Joint structure, lower limb mechanism and robot

Abstract

The utility model discloses a kind of joint structure, lower limb mechanism and robot, the joint structure includes: support seat, the support seat includes first support, second support and third support, the second support with the first support detachable connection, the first support with the second support between forming installation space, the third support is located in the installation space and is connected with the first support, the third support with the second support detachable connection;Joint module, the joint module is located in installation space, the output of the joint module with the first support connection, the one end opposite with the output of the joint module with the second support rotation connection.The technical scheme provided in the application can reduce the size of the support seat, and then the size of the joint structure can be reduced in the X direction.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a joint structure, a lower limb mechanism, and a robot. Background Technology

[0002] With the continuous development of robotics technology, robots have been widely used in fields such as industrial manufacturing, medical rehabilitation, and services.

[0003] In related technologies, when the lower limb mechanism is mounted on the chassis, the support base is usually mounted on the chassis. When the joint module of the lower limb mechanism is connected to the support base, the support base, as an integral part, needs to reserve a certain assembly space, which will increase the overall width of the support base, and thus increase the total width of the lower limb mechanism. The total width of the lower limb mechanism will then affect the robot's rotation diameter, product appearance coordination, etc.

[0004] Therefore, how to reduce the overall width of the support base is an urgent problem to be solved. Utility Model Content

[0005] The purpose of this application is to provide a joint structure, a lower limb mechanism, and a robot.

[0006] According to a first aspect of the embodiments of this application, a joint structure is provided, comprising: A support base, comprising a first bracket, a second bracket, and a third bracket, wherein the second bracket is detachably connected to the first bracket, an installation space is formed between the first bracket and the second bracket, the third bracket is located in the installation space and connected to the first bracket, and the third bracket is detachably connected to the second bracket; A joint module is disposed in the installation space. The output end of the joint module is connected to the first bracket, and the end of the joint module opposite to the output end is rotatably connected to the second bracket.

[0007] Optionally, the first bracket includes a first mounting plate, which is spaced apart from the second bracket. The first mounting plate has a first through hole, and the output end of the joint module has a protrusion that is embedded in the first through hole.

[0008] Optionally, the first mounting plate is further provided with a second through hole, the first through hole and the second through hole are concentric, the outer diameter of the second through hole is larger than the outer diameter of the first through hole, and at least a portion of the output end of the joint module is embedded in the second through hole.

[0009] Optionally, the first bracket further includes a second mounting plate, the first mounting plate and the second mounting plate are connected at an angle, the second bracket and the second mounting plate are detachably connected, and the mounting space is formed between the first mounting plate and the second bracket.

[0010] Optionally, the third bracket includes a third mounting plate and a fourth mounting plate, the third mounting plate and the fourth mounting plate being spaced apart from the second mounting plate, the joint module being located between the third mounting plate and the fourth mounting plate, and the second bracket being connected to the third mounting plate and the fourth mounting plate.

[0011] Optionally, the third mounting plate has a first protrusion on the side facing the fourth mounting plate, and the fourth mounting plate has a second protrusion on the side facing the third mounting plate.

[0012] Optionally, the joint module includes a joint module and a connecting part. The output end of the joint module is connected to the first bracket. A receiving cavity is formed inside the connecting part. The joint module is disposed in the receiving cavity and connected to the connecting part. The connecting part is rotatably connected to the second bracket.

[0013] Optionally, the joint module further includes an adapter and a bearing, the adapter being connected to the connecting part; the adapter being connected to the outer ring of the bearing, and the inner ring of the bearing being connected to the second bracket.

[0014] According to a second aspect of the embodiments of this application, a lower limb mechanism is provided, including the joint structure described above.

[0015] According to a third aspect of the embodiments of this application, a robot is provided, comprising: The aforementioned joint structure; or The aforementioned lower limb structures.

[0016] One technical advantage of this application embodiment is that, when assembling the joint structure, the output end of the joint module is first connected to the first bracket, and then the second bracket is connected to the first bracket and the joint module respectively. By setting the first bracket and the second bracket of the support base to be detachably connected, no assembly space is required when installing the joint module, thereby reducing the size of the support base, and thus reducing the size of the joint structure in the X direction. Furthermore, it is convenient to remove the joint module from the support base during joint structure inspection and maintenance.

[0017] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0019] Figure 1 This is a schematic diagram of the joint structure in the embodiments of this application; Figure 2 This is a schematic diagram of the joint structure in the embodiments of this application; Figure 3 for Figure 2 Sectional view at point AA; Figure 4 This is a schematic diagram of the support base in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of the first support in an embodiment of this application.

