Robot transmission mechanism and quadruped robot applying same

Abstract

A robot transmission mechanism, comprising a second joint unit (1) and a first joint unit (2), wherein a dismounting / mounting connection assembly is provided between the second joint unit (1) and the first joint unit (2); and the dismounting / mounting connection assembly comprises a radial extension member (3) and a hoop member (4) hooped around the outer ring of the radial extension member. The robot transmission mechanism fixedly connects upper and lower power units at a joint of a robot by means of the hoop member and the radial extension member. Such a fixed connection mode does not require excessive fasteners, such as screws and bolts, so that mounting, maintenance and dismounting are easy and rapid, thereby effectively reducing mounting / dismounting time. Further comprised is a quadruped robot transmission mechanism.

Description

TITLE OF INVENTION: ROBOT TRANSMISSION MECHANISM AND QUADRUPED ROBOT APPLYING THE SAME TECHNICAL FIELD

[0001] The invention belongs to the technical field of robots and relates to a robot transmission mechanism and a quadruped robot applying the same. BACKGROUND

[0002] Chinese patent (Publication No.: CN 209921456 U) discloses a robotic integrated joint unit and a legged robot applying the same, including a first motor and reducer assembly, a second motor assembly, a second reducer assembly, and a first output link. The first motor and reducer assembly includes a first motor housing. An articulated radial extension member is fixedly arranged outside the first motor housing. The articulated radial extension member has a concave structure covering the first motor and reducer assembly.

[0003] SUMMARY OF THE INVENTION

[0004] Technical Problem

[0005] In previous devices, a circle of screw holes is arranged on each of an outer wall surface of the first motor housing and the articulated radial extending member, and a circle of screws needs to be unscrewed or screwed during disassembly or assembly, which causes cumbersome assembly, maintenance, and disassembly and does not allow for rapid disassembly and assembly of a dual-joint unit, thereby limiting application and dissemination.

[0006] The information disclosed in this background is only used to understand the background of the concept of the utility model, so it may include information that does not constitute the prior art. BRIEF SUMMARY

[0007] In view of the foregoing problems or one of the foregoing problems, the purpose of the invention is to provide a robot transmission mechanism, where through a radial extension member and a hoop member, a higher-level power unit and a lower-level power unit at a joint of the robot are connected, enabling convenient assembly and disassembly.

[0008] Aiming at the foregoing problems or one of the foregoing problems, the second purpose of the invention is to provide a robot transmission mechanism. A rotating output end of a first joint unit is connected to a fixed end portion of a second joint unit through a hoop member. The hoop member is arranged through hooping on an outer wall surface of the fixed end portion and is fixedly connected to the rotating output end to form a hooping fixed structure to limit the second joint unit and the first joint unit. Therefore, disassembly and assembly required for assembling, maintenance, and damage are very simple and quick, which can effectively save time, improve the efficiency of disassembly, assembly, and maintenance. The solution is simple, practical, and applicable.

[0009] In view of the foregoing problems or one of the foregoing problems, the purpose of the invention is to provide a quadruped robot. The quadruped robot includes a robot transmission mechanism. A higher-level power unit and a lower-level power unit at a joint of the robot are connected through a radial extension member and a hoop member, enabling convenient assembly and disassembly.

[0010] To achieve one of the foregoing purposes, a first technical solution of the invention is as follows:

[0011] A robot transmission mechanism. It includes a second joint unit and a first joint unit. A disassembly-assembly connecting component is arranged between the second joint unit and the first joint unit.

[0012] The assembly-disassembly connecting component includes a radial extension member and a hoop member arranged through hooping on the periphery of the radial extension member. An edge of an end surface of the radial extension member is radially protruded to form a driving protrusion.

[0013] An edge of an end surface of the second joint unit is protruded radially to form a driven protrusion fitting with the driving protrusion. The hoop member tightly attaches the driving protrusion to the driven protrusion.

[0014] The radial extension member is fixedly connected to a rotating output end of the first joint unit.

[0015] In the robot transmission mechanism provided in the invention, through the hoop member and the radial extension member, a higher-level power unit and a lower-level power unit at a joint of a robot are fixedly connected. This fixed connection manner, compared with the connection manner in the background, requires a smaller number of screws, and further, fewer fasteners such as screws and bolts, so that assembly, maintenance, and disassembly are very simple and fast, thereby effectively saving disassembly and assembly time.

[0016] Further, the structure of the invention, compared with a traditional fixing manner via a flange, may not increase an axial length, so that the volume of the entire joint is small to save space.

