Multi-dimensional joints and robots

Abstract

The present application provides a multi-dimensional joint including a body and a drive assembly. The body is provided with a first motor and a second motor. The drive assembly includes a planet carrier rotatably connected to the body, a first drive gear operably connected to the first motor, a second drive gear operably connected to the second motor, at least one driven gear, and at least one output end. The first drive gear and the second drive gear are rotatably attached to the planet carrier about a first axis, and the at least one driven gear is rotatably attached to the planet carrier about a second axis, the first axis and the second axis being positioned in different directions. The first drive gear and the second drive gear each mesh with a driven gear connected to the at least one output end, and the at least one output end is configured to output torque to a load.

Description

[Technical Field]

[0001] The present application relates to the technical field of robots, and in particular to multi-dimensional joints and robots. [Background technology]

[0002] Some robot applications require a single joint capable of outputting multi-dimensional motion. For example, the hip joint of a hydraulic bipedal robot is equipped with a gimbal device similar to the human femur, and the robot must use this gimbal device to realize multi-directional force and movement output of the femoral head. Since it is necessary to provide multi-directional force and rotation angles in a relatively small space, high requirements are placed on the space design. One implementation method known to the applicant is to use a hydraulic pump to send high-pressure oil to a small hydraulic cylinder located in the hip joint, thereby realizing the rotation of the bionic femur through hydraulic pressure. Summary of the Invention [Problem to be solved by the invention]

[0003] One aspect of the present application provides a multi-dimensional joint, the multi-dimensional joint including a body and a drive assembly. The body is provided with a first motor and a second motor. The drive assembly includes a planet carrier rotatably connected to the body, a first drive gear operably connected to the first motor, a second drive gear operably connected to the second motor, at least one driven gear, and at least one output end. The first drive gear and the second drive gear are attached to the planet carrier rotatably about a first axis, and the at least one driven gear is attached to the planet carrier rotatably about a second axis, the first axis and the second axis being positioned in different directions. The first drive gear and the second drive gear each mesh with the at least one driven gear connected to the at least one output end, and the at least one output end is configured to output torque to a load.

[0004] Another aspect of the present application provides a robot including a multi-dimensional joint. The multi-dimensional joint includes a body and a drive assembly. The body is provided with a first motor and a second motor. The drive assembly includes a planet carrier rotatably connected to the body, a first drive gear operably connected to the first motor, a second drive gear operably connected to the second motor, at least one driven gear, and at least one output end. The first drive gear and the second drive gear are attached to the planet carrier rotatably about a first axis, and the at least one driven gear is attached to the planet carrier rotatably about a second axis, the first axis and the second axis being positioned in different directions. The first drive gear and the second drive gear each mesh with the at least one driven gear connected to the at least one output end, and the at least one output end is configured to output torque to a load.

[0005] The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the invention will become apparent from the description, accompanying drawings, and claims. [Brief explanation of the drawings]

[0006] [Figure 1] 1 is a schematic perspective view of a multi-dimensional joint according to one embodiment of the present application; FIG. [Figure 2] 2 is a schematic cross-sectional view of the multi-dimensional joint of the embodiment shown in FIG. 1. [Figure 3] FIG. 2 is a schematic perspective view of the drive assembly of the embodiment shown in FIG. 1. [Figure 4] 1 is a schematic cross-sectional view of a multi-dimensional joint according to another embodiment of the present application; [Figure 5] 1 is a schematic cross-sectional view of a multi-dimensional joint according to another embodiment of the present application; [Figure 6] FIG. 6 is a schematic perspective view of the gear arrangement within the drive assembly of the embodiment shown in FIG. 5. [Figure 7] 1 is a schematic cross-sectional view of a multi-dimensional joint according to another embodiment of the present application; [Figure 8]FIG. 8 is a schematic perspective view of the gear arrangement within the drive assembly of the embodiment shown in FIG. 7. [Figure 9] FIG. 1 is a schematic perspective view of a multi-dimensional joint according to another embodiment of the present application. [Figure 10] FIG. 10 is a schematic cross-sectional view of the multidimensional joint of the embodiment shown in FIG. 9. [Figure 11] FIG. 1 is a schematic diagram of an application example of a multi-dimensional joint according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0007] In order to make the above-mentioned objects, features, and advantages of the present invention clearer and easier to understand, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In order to fully understand the present invention, many specific details are set forth in the following description. However, the present invention can be embodied in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific examples disclosed below.