[0020] Figure labeling: Joint structure 100; Support base 1; First bracket 11; First mounting plate 111; First through hole 1111; Second through hole 1112; Second mounting plate 112; First limiting part 115; Second limiting part 116; Second bracket 12; Mounting space 13; Third bracket 14; Third mounting plate 113; Fourth mounting plate 114; Joint module 2; Joint module 21; Output end 211; Output end face 2111; Protrusion 212; Connecting part 22; Adapter 23; Bearing 24. Detailed Implementation

[0021] Various exemplary embodiments of the present application 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 application.

[0022] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0023] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0024] 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.

[0025] 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.

[0026] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0027] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] First, it should be noted that the X, Y, and Z directions mentioned in the embodiments of this application are referred to in the appendix. Figure 1 The marked directions. Among them, the axes in the X direction, Y direction, and Z direction intersect each other.

[0030] like Figures 1-5 As shown, according to a first aspect of the embodiments of this application, a joint structure 100 is provided. The joint structure 100 includes a support base 1 and a joint module 2. The support base 1 includes a first bracket 11, a second bracket 12, and a third bracket 14. The second bracket 12 is detachably connected to the first bracket 11, and an installation space 13 is formed between the first bracket 11 and the second bracket 12. The third bracket 14 is located in the installation space 13 and connected to the first bracket 11. The third bracket 14 is detachably connected to the second bracket 12. The joint module 2 is disposed in the installation space 13. The output end 211 of the joint module 2 is connected to the first bracket 11, and the end of the joint module 2 opposite to the output end 211 is rotatably connected to the second bracket 12.

[0031] The joint structure 100 of this application is applicable to a lower limb mechanism, and the support seat 1 can be used to connect to the chassis, thereby mounting the lower limb mechanism on the chassis.

[0032] like Figures 1-4 As shown, the joint structure 100 includes a support base 1 and a joint module 2. The support base 1 includes a first bracket 11 and a second bracket 12, which are arranged along the X direction. The first bracket 11 and the second bracket 12 are detachably connected. After the first bracket 11 and the second bracket 12 are connected, an installation space 13 is formed between the first bracket 11 and the second bracket 12. A third bracket 14 is located in the installation space 13 and is connected to the first bracket 11. The third bracket 14 is detachably connected to the second bracket 12 and can provide connection strength for the connection between the first bracket 11 and the second bracket 12 to ensure the structural strength of the support base 1. The joint module 2 includes an output end 211 and a first fixed end, which are located at the two ends of the axial direction (also the two ends of the X direction) of the joint module 2. The joint module 2 is set in the installation space 13. The output end 211 is connected to the first bracket 11, and the first fixed end is rotatably connected to the second bracket 12.

[0033] When assembling the joint structure 100, the output end 211 of the joint module 2 is first connected to the first bracket 11, and then the second bracket 12 is connected to the first bracket 11, the third bracket 14 and the joint module 2 respectively. In this embodiment, by setting the first bracket 11 and the second bracket 12 of the support base 1 to be detachably connected, no assembly space is required when installing the joint module 2, thereby reducing the size of the support base 1 and thus reducing the size of the joint structure 100 in the X direction. Furthermore, it is convenient to remove the joint module 2 from the support base 1 during the inspection and maintenance of the joint structure 100.

[0034] Since the total width of the lower limb mechanism affects the robot's rotation diameter and the product's appearance coordination, the joint structure 100 of this application is applied to the lower limb mechanism. The joint structure 100 of this application can reduce the total width of the lower limb mechanism (that is, the dimension in the X direction). Therefore, the smaller the volume occupied by the lower limb mechanism, the more the product strength can be improved.

[0035] like Figures 1-4 As shown, in an optional embodiment, the first bracket 11 includes a first mounting plate 111, the first mounting plate 111 and the second bracket 12 are spaced apart, the first mounting plate 111 has a first through hole 1111, and the output end 211 of the joint module 2 has a protrusion 212, the protrusion 212 is embedded in the first through hole 1111.

[0036] Specifically, the output end 211 of the joint module 2 has a protrusion 212. It can be understood that the joint module 2 includes a joint module 21, and the protrusion 212 is located at the output end 211 of the joint module 21. Specifically, the output end 211 of the joint module 21 has an output end face 2111, and the protrusion 212 protrudes from the output end face 2111 in the axial direction of the joint module 21.

