Multi-directional rotary joint assembly for a robot

Abstract

The utility model discloses a kind of multidirectional rotation joint assemblies for robot, including component shell, rotating driver and controllable telescopic ware being located in component shell, guide ring, guide bearing, component output flange and universal joint, rotating driver one end is equipped with driver output flange, one end of three controllable telescopic ware is rotatably installed on the circumferential outer wall of component shell, the telescopic rod of three controllable telescopic ware is rotatably connected with the one end of circular guide ring respectively, guide bearing is sleeved on the circumferential inner wall of guide ring, component output flange is sleeved on the circumferential inner wall of guide bearing, the both ends of universal joint are connected with component output flange and driver output flange respectively, universal joint is located between component output flange and driver output flange.The utility model can realize multidirectional (i.e. multiple degrees of freedom) control function not limited to three directions, expand the motion range of humanoid robot joint, improve the bionic level of motion characteristic.

Description

Technical Field

[0001] This utility model relates to a joint assembly for a robot, and more particularly to a multi-directional rotary joint assembly for a robot. Background Technology

[0002] With the rapid development of industrial automation and intelligent equipment technology, multi-degree-of-freedom robots have become the core carriers in fields such as precision manufacturing, medical rehabilitation, and service robots. As the motion execution unit of a robot, the performance of rotary joint components directly affects the overall flexibility, load capacity, and operational accuracy of the robot. Traditional unidirectional (i.e., single-degree-of-freedom) joint components are limited by a fixed axis and structural rigidity, making it difficult to meet the requirements of complex spatial trajectory tasks. While traditional multidirectional (i.e., multi-degree-of-freedom) joint components can achieve multi-axis linkage, they generally suffer from problems such as large size, long transmission chains, and lag in dynamic response, resulting in high energy consumption and limited control accuracy.

[0003] In recent years, modular design and integrated drive technology have provided new ideas for miniaturizing joint components. By highly integrating the motor, reducer, encoder, and drive circuit, the joint size can be significantly reduced and the power density increased.

[0004] However, existing technologies still face the following bottlenecks:

[0005] 1. Traditional multi-directional robot joint components can only achieve single-axis reciprocating rotation due to their output flanges. Therefore, multiple rotary joint components need to be connected in series to enable multi-directional movement of humanoid robots. This results in a long transmission chain, complex structure, and is not conducive to the miniaturization of humanoid robots. At the same time, due to the large inertia and lag in dynamic response, it also affects the robot's movement speed and flexibility and increases the difficulty of control.

[0006] 2. Traditional multi-directional robot joint components generally use three-directional joints (such as bionic shoulder joints and hip joints), which limits the range of motion of humanoid robot joints and has a low level of bionics in terms of motion characteristics. This makes it impossible for humanoid robots to perform anthropomorphic movements such as expanding shoulders, hunching shoulders, and raising legs. Utility Model Content

[0007] The purpose of this invention is to provide a multi-directional rotary joint assembly for robots that does not require serial connection and has a large range of motion in order to solve the above-mentioned problems.

[0008] This utility model achieves the above objectives through the following technical solutions:

[0009] A multi-directional rotary joint assembly for a robot includes an assembly housing and a rotary actuator disposed within the assembly housing. One end of the rotary actuator has an actuator output flange. The multi-directional rotary joint assembly for the robot further includes controllable telescopic members, a guide ring, a guide bearing, an assembly output flange, and a universal joint. One end of each of the three controllable telescopic members is rotatably mounted on the outer circumferential wall of the assembly housing and is evenly distributed along the circumferential direction. The telescopic rods of the three controllable telescopic members are rotatably connected to three evenly distributed circumferential portions at one end of the annular guide ring. The guide bearing is fitted onto the inner circumferential wall of the guide ring. The assembly output flange is fitted onto the inner circumferential wall of the guide bearing. Both ends of the universal joint are connected to the assembly output flange and the actuator output flange, respectively, and the universal joint is located between the assembly output flange and the actuator output flange.

[0010] Preferably, for ease of application, the controllable telescopic device is one of an electric push rod, a hydraulic cylinder, and a pneumatic cylinder.

[0011] Preferably, to better achieve the guiding function and minimize impact on the relative rotation between the component output flange and the guide ring, the guide bearing is a sliding bearing. Since the rotation angle of the component output flange is generally small, the relative rotation between the component output flange and the guide ring can be fully achieved using a sliding bearing.

[0012] Preferably, for ease of connection, the universal joint is a cross universal joint.