[0008] The present application provides a multi-dimensional joint and a robot using the multi-dimensional joint. The multi-dimensional joint includes a body and a drive assembly in contact with the body. The body is provided with a first motor and a second motor. The drive assembly includes a planet carrier, a first drive gear, a second drive gear, at least one driven gear, and at least one output end. The planet carrier is rotatably connected to the body, and the first drive gear and the second drive gear are rotatably attached to the planet carrier about a first axis, and the driven gear is rotatably attached to the planet carrier about a second axis, the first axis and the second axis being positioned in different directions. The first drive gear is rotatably connected to the first motor, and the second drive gear is rotatably connected to the second motor. The first drive gear and the second drive gear each mesh with a driven gear connected to at least one output end. The at least one output end is configured to output torque to a load.

[0009] The multi-dimensional joint of the present application concentrates the force or torque output by the first motor and the second motor to the drive assembly for output, and by arranging the gears in the drive assembly, it is possible to output torque for driving a load in different directions, thereby realizing multi-degree-of-freedom movement of the load in the drive assembly.

[0010] Fig. 1 is a schematic perspective view of a multidimensional joint 10 according to one embodiment of the present application, and Fig. 2 is a schematic cross-sectional view of the multidimensional joint 10. Referring to Figs. 1 and 2, the multidimensional joint 10 includes a main body 20 and a drive assembly 30 connected to the main body 20. The main body 20 includes a housing 21, a first motor 22 and a second motor 23 arranged side by side within the housing 21, and a transmission mechanism for outputting the force or torque output by the first motor 22 and the second motor 23 to the drive assembly 30. In this embodiment, the first motor 22 and the second motor 23 are located on the same side of the drive assembly 30 and have a common rotation axis, thereby achieving a compact configuration.

[0011] 2 and 3, in this embodiment, the drive assembly 30 includes a first drive gear 31, a second drive gear 32, a pair of driven gears 33, a pair of output gears 34, a planet carrier 35, and an output end 36. In this embodiment, the entire planet carrier 35 has a quasi-spherical configuration, and the gears are mounted within the planet carrier 35 such that the gears are rotatably connected to each other by bearings. The planet carrier 35 is rotatably coupled to the main body 20 and is rotatably connected to the main body 20 by gears and a transmission mechanism. The first drive gear 31 and the second drive gear 32 have the same configuration, i.e., the same number of teeth and module, and are arranged coaxially opposite each other. The first motor 22 is operatively connected to the first drive gear 31 to drive the first drive gear 31 to rotate about a first axis, and the second motor 23 is operatively connected to the second drive gear 32 to drive the second drive gear 32 to rotate about the first axis. The main body 20 further includes a transmission shaft 24 connecting the first motor 22 to the first drive gear 31 and a transmission member 25 connecting the second motor 23 to the second drive gear 32. The transmission shaft 24 passes through the second drive gear 32. The transmission member 25 is disposed around the outer periphery of the transmission shaft 24, enabling the transmission shaft 24 and the transmission member 25 to rotate asynchronously and achieving a stable and compact structure. The transmission shaft 24 has a hollow structure with an internal space for accommodating other components such as wires. In some embodiments, a bearing is provided between the transmission member 25 and the transmission shaft 24, thereby providing strong support and shock transmission between the transmission shaft 24 and the transmission member 25 in the radial direction of the transmission shaft 24.

[0012] In the above embodiment, the first drive gear 31, the second drive gear 32, the pair of driven gears 33 and the pair of output gears 34 are all bevel gears with their teeth facing towards the centre of the drive assembly 30. It should be understood that in other embodiments, other suitable gear configurations may be employed.

[0013] The first drive gear 31, the pair of driven gears 33 and the pair of output gears 34 are rotatably mounted on the planet carrier 35 by bearings 310, 330 and 340, respectively. In another embodiment shown in Figure 4, a large bearing 27 is installed between the planet carrier 35 and the main body 20 to further support the rotation of the drive assembly 30, while effectively transmitting the external force to the main body 20 when the drive assembly 30 is subjected to an external force, improving the stability and force sensing capability of the structure.

