Joint structure, robot arm and robot leg

Abstract

The utility model provides a kind of joint structure, machine arm and machine leg, wherein joint structure is used to connect proximal extremity and distal extremity, the joint structure includes first motor, adapter support and second motor, the first motor is used to be arranged in the proximal extremity;The adapter support includes connecting portion and support portion, the upper end of the connecting portion is connected with the output shaft of the first motor, the lower end of the connecting portion is connected with the support portion, and the support portion is located below the proximal extremity;Second motor is arranged in the support portion, the output shaft of the second motor is worn out the support portion, for connecting the distal extremity;The axis of the first motor is perpendicular to the axis of the second motor, so that the proximal end shell of proximal extremity is kept continuous and complete, which is conducive to the full coverage of tactile sensor.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a joint structure, a robotic arm, and a robotic leg. Background Technology

[0002] In the prior art, one method of robot limb design divides a complete limb into multiple segments, which are then driven by motors placed within the segments. For example, Chinese utility model patent CN 207014400 U discloses a robot arm whose upper arm includes an upper arm and a lower arm, with the motor driving the lower arm to rotate located inside the upper arm.

[0003] This necessitates designing the boom shell as a discontinuous, split structure to accommodate the motor and drive the lower boom section's rotation. This design disrupts the continuity between the upper and lower boom shells, and the discontinuous shell makes it difficult to achieve a neat arrangement of sensors (such as tactile sensors) covering its surface. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a joint structure, a robotic arm, and a robotic leg.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A joint structure for connecting a proximal limb and a distal limb, the joint structure comprising: A first motor, wherein the first motor is configured to be disposed within the proximal limb; An adapter bracket, comprising a connecting part and a supporting part, wherein the upper end of the connecting part is connected to the output shaft of the first motor, and the lower end of the connecting part is connected to the supporting part, and the supporting part is located below the proximal limb; A second motor is disposed inside the support portion, and the output shaft of the second motor extends out of the support portion for connecting the distal limb. The axis of the first motor is perpendicular to the axis of the second motor.

[0006] In a preferred embodiment, the adapter bracket has a first adapter housing and a second adapter housing, which together constitute the connecting part and the supporting part.

[0007] In a preferred embodiment, the first adapter housing includes an integrally formed first connecting housing and a first supporting housing; The second adapter housing includes an integrally formed second connecting shell and a second supporting shell; The first connecting shell and the second connecting shell are fastened together to form the connecting portion; The first support shell and the second support shell are fastened together to form the support portion.

[0008] In a preferred embodiment, the proximal limb includes: The proximal frame, on which the first motor is fixed; Two proximal shells are correspondingly fastened to two proximal skeletons.

[0009] In a preferred embodiment, the proximal skeleton includes: A proximal end enclosure surrounds the outside of the first motor, and two proximal end housings are fixed to the outer wall of the proximal end enclosure.

[0010] In a preferred embodiment, the proximal skeleton includes: Two proximal side rods; A proximal end panel, the proximal end panel being connected between the two proximal end side bars; The clamp, together with the proximal end plate, holds and fixes the first motor.

[0011] In a preferred embodiment, the inner wall of the proximal end plate and / or the clamp is provided with a limiting protrusion, and the outer wall of the first motor is provided with a corresponding limiting recess, the limiting protrusion being engaged with the limiting recess.

[0012] In a preferred embodiment, the distal limb includes: A remote connecting plate, wherein the remote connecting plate is connected to the output shaft of the second motor; A distal skeleton, which is connected to the distal connecting plate and located below the distal connecting plate; Two distal housings are fastened to both sides of the distal frame.

[0013] A robotic arm includes the joint structure described in the above embodiments, and further includes a proximal limb and a distal limb.

[0014] A robotic leg includes the joint structure described in the above embodiments, and further includes a proximal limb and a distal limb.