[0017] As a preferred technical measure, an inner surface of the hoop member is provided with a fixing recess to tightly attach the driving protrusion to the driven protrusion. Cross sections of the driving protrusion and the driven protrusion are both tapered planes. A cross section of the fixing recess is a tapered groove fitted with the driving protrusion and the driven protrusion.

[0018] The cross sections of the driving protrusion, the driven protrusion, and the fixed recess are all tapered surfaces, ensuring stable axial and radial connection. When the hoop member is fastened, the tapered cross-sections can ensure that the driving protrusion and the driven protrusion are pressed and attached, so that connection is more reliable.

[0019] As a preferred technical measure, the driving protrusion or / and the driven protrusion are ring-shaped protrusions or consist of several dot-shaped protrusions or several sectored protrusions;

[0020] In addition or as an alternative, the hoop member includes a first quick-release ring and a second quick-release ring, and the first quick-release ring and the second quick-release ring are connected through a circumferential fastener. The hoop member is composed of two semi-circular ring structures, and needs only a small number of fasteners such as fastening screws and fastening bolts for connection in a circumferential direction. Therefore, mounting and disassembly are simple and convenient. A small number of screws needs to be released during disassembly and assembly. Mounting is easy without deliberate alignment with high efficiency for assembly, maintenance, and repair.

[0021] As a preferred technical measure, one of a contact fitting end surface adjacent to the driving protrusion and a contact fitting end surface adjacent to the driven protrusion is provided with a rotation stopping boss, and the other one is provided with a rotation stopping groove which can cooperate with the rotation stopping boss to prevent the driving protrusion and the driven protrusion from generating axial relative rotation.

[0022] The rotation stopping boss and the rotation stopping groove are arranged to prevent relative rotation generated between higher-level and lower-level power units when a torque is transmitted, thereby ensuring connection reliability.

[0023] To achieve one of the foregoing objectives, a second technical solution of the invention is as follows:

[0024] A robot transmission mechanism includes a first joint unit and a second joint unit which can drive movement of a joint of a robot;

[0025] The first joint unit is provided with a rotating output end;

[0026] The second joint unit is provided with a fixed end portion;

[0027] The rotating output end and the fixed end portion are fixed through a hoop member;

[0028] The hoop member is arranged through hooping on an outer wall surface of the fixed end portion and is fixedly connected to the rotating output end to form a hoop fixation structure to limit the second joint unit and the first joint unit.

[0029] After continuous exploration and testing in the invention, the rotating output end of the first joint unit is connected to the fixed end portion of the second joint unit through a hoop member. The hoop member is arranged through hooping on an outer wall surface of the fixed end portion and is fixedly connected to the rotating output end to form a hooping fixed structure to limit the second joint unit and the first joint unit. Compared with the connection manner in the background, fewer bolts or screws are required, and even no bolts or screws may be used. Therefore, disassembly and assembly required for assembling, maintenance, and damage are very simple and quick, which can effectively save time and improve the efficiency of disassembly and assembly and maintenance. The solution is simple, practical, and applicable.

[0030] As a preferred technical measure, the hoop member is fixedly connected to a rotating output end of the first joint unit through the radial extension member.

[0031] The radial extension member is a circular ring structure or a circular plate structure or a frame structure, or a spoke structure, which extends in an axial direction of the first joint unit and is fixed to the rotating output end through a bolt or a screw or a hooping structure.

[0032] The radial extension member is arranged to facilitate fixed connection between the hoop member and the rotating output end.

[0033] Further, the radial extension member can also be fixed to the rotating output end through the hooping structure, so that disassembly and assembly efficiency can be further improved. The solution is simple, practical, and ingenious.

[0034] The hoop member and the radial extension member may be integrally formed or arranged independently of each other.

[0035] As a preferred technical measure, an edge of an end surface of the radial extension member is radially protruded to form a driving protrusion.

[0036] An edge of an end surface of the fixed end portion is protruded radially to form a driven protrusion fitting with the driving protrusion. The hoop member tightly attaches the driving protrusion to the driven protrusion, thereby enabling reliable connection therebetween.

[0037] In addition or as an alternative, an inner surface of the hoop member is provided with a fixing recess to tightly attach the driving protrusion to the driven protrusion. Cross sections of the driving protrusion and the driven protrusion are both tapered planes. A cross section of the fixing recess is a tapered groove fitted with the driving protrusion and the driven protrusion. The cross sections of the driving protrusion, the driven protrusion, and the fixed recess are all tapered surfaces, ensuring stable axial and radial connection. When the hoop member is fastened, the tapered cross-sections can ensure that the driving protrusion and the driven protrusion are pressed and attached, so that connection is more reliable.

