Robot transmission mechanism and quadruped robot using it

Abstract

This invention discloses a robotic power transmission mechanism and a quadruped robot applying the same, and belongs to the field of robotics. Conventional power transmission mechanisms are very inconvenient to assemble, maintain, and disassemble, and do not enable quick attachment and detachment of two-joint units, which hinders their widespread adoption. The robotic power transmission mechanism of this invention includes a second joint unit and a first joint unit, with a detachable connection component provided between the second and first joint units, and the detachable connection component includes a radially extending member and a hooping member that is hooped to the outer ring of the radially extending member. In this invention, the upper and lower two-stage power units of the robot joint are fixedly connected by the hooping member and the radially extending member. Compared to connection methods of the background art, this fixed connection method requires fewer screws and, as a result, does not require excessive fastening members such as screws and bolts, so assembly, maintenance, and disassembly are all very simple and quick, and attachment and detachment time can be effectively saved.

Description

Technical Field

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

Background Art

[0002] Chinese Patent (Publication No.: CN209921456U) discloses a robot integrated joint unit and a leg-type robot applying the same, including a first motor and a 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 casing, and a joint radial extension member is fixedly provided on the outer side of the first motor casing. The joint radial extension member has a concave structure covering the first motor and reducer assembly.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above solution, one-turn screw holes are provided on the outer wall surface of the first motor casing and the joint radial extension member respectively. When detaching or attaching, it is necessary to loosen or tighten one-turn screws, which makes assembly, maintenance and disassembly very inconvenient, and the quick detachment of the two-joint unit cannot be realized, which hinders the popularization.

[0005] The information disclosed in the above background art provides a background for understanding the concept of the present invention, and thus may include information that does not constitute the prior art.

Means for Solving the Problems

[0006] To address the above problem or one of the above problems, the first objective of the present invention is to provide a robot transmission mechanism that connects the upper and lower stages of the power unit of the robot joint using a radially extending member and a hoop-fastening member, and is easy to assemble and quick to disassemble.

[0007] To address the above problem or one of the above problems, the second object of the present invention is to provide a robotic transmission mechanism in which the rotational output end of the first joint unit and the fixed end of the second joint unit are connected by a hoop clamping member, the hoop clamping member is clamped onto the outer wall surface of the fixed end and fixedly connected to the rotational output end, forming a hoop clamping fixed structure, which positions the second joint unit and the first joint unit, thereby making attachment and detachment due to requirements such as assembly, maintenance, and damage very easy and quick, effectively saving time, improving assembly and maintenance efficiency, and the solution is simple, practical, and feasible.

[0008] To address the above problem or one of the above problems, the third object of the present invention is to provide a quadruped robot that includes a robot transmission mechanism, connecting the upper and lower stages of the power unit of the robot joint by radially extending members and hoop-fastening members, and is easy to assemble and quick to disassemble.

[0009] To achieve one of the above objectives, the first technical solution of this invention is as follows: The robotic power transmission mechanism includes a second joint unit and a first joint unit, with a detachable connection component provided between the second joint unit and the first joint unit. The detachable connection component includes a radially extending member and a clamping member that clamps onto the outer ring of the radially extending member, and the end face edge of the radially extending member protrudes radially to form an active projection. The end face edge of the second joint unit protrudes radially to form a driven projection that fits into the active projection, and the hoop clamping member clamps and bonds the active projection and the driven projection together. The radially extending member is fixedly connected to the rotation output end of the first joint unit.

[0010] The robot transmission mechanism provided by this invention securely connects the upper and lower two-stage power units of the robot joint using a hoop-fastening member and a radially extending member. Compared to connection methods in the background, this fixed connection method requires fewer screws and, as a result, does not require excessive fastening members such as screws and bolts. Therefore, assembly, maintenance, and disassembly are all very simple and quick, and attachment and detachment time can be effectively saved.