[0037] To further explain, the first bracket 11 includes a first mounting plate 111, which is spaced apart from the first bracket 11 along the X direction. The first mounting plate 111 has a first through hole 1111, the axial direction of which is the same as the X direction. The protrusion 212 of the joint module 2 is embedded in the first through hole 1111. In this embodiment, by opening a first through hole 1111, the protrusion 212 is embedded in the first through hole 1111, thereby making the distance between the first mounting plate 111 and the output end face 2111 smaller or able to abut, so as to facilitate the connection between the first mounting plate 111 and the output end 211; in addition, by detachably connecting the first bracket 11 and the second bracket 12, the joint module 2 can be connected to the first mounting plate 111 first, that is, the protrusion 212 can be embedded in the first through hole 1111, and then the second bracket 12 can be connected to the first bracket 11; compared with the solution where the support base 1 is an integral part, the support base 1 of this application does not need to leave a certain assembly space, thereby reducing the size of the support base 1 in the X direction.

[0038] like Figure 3 and Figure 4 As shown, in an optional embodiment, the first mounting plate 111 further has a second through hole 1112, the outer diameter of the second through hole 1112 being larger than the outer diameter of the first through hole 1111, the first through hole 1111 and the second through hole 1112 being concentrically arranged, and at least a portion of the output end 211 of the joint module 2 being embedded in the second through hole 1112; specifically, the second through hole 1112 and the first through hole 1111 are concentrically arranged, and the second through hole 1112 is closer to the first through hole 1111 than the first through hole 1111. The second bracket 12 has a second through hole 1112 with an outer diameter larger than the first through hole 1111. The second through hole 1112 does not penetrate the first mounting plate 111. At least a portion of the output end 211 of the joint module 2 is embedded in the second through hole 1112, and the protrusion 212 of the joint module 2 is embedded in the first through hole 1111. In this embodiment, the second through hole 1112 can provide axial limiting for the output end 211 of the joint module 2 and can play a positioning role when the joint module 2 is installed on the first mounting plate 111.

[0039] like Figure 4 and Figure 5As shown, in an optional embodiment, the first bracket 11 further includes a second mounting plate 112. The first mounting plate 111 and the second mounting plate 112 are connected at an angle, and the second bracket 12 is detachably connected to the second mounting plate 112. The mounting space 13 is formed between the first mounting plate 111 and the second bracket 12. Specifically, the first mounting plate 111 and the second mounting plate 112 are connected at an angle, and the mounting space 13 is formed between the first mounting plate 111 and the second bracket 12. The mounting space 13 is located above the second mounting plate 112 in the Z direction, and the second bracket 12 is detachably connected to the second mounting plate 112.

[0040] The first support 11 can be an integral structure.

[0041] Preferably, the first mounting plate 111 and the second mounting plate 112 can be connected at right angles.

[0042] like Figure 4 and Figure 5 As shown, in an optional embodiment, the third bracket 14 includes a third mounting plate 113 and a fourth mounting plate 114, which are spaced apart from the second mounting plate 112. The joint module 2 is located between the third mounting plate 113 and the fourth mounting plate 114, and the second bracket 12 is connected to the third mounting plate 113 and the fourth mounting plate 114. Specifically, the third mounting plate 113 and the fourth mounting plate 114 are spaced apart along the Y direction, and both the third mounting plate 113 and the fourth mounting plate 114 are located on the second mounting plate 112. The joint module 2 is located between the third mounting plate 113 and the fourth mounting plate 114. In this embodiment, the second bracket 12 is connected to the third mounting plate 113, the fourth mounting plate 114, and the second mounting plate 112, which can improve the connection stability between the first bracket 11 and the second bracket 12.

[0043] The first bracket 11 and the third bracket 14 can be an integral structure, or the first bracket 11 and the third bracket 14 can be connected by screws.

[0044] In one alternative embodiment, the distance between the third mounting plate 113 and the fourth mounting plate 114 gradually increases from the end closer to the second mounting plate 112 to the end farther away from the second mounting plate 112.

[0045] like Figure 4 and Figure 5As shown, in an optional embodiment, the third mounting plate 113 has a first limiting portion 115 on the side facing the fourth mounting plate 114, and the fourth mounting plate 114 has a second limiting portion 116 on the side facing the third mounting plate 113; the outer wall of the joint module 2 has a third limiting portion (not shown in the figure), which can abut against the first limiting portion 115 or the second limiting portion 116; specifically, when the joint module 2 rotates around its own axis, the third limiting portion can abut against the first limiting portion 115 or the second limiting portion 116 to limit the rotation angle of the joint module 2 and avoid collisions with other components due to excessive rotation angle. Furthermore, compared to setting the limiting portion on the output end 211 of the joint module 2, this application sets the first limiting portion 115 on the third mounting plate 113 and the second limiting portion 116 on the fourth mounting plate 114, which can make reasonable use of the space of the support base 1, thereby avoiding increasing the size of the joint structure 100 in the X direction.