[0014] Continuing to refer to FIG. 21, which shows a pair of driven gears 33 and a pair of output gears 34, in this embodiment, the output end 36 is located on the pair of output gears 34, protruding outside the planetary carrier 35 and connected to a load to output torque to the load. The driven gear 33 is connected to the output end 36 by the output gear 34. The two output ends 36 can be arranged appropriately according to actual needs. In the embodiment shown in FIG. 2, one output end 36 (the output end 36 shown at the top of FIG. 2) is rotatably connected to the load by a bearing 341 so that the torque output by the output end 36 about its rotation axis is not transmitted to the load, while the other output end 36 (the output end 36 shown at the bottom of FIG. 2) is fixedly connected to the load so that the torque output about its rotation axis is transmitted to the load. It should be understood that in other applications, the two output ends 36 may need to simultaneously output torque about the rotation axis. For example, the two output ends are connected to different loads or two separate portions of the same load. In this case, it is possible to remove bearing 341 and connect output 36 directly to the load. It should also be understood that in other embodiments, only one output may be sufficient.

[0015] The structure and principle of the drive assembly 30 will be described below with reference to a Cartesian coordinate system. Referring to FIG. 3 , the X-axis of the coordinate system is coaxial with the transmission shaft 24, i.e., coincides with the first rotation axis about which the first drive gear 31 and the second drive gear 32 rotate. The pair of output gears 34 have the same configuration, i.e., the same number of teeth and module, and are arranged coaxially opposite each other. The second rotation axis about which the output gears 34 rotate coincides with the Y-axis. The number of teeth and module of the output gear 34 are the same as those of the drive gears 31 and 32. The pair of driven gears 33 have the same configuration, i.e., the same number of teeth and module, and are arranged coaxially opposite each other. The third rotation axis about which the driven gears 33 rotate coincides with the Z-axis. As a result, the rotation axes of the first drive gear 31 and the second drive gear 32, the rotation axes of the pair of driven gears 33, and the rotation axes of the pair of output gears 34 are perpendicular to each other and intersect at a single point. In the X direction, the pair of driven gears 33 are located between the pair of drive gears 31 and 32 and mesh with the pair of drive gears 31 and 32, respectively. In the Z direction, the pair of output gears 34 are located between the pair of driven gears 33 and mesh with the pair of driven gears 33, respectively. It should be understood that in other embodiments, by changing the position and configuration of the gears, the rotation axes of the three sets of gears do not have to be perpendicular to each other; for example, only two of the rotation axes may be perpendicular to each other. Furthermore, the rotation axes of the three sets of gears do not have to intersect at a single point; for example, only two of the rotation axes may intersect at a single point.

[0016] 1 to 3, the first drive gear 31 and the second drive gear 32 each mesh with a pair of driven gears 33, and the pair of driven gears 33 each mesh with a pair of output gears 34, and the driven gears 33 are connected to an output end 36 by the output gears 34. Thus, by adjusting the first motor 22 and the second motor 23, i.e., by different combinations of the outputs of the first motor 22 and the second motor 23, different movement outputs of the drive assembly 30 can be realized.

[0017] Assuming that the initial positions of each component are the reference origin, the rotation angle of the first drive gear 31 is α1, the rotation angle of the second drive gear 32 is α2, the output angle of the drive assembly 30 around the X-axis is θx, and the output angle of the drive assembly 30 around the Y-axis is θy, based on the above-mentioned configuration of the drive assembly 30, the following holds: θx+θy=α1(1) θx-θy=α2(2)

[0018] Because the movement of the drive gears 31, 32 and the output gear 34 is synchronous, the above equations (1) and (2) also reflect the relationship between the rotational speed of the drive gears 31, 32 and the rotational speed of the output gear 34 or drive assembly 30.

