A robot-driven joint and a robot

Abstract

This utility model discloses a robot drive joint and a robot, belonging to the field of robot technology. By setting the two ends of the torque sensor as a ring structure with different inner and outer diameters, and by fixing the two ends with different inner and outer diameters to the drive motor and the mounting bracket respectively, the drive motor and the mounting bracket are not in contact, which improves the measurement accuracy of the torque sensor. The use of the inner and outer diameter structure to fix the torque sensor to the drive motor and the mounting bracket also effectively reduces the axial length of the drive joint and reduces the size of the robot drive joint.

Description

Technical Field

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

[0002] With the development of technology, robots are increasingly being used in our production and daily life. Rope drive is the most common type of drive in robots. For example, exoskeleton robots or rehabilitation robots all use rope drive. To ensure the smoothness and accuracy of robot control, it is necessary to accurately detect the driving torque of the rope-driven joints.

[0003] To ensure the robot's flexibility, there are high restrictions on the axial length of the rope-driven joints in rope-driven robots. Existing torque design schemes cannot effectively meet the restrictions on the axial length of rope-driven joints.

[0004] Therefore, how to integrate a torque sensor into the driven rope pulley to achieve accurate detection of the driving torque of the rope-driven joint has become a key problem that urgently needs to be solved. Summary of the Invention

[0005] To address the technical problem of excessive axial length in existing cable-driven joints after installing torque sensors, this invention proposes a cable-driven joint and robot. Through innovative structural design of the torque sensor, the torque sensor is more tightly installed with the drive wheel, effectively reducing the axial length of the cable-driven joint.

[0006] In a first aspect, this utility model discloses a robot drive joint, including a drive motor, a mounting bracket, a torque sensor, and a joint link. The torque sensor is fixedly connected to the drive motor and the mounting bracket, respectively, and is used to measure the output torque of the drive motor.

[0007] Furthermore, the torque sensor includes a first ring structure, a second ring structure, and a connecting beam, wherein the first ring structure and the second ring structure are connected by the connecting beam.

[0008] Furthermore, there are multiple connecting beams, which are equidistant from each other, and torque measuring sensors are installed on the connecting beams.

[0009] Furthermore, the first ring structure is fixedly connected to the drive motor, and the second ring structure is fixedly connected to the mounting bracket.

[0010] Furthermore, the outer diameter of the second ring structure is larger than the outer diameter of the first ring structure, and the inner diameter of the second ring structure is larger than the inner diameter of the first ring structure.

[0011] Furthermore, the mounting bracket is also equipped with a hollow structure to reduce its weight.

[0012] Furthermore, the mounting bracket is equipped with a connecting structure for fixing the mounting bracket to other structures of the robot.

[0013] Furthermore, the robot's drive joint also includes a joint link, and the drive motor is fixedly connected to the joint link.

[0014] Secondly, this utility model discloses a robot, including at least one robot drive joint as described in the first aspect.

[0015] This utility model discloses a robot drive joint and a robot, belonging to the field of robot technology. By setting the two ends of the torque sensor as a ring structure with different inner and outer diameters, and by fixing the two ends with different inner and outer diameters to the drive motor and the mounting bracket respectively, the drive motor and the mounting bracket are not in contact, which improves the measurement accuracy of the torque sensor. The use of the inner and outer diameter structure to fix the torque sensor to the drive motor and the mounting bracket also effectively reduces the axial length of the drive joint and reduces the size of the robot drive joint. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one side of the robot drive joint in this utility model;

[0017] Figure 2 This is a schematic diagram of the other side of the robot drive joint in this utility model;

[0018] Figure 3 This is a schematic diagram of the torque sensor in this utility model;

[0019] Figure 4 This is a schematic diagram of the mounting bracket in this utility model. Detailed Implementation

[0020] The technical solutions of the present utility model will be further clearly and completely described below with reference to the accompanying drawings of the embodiments. It should be noted that the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0021] To make the application purpose, technical solution, and advantages of this utility model clearer, the technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model.

[0022] The embodiments of this utility model will be further described in detail below with reference to the accompanying drawings:

[0023] In Example 1, as Figure 1 or Figure 2 As shown, this utility model provides a robot drive joint, including a drive motor 100, a mounting bracket 200, a torque sensor 300, and a joint link 400. The torque sensor 300 is fixedly connected to the drive motor 100 and the mounting bracket 200 respectively, and is used to measure the output torque of the drive motor.