[0038] As a preferred technical measure, the hoop member has a ring structure or an arc structure or a sheet structure or a strip structure, and has an end provided with a joint through which a fastener can be inserted, or provided with an engagement structure, or provided with an insertion structure.

[0039] In some examples, an engagement structure and an insertion structure are provided, so that disassembly and assembly are more convenient.

[0040] In addition or as an alternative, the first joint unit is a rotating motor or / and a reducer. The second joint unit is a rotating motor or / and a reducer. The rotating output end is a rotor of the rotating motor or a rotating end of the reducer. The fixed end portion is a stator end of the rotating motor or a fixed housing of the rotating motor.

[0041] As a preferred technical measure, the joint is provided with a lumen with threads. The fastener is a bolt or a screw or a pin with a handle.

[0042] As an example, the joint is provided with a lumen with a smooth wall surface. The fastener is a bolt with a nut.

[0043] To achieve one of the foregoing objectives, a third technical solution of the invention is:

[0044] a quadruped robot transmission mechanism to which the foregoing robot transmission mechanism is applied.

[0045] The quadruped robot provided in the invention includes a robot transmission mechanism, where through the hoop member and the radial extension member, a higher-level power unit and a lower-level power unit at a joint of a robot are fixedly connected. Fewer fasteners, such as screws and bolts, are needed, so that assembly, maintenance, and disassembly are very simple and fast, thereby effectively saving disassembly and assembly time.

[0046] Further, the dual-joint fixation connection manner in the invention, compared with a traditional connection manner via a flange, may not increase an axial length, so that the volume of the entire joint is small to save space.

[0047] Beneficial Effects

[0048] After continuous exploration and testing in the invention, the rotating output end of the first joint unit is connected to the fixed end portion of the second joint unit through a hoop member. The hoop member is arranged through hooping on an outer wall surface of the fixed end portion and is fixedly connected to the rotating output end to form a hooping fixed structure to limit the second joint unit and the first joint unit. Compared with the connection manner in the background, fewer bolts or screws are required, and even no bolts or screws may be used. Therefore, disassembly and assembly required for assembling, maintenance, and damage are very simple and quick, which can effectively save time and improve the efficiency of disassembly and assembly and maintenance. The solution is simple, practical, and applicable.

[0049] Further, in the robot transmission mechanism provided in the invention, through the hoop member and the radial extension member, a higher-level power unit and a lower-level power unit at a joint of a robot are fixedly connected. This fixed connection manner, compared with the connection manner in the background, requires a smaller number of screws, and further, fewer fasteners such as screws and bolts, so that assembly, maintenance, and disassembly are very simple and fast, thereby effectively saving disassembly and assembly time.

[0050] Still further, the quadruped robot provided in the invention includes a robot transmission mechanism, where through the hoop member and the radial extension member, a higher-level power unit and a lower-level power unit at a joint of a robot are fixedly connected. Fewer fasteners, such as screws and bolts, are needed, so that assembly, maintenance, and disassembly are very simple and fast, thereby effectively saving disassembly and assembly time.

[0051] Yet still further, the structure of the invention, compared with a traditional fixing manner via a flange, may not increase an axial length, so that a volume of an entire joint is small to save space. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] FIG. 1 is a schematic structural diagram of a robot transmission mechanism according to the invention;

[0053] Fig. 2 is a full cross-sectional diagram of a robot transmission mechanism along A-A according to the invention;

[0054] FIG. 3 is a schematic exploded diagram of a robot transmission mechanism according to the invention;

[0055] FIG. 4 is a partial schematic enlarged view of part B of a robot transmission mechanism according to the invention; and

[0056] FIG. 5 is a schematic diagram of an overall structure of a robot transmission mechanism according to the invention.

[0057] Descriptions of reference numerals:

[0058] In the figure: 1. Second joint unit; 2. First joint unit; 3. Radial extension member; 4. Hoop member; 41. First quick-release ring; 42. Second quick-release ring; 5, Driving protrusion; 6 Driven protrusion; 7. Fixing recess; 8. Rotation stopping boss; 9. Rotation stop groove; 10. Fastener. DETAILED DESCRIPTION OF THE DISCLOSURE

[0059] To make the objectives, technical solutions, and advantages of the invention clearer, the invention is described in further detail with reference to accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used for explaining the present disclosure rather than limiting the present disclosure.

[0060] On contrary, the invention encompasses any alternatives, modifications, equivalents, and solutions defined by the claims in the spirit and scope of the invention. Further, to help the public to better understand this invention, in the following detailed description of the invention, some specific details are fully described. A person skilled in the art may fully understand the invention without the description of these details.