[0019] Assuming the torque output of the first drive gear 31 is M1, the torque output of the second drive gear 32 is M2, the output torque of the drive assembly 30 about the X axis is Mx, and the output torque of the drive assembly 30 about the Y axis is My, then based on the above configuration of the drive assembly 30: Mx+My=2M1(3) Mx-My=2M2(4)

[0020] As can be seen from the configuration of the drive assembly 30, the drive gears 31, 32, the planet carrier 35, and the driven gear 33 together form a mechanism similar to a differential speed device, allowing the two drive gears 31, 32 to have different rotational speeds. Thus, the output end 36 can achieve desired motion outputs corresponding to different output combinations of the pair of drive gears 31, 32.

[0021] Referring to the input / output relationships of the angle, rotational speed and torque described above, based on different combinations of the outputs of the first motor 22 and the second motor 23, the multi-dimensional joint 10 mainly includes the following operation modes:

[0022] In the first operating mode, the first motor 22 and the second motor 23 rotate in the same direction at the same speed, and the first drive gear 31 and the second drive gear 32 also rotate in the same direction around the X axis at the same speed. In this case, the driven gear 33 does not rotate around the Z axis. In an example where an output gear 34 is provided, the output gear 34 meshing with the driven gear 33 also does not rotate around the Y axis. In other words, these gears 31, 32, 33, and 34 do not move relative to each other and rotate together with the planetary carrier 35 around the X axis, driving an external load connected to the output end 36 to rotate around the X axis together with the components of the robot. The rotation angle of the load around the X axis is the same as the rotation angle of the first drive gear 31 and the second drive gear 32, and the output torque around the X axis is the sum of the output torques of the first drive gear 31 and the second drive gear 32.

[0023] In the second operating mode, the first motor 22 and the second motor 23 rotate at the same speed in opposite directions, driving the first drive gear 31 and the second drive gear 32 to rotate at the same speed in opposite directions around the X axis. The output gear 34 rotates at the same speed in opposite directions around the Y axis, driving the load to rotate around the Y axis. The pair of output gears 34 outputs in opposite directions, but one output end 36 is rotatably connected to the load by a bearing 341 and does not output torque around the Y axis, while the other output end 36 is fixedly connected to the load and outputs torque to rotate the load around the Y axis. The rotation angle of the output gear 34 around the Y axis is the same as the rotation angle of the first drive gear 31 and the second drive gear 32, and the output torque around the Y axis is the sum of the torques output by the first drive gear 31 and the second drive gear 32. Also, in this mode, the first drive gear 31 and the second drive gear 32 rotate at the same speed in opposite directions, so the entire drive assembly 30 does not rotate about the X axis.

[0024] In the third operating mode, the first motor 22 and the second motor 23 rotate in the same direction but at different speeds. In this case, the first drive gear 31 and the second drive gear 32 rotate in the same direction but at different speeds around the X axis. For example, the rotational speed of the first drive gear 31 is greater than the rotational speed of the second drive gear 32. In this case, the output gear 34 rotates in the opposite direction at the same speed around the Y axis, while the entire drive assembly 30 rotates around the X axis. In the direction around the Y axis, as interpreted above, only one output end 36 outputs torque to drive the load to rotate around the Y axis, while in the direction around the X axis, both output ends 36 simultaneously output torque to apply to the load. Therefore, the multidimensional joint 10 ultimately realizes two-dimensional movement output, i.e., drives the load to rotate around the X axis and the Y axis, respectively. According to equations (1) to (4), the rotation angle of the drive assembly 30 around the X axis is equal to half the sum of the rotation angles of the first drive gear 31 and the second drive gear 32, the rotation angle of the drive assembly 30 around the Y axis is half the difference between the rotation angles of the first drive gear 31 and the second drive gear 32, the output torque around the X axis is the sum of the output torque of the first drive gear 31 and the second drive gear 32, and the output torque around the Y axis is the difference between the output torque of the first drive gear 31 and the second drive gear 32.