[0015] Compared with existing technologies, this technical solution has the following advantages: By configuring the joint structure as a functional module independent of the proximal limb, the proximal shell of the proximal limb can remain continuous and intact. This continuity provides a mounting basis for the tactile sensor that fully covers its outer surface and allows its shape to support non-circular cross-section designs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the robotic leg described in this utility model; Figure 2 This is a cross-sectional view of the machine leg described in this utility model; Figure 3 for Figure 2 Enlarged diagram of A in the middle; Figure 4 This is a schematic diagram of the structure of the adapter bracket described in this utility model; Figure 5 This is a schematic diagram of the proximal skeleton in the robotic leg of this utility model; Figure 6 This is a schematic diagram of the structure of the robotic arm described in this utility model; Figure 7 This is a schematic diagram of the proximal skeleton of the robotic arm described in this utility model.

[0017] In the figure: 100 Joint structure, 110 First motor, 111 Restricting recess, 120 Adapter bracket, 121 Connecting part, 122 Supporting part, 123 First adapter shell, 123a First connecting shell, 123b First supporting shell, 124 Second adapter shell, 124a Second connecting shell, 124b Second supporting shell, 130 Second motor, 200 Proximal limb, 210 Proximal skeleton, 211 Proximal side rod, 212 Proximal enclosure plate, 213 Clamp, 214 Restricting protrusion, 220 Proximal shell, 300 Distal limb, 310 Distal skeleton, 320 Distal shell, 330 Distal connecting plate. Detailed Implementation

[0018] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0019] First Embodiment Please refer to Figure 1 , Figure 2 and Figure 6 An embodiment of this utility model provides a joint structure 100 for connecting a proximal limb 200 and a distal limb 300, the joint structure 100 comprising: A first motor 110 is configured to be located within the proximal limb 200; The adapter bracket 120 includes a connecting part 121 and a supporting part 122. The upper end of the connecting part 121 is connected to the output shaft of the first motor 110, and the lower end of the connecting part 121 is connected to the supporting part 122. The supporting part 122 is located below the proximal limb 200. The second motor 130 is disposed inside the support part 122, and the output shaft of the second motor 130 extends out of the support part 122 for connecting the distal limb 300. The axis of the first motor 110 is perpendicular to the axis of the second motor 130.

[0020] The joint structure 100 is disposed at the joint between the proximal limb 200 and the distal limb 300. When the first motor 110 is working, it drives the adapter bracket 120 and the distal limb 300 to rotate together around the axis of the first motor 110. When the second motor 130 is working, it drives the distal limb 300 to rotate around its own axis. The joint movement can be realized by the coordinated operation of the two motors.

[0021] In this embodiment, by setting the joint structure 100 as a functional module independent of the proximal limb 200, the proximal shell 220 of the proximal limb 200 can remain continuous and intact. This continuity provides a mounting basis for the tactile sensor that fully covers its outer surface and allows its shape to support non-circular cross-section designs. For example, the cross-section of the proximal shell 220 can be designed to smoothly transition from a square at the top to a circle at the bottom.

[0022] like Figure 2 As shown, the adapter bracket 120 includes a connecting portion 121 and a supporting portion 122. Both the connecting portion 121 and the supporting portion 122 are cylindrical, and their axes are perpendicular to each other. The upper end of the connecting portion 121 is connected to the output shaft of the first motor 110 and is coaxially arranged with the first motor 110; its lower end is connected to the supporting portion 122. The second motor 130 is housed within the supporting portion 122 and is coaxially arranged with the supporting portion 122, thereby achieving that the axis of the first motor 110 is perpendicular to the axis of the second motor 130.

[0023] like Figure 2 and Figure 4 As shown, the adapter bracket 120 has a first adapter housing 123 and a second adapter housing 124, which together constitute the connecting portion 121 and the supporting portion 122. The first adapter housing 123 and the second adapter housing 124 are snap-fit ​​connected to facilitate the encapsulation of the second motor 130 inside the adapter bracket 120.

[0024] Specifically, the first adapter housing 123 includes an integrally formed first connecting shell 123a and a first supporting shell 123b; correspondingly, the second adapter housing 124 includes an integrally formed second connecting shell 124a and a second supporting shell 124b. The first connecting shell 123a and the second connecting shell 124a are fastened together to form the connecting portion 121; the first supporting shell 123b and the second supporting shell 124b are fastened together to form the supporting portion 122.