[0061] It should be noted that when two elements are "fixedly considered" or “hooped”, the two elements may be directly connected or an intermediate element may exist. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. Terms "upper”, "lower", and similar expressions used herein are merely used for illustration.

[0062] Unless otherwise defined, the meanings of all technical and scientific terms used herein are the same as that usually understood by a person skilled in the technical field to which the invention belongs. Terms used herein are merely used to describe the specific embodiments, and are not intended to limit the invention. The term "or / and" used herein includes any or all combinations of one or more related listed items.

[0063] A specific embodiment of a robot transmission mechanism according to the invention is as follows:

[0064] A robot transmission mechanism includes a first joint unit and a second joint unit, which can drive movement of a joint of a robot;

[0065] The first joint unit is provided with a rotating output end;

[0066] The second joint unit is provided with a fixed end portion;

[0067] The rotating output end and the fixed end portion are fixed through a hoop member;

[0068] The hoop member is arranged through hooping on an outer wall surface of the fixed end portion and is fixedly connected to the rotating output end to form a hoop fixation structure to limit the second joint unit and the first joint unit.

[0069] Referring to FIG. 1, FIG. 2, FIG. 3, FIG. 4, and FIG. 5, a preferred embodiment of a robot transmission mechanism according to the invention is as follows:

[0070] A robot transmission mechanism includes a second joint unit 1 and a first joint unit 2. A disassembly-assembly connecting component is arranged between the second joint unit 1 and the first joint unit 2. The assembly-disassembly connecting component includes a radial extension member 3 and a hoop member 4 arranged through hooping on a periphery of the radial extension member 3. An edge of an end surface of the radial extension member 3 is radially protruded to form a driving protrusion 5. An edge of an end surface of the second joint unit 1 is protruded radially to form a driven protrusion 6 fitting with the driving protrusion 5. The hoop member 4 tightly attaches the driving protrusion 5 to the driven protrusion 6. The radial extension member 3 is fixedly connected to a rotating output end of the first joint unit 2.

[0071] A specific embodiment of a hooping structure according to the invention is as follows:

[0072] An inner surface of the hoop member 4 is provided with a fixing recess 7 for tightly attaching the driving protrusion 5 to the driven protrusion 6. Cross sections of the driving protrusion 5 and the driven protrusion 6 arc both tapered planes. A cross section of the fixing recess 7 is tapered groove fitted with the driving protrusion 5 and the driven protrusion 6. The cross sections of the driving protrusion 5, the driven protrusion 6, and the fixed recess 7 are all tapered surfaces, ensuring stable axial and radial connection. When the hoop member 4 is fastened, the tapered cross-sections can ensure that the driving protrusion 5 and the driven protrusion 6 are pressed and attached, so that connection is more reliable.

[0073] A specific embodiment of the hoop member 4 according to the invention is as follows:

[0074] The hoop member 4 includes a first quick-release ring 41 and a second quick-release ring 42. The first quick-release ring 41 and the second quick-release ring 42 are connected through a circumferential fastener 10. The hoop member 4 is composed of two semi-circular ring structures, and needs only a small number of fasteners 10 such as fastening screws and fastening bolts for connection in a circumferential direction. Therefore, mounting and disassembly are simple and convenient. A small number of screws needs to be released during disassembly and assembly. Mounting is easy without deliberate alignment with high efficiency for assembly, maintenance, and repair.

[0075] A specific embodiment where an anti-unintended rotation structure is added according to the invention is as follows:

[0076] Between contact fitting end surfaces of the driving protrusion 5 or the driven protrusion 6, a rotation stopping boss 8 and a rotation stopping groove 9 are provided to prevent axial relative rotation generated between the driving protrusion 5 and the driven protrusion 6. The rotation stopping boss 8 and the rotation stopping groove 9 arc arranged to prevent relative rotation generated between higher-level and lower-level power units when a torque is transmitted, thereby ensuring reliability of connection.

[0077] An embodiment applying the transmission mechanism according to the invention is as follows:

[0078] A quadruped robot includes the foregoing robot transmission mechanism.

[0079] In the present application, a fixed connection manner may be screw connection, or rivet connection, or insertion connection, or connection through a third component, and may be selected by a person skilled in the art according to actual situations.

[0080] Finally, it should be noted that the above embodiments are only used to describe the technical solutions of the invention, but not to constitute a limitation. Although the invention has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that modifications or equivalent replacements may still be made to the specific implementation of the invention. In addition, any modification or equivalent replacement without departing from the spirit and scope of the invention is included in the scope of protection of claims of the invention.