[0013] Preferably, to achieve reliable rotary drive and deceleration functions while minimizing size, the rotary drive includes a frameless motor and a harmonic reducer. The harmonic reducer includes a reducer housing, a wave generator, a rigid wheel, a flexible wheel, a crossed roller bearing, and the drive output flange. The reducer housing is installed inside the component housing. The crossed roller bearing is installed inside the reducer housing, with the reducer housing serving as the outer ring of the bearing. The inner ring of the crossed roller bearing is connected to the rigid wheel and the drive output flange in sequence via connecting screws. The wave generator is connected to the drive output flange via a rolling bearing and is located inside the rigid wheel. One end of the flexible wheel is located between the wave generator and the rigid wheel. The wave generator is connected to the rotor of the frameless motor.

[0014] Preferably, to further reduce the size, a tubular reducer input shaft is fitted outside the rotor of the frameless motor, and the reducer input shaft is connected to the wave generator and integrally formed.

[0015] Preferably, in order to facilitate the detection of the rotational speed of the frameless motor rotor and the controllable telescopic device, a housing end cover is installed at the end of the component housing near the frameless motor via a housing connecting flange. A drive control board is installed inside the housing end cover. A magnetic encoder is installed on the rotor of the frameless motor near the drive control board. The control input terminal of the controllable telescopic device and the control input terminal of the frameless motor are respectively connected to the control output terminal of the drive control board. A sensor for sensing the magnetic encoder is installed on the drive control board.

[0016] Preferably, in order to facilitate the detection of the rotational speed of the driver output flange and minimize its size, one end of the inner circumference of the driver output flange extends toward the drive control board to form a tubular flange shaft. One end of the flange shaft is close to the drive control board and is equipped with a magnetic element. A sensor for sensing the magnetic element is installed on the drive control board.

[0017] Preferably, for ease of assembly and reliable operation, the outer circumferential wall of the component housing is provided with three telescopic seats evenly distributed along the circumferential direction. One end of each of the three controllable telescopics is rotatably connected to the three telescopic seats. The outer circumferential wall of the guide ring is provided with three convex mounting seats evenly distributed along the circumferential direction. One end of each mounting seat near the telescopic seat is provided with a guide seat. The telescopic rods at the other ends of the three controllable telescopics are rotatably connected to the three guide seats.

[0018] The beneficial effects of this utility model are as follows:

[0019] This invention integrates the component housing and rotary actuator together and installs a controllable telescopic device, guide ring, guide bearing, component output flange, and universal joint. On the one hand, it can transmit the rotational motion of the actuator output flange to the component output flange through the universal joint to drive the rotation of the robot's relevant joint components. On the other hand, it can control the component output flange to perform arbitrary angle control through the controllable telescopic device, thereby realizing multi-directional (i.e., multi-degree-of-freedom) control functions that are not limited to three directions. Ultimately, it realizes that only one rotary joint component can complete rotational control and multi-directional control functions that are not limited to three directions. This greatly simplifies the robot's joint structure, reduces its size and weight, helps to improve the robot's movement speed and flexibility, and makes it easier to control. It expands the range of motion of the humanoid robot joints, improves the biomimetic level of its motion characteristics, and enables the humanoid robot to perform anthropomorphic movements such as shoulder expansion, shoulder hunching, and leg raising. Attached Figure Description

[0020] Figure 1 This is one of the perspective views of the multi-directional rotary joint assembly for a robot described in this invention;

[0021] Figure 2 This is a second perspective view of the multi-directional rotary joint assembly for robots described in this invention;

[0022] Figure 3 This is a front view of the multi-directional rotary joint assembly for a robot described in this invention;

[0023] Figure 4 This is the AA section view in the main view of the multi-directional rotary joint assembly for a robot described in this invention;

[0024] Figure 5 yes Figure 4 A magnified view of the letter "B". Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings:

[0026] like Figures 1-5 As shown, the multi-directional rotary joint assembly for robots described in this utility model includes a component housing 7, a rotary actuator (refer to the frameless motor and harmonic reducer 6 described below) disposed within the component housing 7, as well as controllable telescopic joints 5, guide rings 1, guide bearings 2, component output flanges 11, and universal joints 12. One end of the rotary actuator is provided with an actuator output flange 61. One end of each of the three controllable telescopic joints 5 is rotatably mounted on the outer circumferential wall of the component housing 7 and is evenly distributed along the circumferential direction. The telescopic rods of the three controllable telescopic joints 5 are rotatably connected to three evenly distributed circumferential positions at one end of the annular guide ring 1. The guide bearing 2 is fitted on the inner circumferential wall of the guide ring 1. The component output flange 11 is fitted on the inner circumferential wall of the guide bearing 2. The two ends of the universal joint 12 are respectively connected to the component output flange 11 and the actuator output flange 61, and the universal joint 12 is located between the component output flange 11 and the actuator output flange 61.