[0025] During assembly, the second motor 130 can be first fixed to the second support shell 124b with bolts, and then the first adapter shell 123 and the second adapter shell 124b can be aligned and fastened together, thereby encapsulating the second motor 130 in the support portion 122 formed by the first support shell 123b and the second support shell 124b.

[0026] Furthermore, the snap-fit ​​connection between the first adapter housing 123 and the second adapter housing 124 also facilitates the connection between the adapter bracket 120 and the first motor 110. The assembly path is as follows: first, the second motor 130 can be fixed inside the second support housing 124b, then the second connecting housing 124a can be connected to the output shaft of the first motor 110 using bolts, and finally the first support housing 123b and the second support housing 124b can be snapped together.

[0027] like Figure 1 and Figure 2 As shown, the proximal limb 200 includes: The proximal frame 210, on which the first motor 110 is fixed; Two proximal housings 220 are correspondingly fastened to two proximal skeletons 210.

[0028] After the first motor 110 and the adapter bracket 120 are assembled, they can be assembled as a whole onto the proximal limb 200. Specifically, the first motor 110 is fixed to the proximal frame 210; then, the first proximal shell 220 is installed on one side of the proximal frame 210; next, the second proximal shell 220 is installed on the other side of the proximal frame 210, so that the two proximal shells 220 are fastened together to form a complete shell, and the first motor 110 and the connecting part 121 are encapsulated in its internal space.

[0029] The seams between the proximal housings 220 are necessary joining lines for manufacturing and assembly, rather than functional breaks caused by structural requirements as in the prior art. They do not affect the continuity and integrity of the surface of the proximal housing 220.

[0030] like Figure 1 and Figure 2 As shown, the distal limb 300 includes: The remote connecting plate 330 is connected to the output shaft of the second motor 130; The distal frame 310 is connected to the distal connecting plate 330 and is located below the distal connecting plate 330. Two distal housings 320 are fastened to both sides of the distal frame 310.

[0031] The distal connecting plate 330 is integrally connected to the distal frame 310. The distal connecting plate 330 and the output shaft of the second motor 130 can be fixed with bolts so that the second motor 130 drives the distal limb 300 to rotate around the axis of the second motor 130.

[0032] Second Embodiment like Figure 1 and Figure 2 As shown, this embodiment provides a robotic leg, including the joint structure 100 of the first embodiment, as well as a proximal limb 200 and a distal limb 300. The proximal limb 200 corresponds to the upper arm, and the distal limb 300 corresponds to the forearm, thus the joint structure 100 realizes the function of an elbow joint.

[0033] like Figure 5 As shown, the proximal skeleton 210 includes: Two proximal side rods 211; A proximal end plate 212 is connected between two proximal end side rods 211, and the proximal end plate 212 and the proximal end side rods 211 are integrally connected. The clamp 213, together with the proximal end plate 212, holds and fixes the first motor 110.

[0034] During assembly, the first motor 110 is first placed on the proximal end plate 212, with its circumferential side contacting and positioning the proximal end plate 212. Then, a clamp 213 is placed over the other circumferential side of the first motor 110 and connected to the proximal end plate 212 with bolts, so that the clamp 213 and the proximal end plate 212 work together to hold and fix the first motor 110. Subsequently, the two proximal end shells 220 are fixed to the proximal end frame 210.

[0035] At this time, the proximal side rod 211 is spliced ​​between the two proximal shells 220. The joint formed by the splicing is a necessary connection line for manufacturing and assembly, rather than a functional breakpoint caused by structural requirements in the prior art, and does not affect the continuity and integrity of the surface of the proximal shell 220.

[0036] refer to Figure 3 and Figure 5 The inner wall of the proximal end plate 212 and / or the clamp 213 is provided with a limiting protrusion 214, and the outer wall of the first motor 110 is provided with a corresponding limiting recess 111. The limiting protrusion 214 is engaged with the limiting recess 111. The cooperation between the limiting protrusion 214 and the limiting recess 111 improves the stability of fixing the first motor 110.

