Multiple bolts are spaced apart. The rotating link 4 has a protruding portion 401 that protrudes inward. The protruding portion 401 is located above the top of the output flange 3. The protruding portion 401 covers a portion of the notch 301 located on the top wall. In this way, the protruding portion 401 acts as a limit, effectively preventing the wire rope 502 extending into the notch 301 from falling out of the notch 301.

[0071] Furthermore, since the rotating connecting rod 4 is sleeved on the side wall of the output flange 3, it can close at least part of the notch 301 located on the side wall of the output flange 3, effectively preventing the wire rope 502 from falling off the side wall during the rotation of the output flange 3.

[0072] Optionally, the output flange 3 and the rotating connecting rod 4 can be made of metal, plastic, ceramic, glass, wood, etc.

[0073] Of course, the dimensions of the protrusion 401 are not limited here, and those skilled in the art can choose according to actual needs.

[0074] In one embodiment of the present invention, the flexible member forms a bent portion 503, and a portion of the bent portion 503 is located below the protrusion 401.

[0075] like Figure 2 As shown, the flexible element forms a bend 503. One end of the wire rope 502 is pre-bent outside the double-hole aluminum fitting to form a transverse bend 503. The bend 503 is able to maintain the transversely bent shape. In this embodiment, the bend 503 increases the radial dimension of the wire rope 502 along the output flange 3. Thus, the protrusion 401 can effectively limit the bend 503, thereby more effectively preventing the wire rope 502 from falling out of the notch 301.

[0076] Optionally, when not subjected to the force of the limiting post, the wire rope 502 is rectangular. This results in a larger radial dimension of the wire rope 502 on the side facing away from the double-hole aluminum assembly along the output flange 3. The wire rope 502 can then be more easily fitted onto the limiting screw 6, making the fibers of the limiting structure more efficient.

[0077] Of course, the shape of the bent portion 503 is not limited here, as long as it is located below the protrusion 401.

[0078] In one embodiment of the present invention, the width of the latch 501 is greater than the width of the notch 301.

[0079] like Figure 3As shown, notch 301 is a strip-shaped slit. The width of the strip-shaped slit is the circumferential dimension along the output flange 3. Here, since the width of latch 501 is greater than the width of notch 301, latch 501 can be prevented from entering the cavity.

[0080] According to another aspect of the present invention, a robot is provided. This robot includes a rotating mechanism as described in an embodiment of the present invention.

[0081] For example, robots include humanoid robots, bionic robots, industrial robotic arms, and mobile robots. This particular robot is characterized by its large rotation angle.

[0082] The above embodiments mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be elaborated here.

[0083] While specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A rotating mechanism, characterized by comprising: include: A joint module (2), the joint module (2) including a fixed part and a rotating part, the rotating part being rotatably connected to the fixed part, and A limiting structure is provided, comprising a limiting post and a flexible member, wherein either the limiting post or the flexible member is disposed in the fixed part, and the other of the limiting post or the flexible member is disposed in the rotating part, and the flexible member can flexibly abut against the limiting post.

2. The swivel mechanism of claim 1, wherein The flexible component includes at least one of a metal belt, a belt, a chain, and a rope.

3. The swivel mechanism of claim 1, wherein, The flexible element has a ring-shaped structure.

4. The swivel mechanism of claim 1, wherein The rotating part includes an output flange (3), and a cavity is provided on the side of the output flange (3) near the fixed part. At least a portion of the flexible member is located in the cavity, and the fixed part is provided with the limiting post, which is located in the cavity.

5. The swivel mechanism of claim 4, wherein, The sidewall and topwall of the output flange (3) are provided with notches (301), and a portion of the flexible member is located within the notches (301).

6. The swivel mechanism of claim 5, wherein, It also includes a latch (501), which fastens the two ends of the flexible member to form a ring structure, and the latch (501) is located on the top wall of the output flange (3).

7. The swivel mechanism of claim 6, wherein, It also includes a rotating connecting rod (4), which is sleeved on the outside of the output flange (3). The rotating connecting rod (4) is provided with a protrusion (401) protruding from the top wall of the output flange (3), and the protrusion (401) partially covers the notch (301).

8. The swivel mechanism of claim 7, wherein, The flexible member forms a bent portion (503), a portion of which is located below the protrusion (401).

9. A swivel mechanism according to any one of claims 6-8, characterized in that The width of the latch (501) is greater than the width of the notch (301).

10. A robot, characterized in that Includes the rotating mechanism as described in any one of claims 1-9.

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