[0025] In the fourth operating mode, the first motor 22 and the second motor 23 rotate in opposite directions at different speeds. In this case, the first drive gear 31 and the second drive gear 32 rotate in opposite directions at different speeds around the X axis. As in the third operating mode, in this case, the pair of output gears 34 rotate in opposite directions at the same speed around the Y axis, while the entire drive assembly 30 rotates around the X axis in the same direction as the first drive gear 31 or the second drive gear 32, whichever has the higher rotational speed. As a result, the multidimensional joint 10 ultimately realizes two-dimensional movement output, i.e., drives the load to rotate around the X axis and the Y axis, respectively. The output angle and output torque of the drive assembly 30 can also be calculated using the above equations. That is, the output angle of the drive assembly 30 about the X axis is equal to half the difference between the rotation angles of the first drive gear 31 and the second drive gear 32, the output angle about the Y axis is half the sum of the rotation angles of the first drive gear 31 and the second drive gear 32, the output torque about the X axis is the difference between the output torques of the first drive gear 31 and the second drive gear 32, and the output torque about the Y axis is the sum of the output torques of the first drive gear 31 and the second drive gear 32.

[0026] In understanding the above equations and the calculation process in each mode, it should be noted that each parameter in the equations is a vector including a direction, but in the following explanation of each mode, for ease of understanding, the angles and torques referred to only mean the magnitude of the parameters.

[0027] In the above example, the drive assembly 30 is designed to include six gears, namely, one pair of drive gears, one pair of driven gears, and one pair of output gears. This configuration enables stable support, uniform force transmission and distribution between each component of the drive assembly 30, and has excellent interference resistance.

[0028] In the exemplary drive assembly 30 configuration described above, a pair of output gears 34 are provided, with one output gear 34 outputting torque only about the X axis and acting in conjunction with the driven gear 33 to balance and stabilize the configuration. In alternative embodiments, the output gear that does not output torque about the Y axis may be omitted, for example, with a load directly connected to only one output gear, or with a load rotatably connected to a support rod mounted to the planet carrier 35 for stabilization (as further described below with reference to FIG. 7 ). Similarly, in the above-described embodiment, a pair of driven gears 33 are provided to provide a stable coupling between the drive gears 31, 32 and the output gear 34. However, it should be understood that in other embodiments, only one driven gear may be used.

[0029] FIG. 5 is a schematic cross-sectional view of a multidimensional joint 10A according to another embodiment of the present invention, and FIG. 6 is a schematic diagram of the gear configuration within the drive assembly 40 of the embodiment. In this embodiment, the drive assembly 40 includes a first drive gear 41, a second drive gear 42, and a pair of driven gears 43. The first drive gear 41 and the second drive gear 42 are identically configured and arranged opposite each other. The pair of driven gears 43 are identically configured and arranged opposite each other, and mesh with the first drive gear 41 and the second drive gear 42. The rotation axes of the drive gears 41 and 42 are perpendicular to the rotation axis of the driven gear 43. In one embodiment, the number of teeth and module of the drive gears 41 and 42 are the same as the number of teeth and module of the driven gear 43.

[0030] This embodiment is distinguished from the previously described embodiments in that the output gear is omitted. The output end 46 is mounted on the driven gear 43 so as to be connected to the driven gear 43, and is also connected to a load so as to output torque to the load. As in the previously described embodiments, only one output end 46 may output torque around the Y axis, and the other output end 46 may be rotatably connected to the load via a bearing.

[0031] Similarly, based on the gear configuration of the drive assembly 40, there are multiple modes of operation.

[0032] In the first operating mode, the first drive gear 41 and the second drive gear 42 rotate at the same speed and in the same direction around the X axis, thereby driving the entire drive assembly 40 to rotate around the X axis to drive a load, and the pair of driven gears 43 do not rotate around the Y axis.

[0033] In a second operating mode, the first drive gear 41 and the second drive gear 42 rotate at the same speed in opposite directions about the X axis, while the pair of driven gears 43 rotate at the same speed in opposite directions about the Y axis to drive a load, without the entire drive assembly 40 rotating about the X axis.

[0034] In a third mode of operation, the first drive gear 41 and the second drive gear 42 rotate in the same direction but at different speeds about the X axis, while the pair of driven gears 43 rotate in opposite directions but at the same speed about the Y axis, and the entire drive assembly 40 rotates about the X axis to drive a load in both directions.