[0046] like Figure 3 As shown, in an optional embodiment, the joint module 2 includes a joint module 21 and a connecting part 22. The output end 211 of the joint module 21 is connected to the first bracket 11. The connecting part 22 has a receiving cavity inside. The joint module 21 is disposed in the receiving cavity and connected to the connecting part 22. The connecting part 22 is rotatably connected to the second bracket 12.

[0047] like Figure 3 As shown, in an optional embodiment, the joint module 2 further includes an adapter 23 and a bearing 24, the adapter 23 being connected to the connecting part 22; the adapter 23 being connected to the outer ring of the bearing 24, and the inner ring of the bearing 24 being connected to the second bracket 12.

[0048] like Figure 1As shown, the joint module 2 includes a joint module 2, a connecting part 22, an adapter 23, and a bearing 24. Specifically, the joint module 21 is a power source, and the output end 211, the output end face 2111, and the protrusion 212 are all part of the joint module 21. The connecting part 22 has a receiving cavity inside, and the joint module 21 is disposed in the receiving cavity. The third limiting part is disposed on the outer wall of the connecting part 22. The output end 211 and the protrusion 212 of the joint module 21 are both connected to the first mounting plate 111, and the fixed end of the joint module 21 is fixedly connected to the connecting part 22. The adapter 23 is disposed at one end of the connecting part 22 near the second bracket 12. The adapter 23 cooperates with the outer ring of the bearing 24, and the second bracket 12 cooperates with the inner ring of the bearing 24. In this embodiment, since the support base 1 is fixedly connected to the chassis, the output end 211 of the joint module 21 is connected to the support base 1, and the support base 1 will not rotate. Consequently, the fixed end of the joint module 21 will rotate relative to the output end 211, thus driving the connecting part 22 to rotate.

[0049] According to a second aspect of the embodiments of this application, a lower limb mechanism is provided, including the joint structure 100 described above.

[0050] According to a third aspect of the embodiments of this application, a robot is provided, including the joint structure 100 described above; or the lower limb mechanism described above.

[0051] While specific embodiments of this application 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 this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A joint structure, characterized in that, include: A support base, comprising a first bracket, a second bracket, and a third bracket, wherein the second bracket is detachably connected to the first bracket, and an installation space is formed between the first bracket and the second bracket; the third bracket is located in the installation space and connected to the first bracket, and the third bracket is detachably connected to the second bracket. A joint module is disposed in the installation space. The output end of the joint module is connected to the first bracket, and the end of the joint module opposite to the output end is rotatably connected to the second bracket.

2. The joint structure according to claim 1, characterized in that, The first bracket includes a first mounting plate, which is spaced apart from the second bracket. The first mounting plate has a first through hole, and the output end of the joint module has a protrusion that is embedded in the first through hole.

3. The joint structure according to claim 2, characterized in that, The first mounting plate also has a second through hole, the first through hole and the second through hole are concentric, the outer diameter of the second through hole is larger than the outer diameter of the first through hole, and at least a portion of the output end of the joint module is embedded in the second through hole.

4. The joint structure according to claim 2, characterized in that, The first bracket also includes a second mounting plate, the first mounting plate and the second mounting plate are connected at an angle, the second bracket and the second mounting plate are detachably connected, and the mounting space is formed between the first mounting plate and the second bracket.

5. The joint structure according to claim 4, characterized in that, The third bracket includes a third mounting plate and a fourth mounting plate, which are spaced apart from the second mounting plate. The joint module is located between the third mounting plate and the fourth mounting plate, and the second bracket is connected to the third mounting plate and the fourth mounting plate.

6. The joint structure according to claim 5, characterized in that, The third mounting plate has a first protrusion on the side facing the fourth mounting plate, and the fourth mounting plate has a second protrusion on the side facing the third mounting plate.

7. The joint structure according to claim 1, characterized in that, The joint module includes a joint module and a connecting part. The output end of the joint module is connected to the first bracket. The connecting part has a receiving cavity inside. The joint module is disposed in the receiving cavity and connected to the connecting part. The connecting part is rotatably connected to the second bracket.

8. The joint structure according to claim 7, characterized in that, The joint module also includes an adapter and a bearing. The adapter is connected to the connecting part; the adapter is connected to the outer ring of the bearing, and the inner ring of the bearing is connected to the second bracket.

9. A lower limb mechanism, characterized in that, Includes the joint structure as described in any one of claims 1-8.

10. A robot, characterized in that, include: The joint structure as described in any one of claims 1-8; or The lower limb mechanism as described in claim 9.

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