[0024] In one embodiment of this utility model, such as Figure 3 As shown, the torque sensor 300 is a beam connection structure with rings. The torque sensor 300 has two ring structures at its ends, which are used for fixed connection to the drive motor 100 and the mounting bracket 200, respectively. Specifically, the first ring structure 301 is fixedly connected to the drive motor, and the second ring structure 302 is fixedly connected to the mounting bracket 200. The outer diameter of the second ring structure 302 is larger than the outer diameter of the first ring structure 301, and the inner diameter of the second ring structure 302 is larger than the inner diameter of the first ring structure 301. The outer and inner diameters of the two ring structures at both ends of the torque sensor 300 are different. This structural design aims to ensure that the mounting bracket and the drive motor are coaxially mounted with the torque sensor, but without contacting each other. This ensures the accuracy of the torque sensor measurement and, more importantly, ensures the overall compact structure of the drive joint, avoiding excessive axial length that could affect the overall movement of the robot.

[0025] In one embodiment of this utility model, threaded holes are also provided on the first ring structure 301 and the second ring structure 302, and corresponding fixing holes are also provided on the drive motor 100 and the mounting bracket 200. The torque sensor 300 also includes multiple connecting beams 303, the number of which can be set as needed. To ensure measurement accuracy and data processing convenience, the multiple connecting beams are equidistantly arranged on the rings, and the strain gauges of the torque sensor are mounted on the connecting beams.

[0026] In one embodiment of this utility model, such as Figure 4As shown, the mounting bracket 200 is also provided with a hollow structure 201 to reduce the weight of the mounting bracket, thereby reducing the weight of the robot's drive joints. Furthermore, the mounting bracket 200 is provided with a connecting structure 202 for fixing the mounting bracket to other structures of the robot.

[0027] In one embodiment of this utility model, the robot drive joint further includes a joint link 400, and a drive motor 100 is fixedly connected to the joint link 400, thereby driving the joint link 400 to move. When the robot drive joint is working, the drive motor 100 drives the joint link 400 to move. At this time, the drive motor 100 is also subjected to the reaction torque of the joint link 400. Since the torque sensor 300 is fixedly connected to the drive motor 100, the torque sensor 300 can detect the reaction torque transmitted from the joint link 400 to the drive motor 100, and thus can detect the output torque of the drive motor acting on the joint link, thereby detecting the movement of the robot joint in real time and ensuring the normal operation of the robot.

[0028] In Embodiment 2, the present invention provides a robot that includes any of the robot drive joints described in Embodiment 1. The robot may include one or more drive joints.

[0029] This utility model discloses a robot drive joint and a robot. By setting the two ends of the torque sensor as a ring structure with different inner and outer diameters, and by fixing the two ends with different inner and outer diameters to the drive motor and the mounting bracket respectively, the drive motor and the mounting bracket are not in contact, which improves the measurement accuracy of the torque sensor. The use of the inner and outer diameter structure to fix the torque sensor to the drive motor and the mounting bracket also effectively reduces the axial length of the drive joint and reduces the size of the robot drive joint.

Claims

1. A robot drive joint, characterized in that, It includes a drive motor (100), a mounting bracket (200), a torque sensor (300), and a joint link (400). The torque sensor (300) is fixedly connected to the drive motor (100) and the mounting bracket (200) respectively, and is used to measure the output torque of the drive motor.

2. A robot drive joint according to claim 1, characterized in that, The torque sensor (300) includes a first ring structure (301), a second ring structure (302), and a connecting beam. The first ring structure (301) and the second ring structure (302) are connected by the connecting beam (303).

3. A robot drive joint according to claim 2, characterized in that, There are multiple connecting beams (303), which are equidistantly arranged, and torque measuring sensors are provided on the connecting beams.

4. A robot drive joint according to claim 2, characterized in that, The first ring structure (301) is fixedly connected to the drive motor, and the second ring structure (302) is fixedly connected to the mounting bracket (200).

5. A robot drive joint according to claim 4, characterized in that, The outer diameter of the second ring structure (302) is greater than the outer diameter of the first ring structure (301), and the inner diameter of the second ring structure (302) is greater than the inner diameter of the first ring structure (301).

6. A robot drive joint according to claim 5, characterized in that, The mounting bracket (200) is also provided with a hollow structure (201) to reduce the weight of the mounting bracket.

7. A robot drive joint according to claim 6, characterized in that, The mounting bracket (200) is provided with a connecting structure (202) for fixing the mounting bracket to other structures of the robot.

8. A robot drive joint according to claim 6, characterized in that, The robot drive joint also includes a joint link (400), and the drive motor (100) is fixedly connected to the joint link (400).

9. A robot, characterized in that, It includes at least one robot drive joint as described in any one of claims 1-8.

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