[0035] In the fourth mode of operation, the first drive gear 41 and the second drive gear 42 rotate in opposite directions at different speeds about the X axis. As in the third mode of operation, the pair of driven gears 43 rotate in opposite directions at the same speed about the Y axis, and the entire drive assembly 40 rotates about the X axis to drive a load in both directions.

[0036] FIG. 7 is a schematic cross-sectional view of a multidimensional joint 10B according to another embodiment of the present invention, and FIG. 8 is a partial schematic view of a drive assembly 50 according to the embodiment. In this embodiment, the drive assembly 50 includes a first drive gear 51, a second drive gear 52, and a driven gear 53 having an output end 56 connected to a load. This embodiment is distinguished from the embodiment shown in FIGS. 5 and 6 in that only one driven gear 53 is provided. However, the operating principle is similar to that of the embodiment shown in FIGS. 5 and 6, and therefore will not be described again here. To stably connect the load, a support rod 54 may be provided on a planet carrier 55, and the support rod 54 and the output end 56 may be symmetrically disposed on both sides of the planet carrier 55. The support rod 54 and the load are rotatably connected to the load around the Y-axis, and therefore only torque around the X-axis is output to the load.

[0037] In the two embodiments shown in Figures 6 to 9, the drive gear, driven gear, and planetary carrier similarly constitute a mechanism similar to a differential speed device, and the drive assembly can achieve desired motion outputs corresponding to different combinations of the outputs of a pair of drive gears. Furthermore, it should be understood that Equations (1) to (4), which explain the input-output relationships of each angle and torque mentioned based on the configurations of the two embodiments shown in Figures 6 to 9, can also be applied to the multi-dimensional joints of the two embodiments shown in Figures 6 to 9, and details will be omitted here.

[0038] 1-4, in the two embodiments shown in Figures 6-9, the first drive gear 41, 51, the second drive gear 42, 52, and the driven gear 43, 53 are all bevel gears with their teeth facing toward the center of the drive assembly 40, 50. It should be understood that other suitable gear configurations may be used in other embodiments.

[0039] FIG. 9 is a schematic perspective view of a multidimensional joint 10C according to another embodiment of the present invention, and FIG. 10 is a schematic cross-sectional view of the multidimensional joint 10C. This embodiment is distinguished from the embodiments shown in FIGS. 1 to 3 in the configuration of the planetary carrier. In this embodiment, the planetary carrier 65 of the drive assembly 60 has a U-shaped configuration and is connected to a first drive gear 61 and a pair of driven gears 63, thereby being connected to the drive assembly 60. The planetary carrier 65 is also rotatably connected to the main body by a gear and transmission mechanism. It should be understood that in other embodiments, the planetary carrier may have other structures, such as a cube structure, and a drive gear and a driven gear may be attached to the planetary carrier to form a mechanism similar to a differential speed device.

[0040] Continuing to refer to FIG. 2 , in situations where precise force control is required, force sensors and torque sensors may be added within the joint. For example, a first sensor 28 and a second sensor 29 are installed at both ends of the housing 21 to detect the force and torque output by the first motor 22 and the second motor 23, respectively. The first sensor 28 and the second sensor 29 may be multi-degree-of-freedom force and torque sensors for detecting multidirectional force and torque. The first sensor 28 is installed between the first motor 22 and the transmission shaft 24, and the second sensor 29 is installed between the second motor 23 and the transmission member 25. With this installation, the first sensor 28 and the second sensor 29 can directly measure the output torque of the first motor 28 and the second motor 29 at any timing, and further, can directly measure the torque output to the load by the drive assembly of the multi-dimensional joint at that timing based on the above-described equations (3) and (4). In this way, the output torque of the multi-dimensional joint can be accurately obtained, realizing precise force control of the robot equipped with the joint.

[0041] Based on the arrangement of the drive assembly in each of the above-described embodiments, the output end outputs torque around the first axis and / or torque around the second axis to the load according to the outputs of the first motor and the second motor. Torque in either direction may be generated either alone or simultaneously, providing multi-dimensional motion output for a flexible load.

[0042] In this application, motors are used as drive devices, and a mechanism similar to a differential speed device made up of gears is used to convert the rotational speeds output by the two motors into multidirectional forces and rotations, which are then concentrated and output to the drive assembly, thereby achieving multi-degree-of-freedom output in a limited space. An arrangement in which the multiple degrees of freedom intersect at a single point is the optimal solution in a numerical model, which makes it extremely easy to control the force of joints or the entire robot, for example.