Claims

What is claimed is:

1. A robot transmission mechanism, whereinthe robot transmission mechanism comprises a second joint unit (1) and a first joint unit (2), and a disassembly-assembly connecting component is arranged between the second joint unit (1) and the first joint unit (2);the assembly-disassembly connecting component comprises a radial extension member (3) and a hoop member (4) arranged through hooping on a periphery of the radial extension member (3), and an edge of an end surface of the radial extension member (3) is radially protruded to form a driving protrusion (5);an edge of an end surface of the second joint unit (1) is protruded radially to form a driven protrusion (6) fitting with the driving protrusion (5), and the hoop member (4) tightly attaches the driving protrusion (5) to the driven protrusion (6); andthe radial extension member (3) is fixedly connected to a rotating output end of the first joint unit (2).

2. The robot transmission mechanism according to claim 1. whereinan inner surface of the hoop member (4) is provided with a fixing recess (7) for tightly attaching the driving protrusion (5) to the driven protrusion (6), cross sections of the driving protrusion (5) and the driven protrusion (6) are both tapered planes, and a cross section of the fixing recess (7) is tapered groove fitted with the driving protrusion (5) andthe driven protrusion (6).

3. The robot transmission mechanism according to claim 1, whereinthe driving protrusion (5) or / and the driven protrusion (6) are ring-shaped protrusions or consist of several dot-shaped protrusions or several sectored protrusions;or / and, the hoop member (4) includes a first quick-release ring (41) and a second quick-release ring (42), and the first quick-release ring (41) and the second quick-release ring (42) are connected through a circumferential fastener (10).

4. The robot transmission mechanism according to any one of claims 1 to 3, whereinone of a contact fitting end surface adjacent to the driving protrusion (5) and a contact fitting end surface adjacent to the driven protrusion (6) is provided with a rotation stopping boss (8), and the other one is provided with a rotation stopping groove (9) cap of fitting with the rotation stopping boss (8).

5. A robot transmission mechanism, wherein the robot transmission mechanismcomprises a first joint unit and a second joint unit capable of driving movement of a joint of a robot;the first joint unit is provided with a rotating output end;the second joint unit is provided with a fixed end portion;the rotating output end and the fixed end portion are fixed through a hoop member; andthe hoop member is arranged through hooping on an outer wall surface of the fixed end portion and is fixedly connected to the rotating output end to form a hoop fixationstructure to limit the second joint unit and the first joint unit.

6. The robot transmission mechanism according to claim 5, whereina hoop member (4) is fixedly connected to a rotating output end of a first joint unit (2) through a radial extension member (3); andthe radial extension member (3) is a circular ring structure or a circular plate structure or a frame structure or a spoke structure, which extends in an axial direction of the first joint unit (2) and is fixed to the rotating output end through a bolt or a screw or a hooping structure.

7. The robot transmission mechanism according to claim 6, whereinan edge of an end surface of the radial extension member (3) is radially protruded to form a driving protrusion (5);an edge of an end surface of the fixed end portion is protruded radially to form a driven protrusion (6) fitting with the driving protrusion (5), and the hoop member (4) tightly attaches the driving protrusion (5) to the driven protrusion (6); andor / and an inner surface of the hoop member (4) is provided with a fixing recess (7) for tightly attaching the driving protrusion (5) to the driven protrusion (6), cross sections of the driving protrusion (5) and the driven protrusion (6) are both tapered planes, and a cross section of the fixing recess (7) is tapered groove fitted with the driving protrusion (5) and the driven protrusion (6).

8. The robot transmission mechanism according to claim 5, whereinthe hoop member (4) has a ring structure or an arc structure or a sheet structure or a strip structure, and has an end provided with a joint through which a fastener (10) is capable ofbeing inserted, or provided with an engagement structure, or provided with an insertion structure;or / and, the first joint unit (2) is a rotating motor or / and a reducer, the second joint unit (1) is a rotating motor or / and a reducer, the rotating output end is a rotor of the rotating motor5 or a rotating end of the reducer, and the fixed end portion is a stator end of the rotating motor or a fixed housing of the rotating motor.

9. The robot transmission mechanism according to claim 8, whereinthe joint is provided with a lumen with threads, and the fastener (10) is a bolt or a screw or a pin with a handle,10 or, the joint is provided with a lumen with a smooth wall surface, and the fastener (10) is a bolt with a nut.

10. A quadruped robot transmission mechanism, whereinthe robot transmission mechanism according to any one of claims 1 to 9 is applied to the quadruped robot transmission mechanism.

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