[0027] like Figures 1-5 As shown, this utility model also discloses the following more optimized specific structures:

[0028] For ease of application, the controllable telescopic actuator 5 can be an electric push rod, or it can be a hydraulic cylinder or a pneumatic cylinder.

[0029] To better achieve the guiding function and minimize the impact on the relative rotation between the component output flange 11 and the guide ring 1, the guide bearing 2 is a sliding bearing. Since the rotation angle of the component output flange 11 is generally small, the relative rotation between the component output flange 11 and the guide ring 1 can be fully achieved using a sliding bearing.

[0030] For ease of connection, universal joint 12 is a cross universal joint.

[0031] To achieve reliable rotary drive and deceleration functions while minimizing size, the rotary drive includes a frameless motor and a harmonic reducer 6. The harmonic reducer 6 includes a reducer housing 64, a wave generator 66, a rigid wheel 62, a flexible wheel 63, a crossed roller bearing 65, and a drive output flange 61. The reducer housing 64 is installed inside the component housing 7. The crossed roller bearing 65 is installed inside the reducer housing 64, with the reducer housing 64 serving as the outer ring of the bearing. The inner ring of the crossed roller bearing 65 is connected to the rigid wheel 62 and the drive output flange 61 in sequence by connecting screws (not marked in the figure). The wave generator 66 is connected to the drive output flange 61 through a rolling bearing (not marked in the figure) and is located inside the rigid wheel 62. One end of the flexible wheel 63 is located between the wave generator 66 and the rigid wheel 62. The wave generator 66 is connected to the rotor 14 of the frameless motor.

[0032] To further reduce the size, the tubular reducer input shaft 15 is fitted outside the rotor 14 of the frameless motor. The reducer input shaft 15 is connected to the wave generator 66 and is integrally formed.

[0033] To facilitate the detection of the rotational speed of the frameless motor rotor 14 and the controllable telescopic device 5, a housing end cover 10 is installed in the component housing 7 near the frameless motor via a housing connection flange 9. A drive control board 17 is installed inside the housing end cover 10. A magnetic encoder 18 is installed on the rotor 14 of the frameless motor near the drive control board 17. The control input terminal of the controllable telescopic device 5 and the control input terminal of the frameless motor are respectively connected to the control output terminal of the drive control board 17. A sensor (not shown in the figure) for sensing the magnetic encoder 18 is installed on the drive control board 17.

[0034] To facilitate the detection of the rotational speed of the driver output flange 61 and minimize its size, one end of the inner circumference of the driver output flange 61 extends toward the drive control board 17 to form a tubular flange shaft 16. One end of the flange shaft 16 is close to the drive control board 17 and is equipped with a magnetic element (not shown in the figure). A sensor (not shown in the figure) for sensing the magnetic element is installed on the drive control board 17.

[0035] Preferably, in order to facilitate assembly and achieve reliable operation, the outer circumferential wall of the component housing 7 is provided with three expansion joint seats 8 evenly distributed along the circumferential direction. One end of the three controllable expansion joints 5 is rotatably connected to the three expansion joint seats 8 respectively. The outer circumferential wall of the guide ring 1 is provided with three mounting seats 3 evenly distributed along the circumferential direction and protruding outward. One end of the mounting seat 3 near the expansion joint seat 8 is provided with a guide seat 4. The telescopic rods at the other end of the three controllable expansion joints 5 are rotatably connected to the three guide seats 4 respectively.

[0036] like Figures 1-5As shown, in application, the component housing 7 is connected and fixed to the body frame of the humanoid robot (not shown in the figure), and the module output flange 11 is connected and fixed to other corresponding joint components of the humanoid robot (not shown in the figure). When the drive control board 17 receives the rotation control signal sent by the host computer, it controls the stator 13 of the frameless motor to generate a regular alternating magnetic field, which drives the rotor 14 of the frameless motor to rotate, thereby driving the input shaft 15 of the reducer and the wave generator 66 to rotate synchronously. After the harmonic reducer 6 reduces the speed and increases the torque, it drives the component output flange 11 to rotate through the universal joint 12. At the same time, the sensor on the drive control board 17 collects the magnetic field change information of the magnetic encoder 18 and uses it as the basis for speed control to realize the closed-loop control of the rotating joint component.