[0043] Another aspect of the present application provides a robot including the multi-dimensional joint described in each of the above embodiments. The multi-dimensional joint can be applied to multiple structures of the robot. For example, if the robot is a humanoid robot, the multi-dimensional joint can be used as a shoulder joint or a hip joint. FIG. 11 shows an application example of the multi-dimensional joint of the present application, in which a robot 100 includes a multi-dimensional joint 10C that functions as a shoulder joint for driving an arm. The multi-dimensional joint of the present application can also be used for other joints that need to realize two degrees of freedom in a robot.

[0044] It should be understood that the multi-dimensional joint of the present application can be used in other industrial applications in addition to robots to provide multi-dimensional relative motion between two members.

[0045] The technical features of the above-described embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features of the above-described embodiments are described, but as long as there is no contradiction in the combination of these technical features, it should be considered that they are included in the scope of this specification.

[0046] The above examples merely specifically and in detail represent some embodiments of the present disclosure and should not be construed as limiting the scope of the present disclosure. It should be noted that those skilled in the art can make many modifications and improvements without departing from the spirit of the present disclosure, and these also fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the present invention shall be governed by the appended claims.

Claims

1. A multidimensional joint, a main body provided with a first motor and a second motor; a drive assembly including a planet carrier rotatably connected to the body, a first drive gear operably connected to the first motor, a second drive gear operably connected to the second motor, at least one driven gear, and at least one output end; the first drive gear and the second drive gear are rotatably attached to the planet carrier about a first axis, the at least one driven gear is rotatably attached to the planet carrier about a second axis, and the first axis and the second axis are positioned in different directions; the first drive gear and the second drive gear each mesh with the at least one driven gear connected to the at least one output end, and the at least one output end is configured to output a torque to a load.

2. the first motor and the second motor are located on the same side of the drive assembly, the first motor is connected to the first drive gear by a transmission shaft, and the second motor is connected to the second drive gear by a transmission member; 2. The multi-dimensional joint according to claim 1, wherein the transmission member has a hollow structure, and the transmission shaft passes through the transmission member and the second drive gear to connect the first motor and the first drive gear.

3. 2. The multidimensional joint according to claim 1, wherein a bearing is provided between the transmission member and the transmission shaft.

4. 2. The multi-dimensional joint according to claim 1, wherein the multi-dimensional joint includes at least one output gear, the at least one output gear meshing with the at least one driven gear, the at least one driven gear being connected to the at least one output end by the output gear, and the at least one output gear being configured to rotate about a third axis, the third axis being located in a different direction from the first axis and the second axis.

5. 5. The multidimensional joint according to claim 4, wherein the first axis, the second axis, and the third axis are perpendicular to each other and intersect at one point.

6. 5. The multi-dimensional joint according to claim 4, wherein the at least one driven gear includes a pair of oppositely disposed driven gears, the at least one output gear includes a pair of oppositely disposed output gears, and the first drive gear, the second drive gear, the pair of driven gears, and the pair of output gears are all bevel gears with teeth facing toward a center of the drive assembly.

7. the at least one output comprises two outputs; The pair of output gears are each provided at one of the two output ends, 5. The multidimensional joint according to claim 4, wherein one of the two output ends is rotatably connected to a load by a bearing.

8. The multi-dimensional joint according to claim 1 , wherein the at least one output end is installed on the at least one driven gear.

9. 9. The multi-dimensional joint according to claim 8, wherein the number of the at least one driven gear is one, and the planet carrier is provided with a support rod that is arranged symmetrically with the at least one output end, and the support rod is rotatably connected to a load.

10. 2. The multi-dimensional joint according to claim 1, wherein a bearing is provided between said planet carrier and said body for rotatably supporting said drive assembly.

11. 2. The multi-dimensional joint of claim 1, further comprising a first sensor and a second sensor configured to detect torques output by the first motor and the second motor, respectively.

12. A robot comprising the multi-dimensional joint according to any one of claims 1 to 11.

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