[0037] Third Embodiment like Figure 6 and Figure 7 As shown, this embodiment provides a robotic arm, including the joint structure 100 of the above embodiment, and also including a proximal limb 200 and a distal limb 300. The proximal limb 200 corresponds to the upper arm, and the distal limb 300 corresponds to the forearm, thus the joint structure 100 realizes the function of an elbow joint.

[0038] like Figure 7 As shown, the proximal skeleton 210 includes: A proximal end plate 212 surrounds the outside of the first motor 110, and two proximal end shells 220 are fixed to the outer wall of the proximal end plate 212.

[0039] During assembly, the first motor 110 is inserted into the proximal end plate 212 and fixed with bolts. Then, the two proximal end shells 220 are fixed to the outer wall of the proximal end plate 212, at which point the two proximal end shells 220 are spliced ​​together.

[0040] The seam formed by splicing the two proximal shells 220 is a necessary joint line for manufacturing and assembly, rather than a functional breakpoint caused by structural requirements in the prior art, and does not affect the continuity and integrity of the surface of the proximal shell 220.

[0041] The embodiments described above are only used to illustrate the technical ideas and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. The scope of patent application of this utility model should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in this utility model still fall within the patent scope of this utility model.

Claims

1. A joint structure (100) for connecting a proximal limb (200) and a distal limb (300), characterized in that, The joint structure (100) includes: A first motor (110) is provided within the proximal limb (200); The adapter bracket (120) includes a connecting part and a supporting part. The upper end of the connecting part is connected to the output shaft of the first motor (110), and the lower end of the connecting part is connected to the supporting part. The supporting part is located below the proximal limb (200). The second motor (130) is located inside the support portion, and the output shaft of the second motor (130) extends out of the support portion for connecting the distal limb (300). The axis of the first motor (110) is perpendicular to the axis of the second motor (130).

2. The joint structure (100) as described in claim 1, characterized in that, The adapter bracket (120) has a first adapter housing and a second adapter housing, which together constitute the connecting part and the supporting part.

3. The joint structure (100) as described in claim 2, characterized in that, The first adapter housing includes an integrally formed first connecting shell (123a) and a first supporting shell (123b). The second adapter housing includes an integrally formed second connecting shell (124a) and a second supporting shell (124b). The first connecting shell (123a) and the second connecting shell (124a) are fastened together to form the connecting part; The first support shell (123b) and the second support shell (124b) are fastened together to form the support portion.

4. The joint structure (100) as described in claim 1, characterized in that, The proximal limb (200) includes: The proximal frame (210) is to which the first motor (110) is fixed; Two proximal shells (220) are correspondingly fastened to two proximal skeletons (210).

5. The joint structure (100) as described in claim 4, characterized in that, The proximal skeleton (210) includes: A proximal end enclosure (212) surrounds the outside of the first motor (110), and two proximal end housings (220) are fixed to the outer wall of the proximal end enclosure (212).

6. The joint structure (100) as described in claim 4, characterized in that, The proximal skeleton (210) includes: Two proximal side bars (211); A proximal end plate (212) is connected between the two proximal end side bars (211); The clamp (213) and the proximal end plate (212) together hold and fix the first motor (110).

7. The joint structure (100) as described in claim 6, characterized in that, The inner wall of the near end plate (212) and / or the clamp (213) is provided with a limiting protrusion (214), and the outer wall of the first motor (110) is provided with a corresponding limiting recess (111), and the limiting protrusion (214) is inserted into the limiting recess (111).

8. The joint structure (100) as described in claim 1, characterized in that, The distal limb (300) includes: A remote connecting plate (330) is connected to the output shaft of the second motor (130); The distal frame (310) is connected to the distal connecting plate (330) and is located below the distal connecting plate (330); Two distal housings (320) are fastened to both sides of the distal frame (310).

9. A robotic arm, characterized in that, It includes the joint structure (100) as described in any one of claims 1 to 8, and also includes a proximal limb (200) and a distal limb (300).

10. A robotic leg, characterized in that, It includes the joint structure (100) as described in any one of claims 1 to 8, and also includes a proximal limb (200) and a distal limb (300).

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