[0037] Meanwhile, after receiving the tilt signal from the host computer, the drive control board 17 controls the movement of the three controllable telescopic devices 5 respectively. Based on the principle that three points can define a plane, by controlling the stroke of the telescopic rods of the three controllable telescopic devices 5, the guide ring 1 is adjusted to the required tilt plane. The component output flange 11 is also tilted to the required tilt plane synchronously by the guiding action of the guide ring 1. The rotational motion of the harmonic reducer 6 is continuously transmitted to the component output flange 11 through the universal joint 12, thereby realizing the multi-directional control function of the rotary joint component.

[0038] The above embodiments are merely preferred embodiments of this utility model and are not intended to limit the technical solutions of this utility model. Any technical solution that can be implemented based on the above embodiments without creative effort should be considered to fall within the scope of protection of this utility model patent.

Claims

1. A multi-directional rotary joint assembly for a robot, comprising an assembly housing and a rotary actuator disposed within the assembly housing, wherein one end of the rotary actuator is provided with an actuator output flange, characterized in that: The multi-directional rotary joint assembly for the robot further includes controllable telescoping elements, guide rings, guide bearings, assembly output flanges, and universal joints. One end of each of the three controllable telescoping elements is rotatably mounted on the outer circumferential wall of the assembly housing and is evenly distributed along the circumferential direction. The telescoping rods of the three controllable telescoping elements are rotatably connected to three evenly distributed circumferential positions at one end of the annular guide ring. The guide bearing is fitted onto the inner circumferential wall of the guide ring, and the assembly output flange is fitted onto the inner circumferential wall of the guide bearing. The two ends of the universal joint are connected to the assembly output flange and the actuator output flange, respectively, and the universal joint is located between the assembly output flange and the actuator output flange.

2. The multi-directional rotary joint assembly for a robot according to claim 1, characterized in that: The controllable telescopic device is one of an electric push rod, a hydraulic cylinder, and a pneumatic cylinder.

3. The multi-directional rotary joint assembly for a robot according to claim 1, characterized in that: The guide bearing is a sliding bearing.

4. The multi-directional rotary joint assembly for a robot according to claim 1, characterized in that: The universal joint is a cross universal joint.

5. The multi-directional rotary joint assembly for a robot according to any one of claims 1-4, characterized in that: The rotary driver includes a frameless motor and a harmonic reducer. The harmonic reducer includes a reducer housing, a wave generator, a rigid wheel, a flexible wheel, a crossed roller bearing, and the driver output flange. The reducer housing is installed inside the component housing. The crossed roller bearing is installed inside the reducer housing, with the reducer housing serving as the outer ring of the bearing. The inner ring of the crossed roller bearing is connected to the rigid wheel and the driver output flange in sequence via connecting screws. The wave generator is connected to the driver output flange via a rolling bearing and is located inside the rigid wheel. One end of the flexible wheel is located between the wave generator and the rigid wheel. The wave generator is connected to the rotor of the frameless motor.

6. The multi-directional rotary joint assembly for a robot according to claim 5, characterized in that: The tubular reducer input shaft is fitted outside the rotor of the frameless motor, and the reducer input shaft is connected to the wave generator and is integrally formed.

7. The multi-directional rotary joint assembly for a robot according to claim 6, characterized in that: A housing end cover is installed in the component housing near the frameless motor via a housing connecting flange. A drive control board is installed inside the housing end cover. A magnetic encoder is installed on the rotor of the frameless motor near the drive control board. The control input terminal of the controllable telescopic device and the control input terminal of the frameless motor are respectively connected to the control output terminal of the drive control board. A sensor for sensing the magnetic encoder is installed on the drive control board.

8. The multi-directional rotary joint assembly for a robot according to claim 7, characterized in that: One end of the output flange of the driver extends from the inner circumference of the flange towards the drive control board to form a tubular flange shaft. One end of the flange shaft is close to the drive control board and is equipped with a magnetic element. A sensor for sensing the magnetic element is installed on the drive control board.

9. The multi-directional rotary joint assembly for a robot according to any one of claims 1-4, characterized in that: The outer circumferential wall of the component housing is provided with three telescopic seats evenly distributed along the circumferential direction. One end of each of the three controllable telescopics is rotatably connected to the three telescopic seats. The outer circumferential wall of the guide ring is provided with three mounting seats evenly distributed along the circumferential direction and protruding outward. One end of each mounting seat near the telescopic seat is provided with a guide seat. The telescopic rods at the other end of each of the three controllable telescopics are rotatably connected to the three guide seats.

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