[0011] Furthermore, compared to conventional flange fixing methods, the structure of this invention does not increase the axial length, reduces the overall volume of the joint, and saves space. As a preferred technical means: A fixing groove is provided on the inner surface of the hoop clamping member to hold and clamp the active projection and the driven projection together, the cross-sections of the active projection and the driven projection are both conical trapezoidal surfaces, and the cross-section of the fixing groove is a conical recessed groove that fits into the active projection and the driven projection.

[0012] The cross-sections of the active projection, the driven projection, and the fixing groove are all conical, simultaneously ensuring connection stability in both the axial and radial directions. Furthermore, after the hoop clamping member is fastened, the conical cross-section ensures that the active projection and the driven projection are compressed and bonded together, resulting in a more secure connection.

[0013] As a preferred technical means: The active projection and / or the driven projection is an annular projection, or is composed of a plurality of dot-like projections, or is composed of a plurality of fan-shaped projections. Alternatively, the hoop clamping member includes a first quick-release ring and a second quick-release ring, the first and second quick-release rings being connected by a circumferential fastening member. The hoop clamping member consists of two semi-circular structures and is connected circumferentially using only a few fastening members such as fastening screws and fastening bolts, making installation and disassembly simple and easy. Only a few small screws need to be loosened during installation and removal, making installation easy and eliminating the need for intentional alignment, resulting in high assembly and maintenance efficiency.

[0014] As a preferred technical means: A rotation-preventing boss is provided on either the contact-fitting end face of an adjacent active projection or the contact-fitting end face of an adjacent driven projection, and a rotation-preventing groove that engages with the rotation-preventing boss is provided on the other, thereby preventing relative rotation of the active projection and the driven projection in the axial direction.

[0015] By providing an anti-rotation boss and anti-rotation groove, the upper and lower power units are prevented from rotating relative to each other when transmitting torque, ensuring connection reliability.

[0016] To achieve one of the above objectives, the second technical solution of this invention is as follows: The robotic drive mechanism includes a first joint unit and a second joint unit capable of driving robotic joints. The first joint unit is provided with a rotation output terminal. A fixed end is provided on the second joint unit. The rotating output end and the fixed end are fixed by a hoop clamping member. The aforementioned hoop-fastening member is fastened to the outer wall surface of the fixed end and fixedly connected to the rotation output end, forming a hoop-fastening fixed structure and positioning the second joint unit and the first joint unit.

[0017] This invention, developed through continuous exploration and testing, connects the rotating output end of the first joint unit and the fixed end of the second joint unit using a hoop clamping member. The hoop clamping member is clamped onto the outer wall surface of the fixed end and fixedly connected to the rotating output end, forming a hoop clamping fixed structure that positions the second and first joint units. Compared to connection methods in the background, it requires fewer bolts or screws, or even no bolts or screws at all. As a result, assembly, maintenance, and removal due to damage are extremely easy and quick, effectively saving time, improving assembly and maintenance efficiency, and the solution is simple, practical, and feasible.

[0018] As a preferred technical means: The clamping member is fixedly connected to the rotational output end of the first joint unit via a radially extending member. The radially extending member has an annular structure, a disc structure, a frame structure, or a spoke structure, extends in the axial direction of the first joint unit, and is fixed to the rotational output end via bolts, screws, or a clamping structure.

[0019] By providing the radially extending member, the fixed connection between the clamping member and the rotational output end becomes easier.

[0020] Furthermore, the radially extending member can also be fixed to the rotational output end via a clamping structure, further improving the detachment efficiency. The solution is simple, practical, and ingenious in concept.

[0021] The clamping member may be integrally formed with the radially extending member or may be provided independently.

[0022] As a preferred technical means: The edge of the end face of the radially extending member protrudes along the radial direction to form an active protrusion. The edge of the end face of the fixed end protrudes along the radial direction to form a passive protrusion that fits into the active protrusion. The clamping member holds and clamps the active protrusion and the passive protrusion together to make their connection more secure.

[0023] Or / and, a fixing groove for holding and clamping the active protrusion and the passive protrusion together is provided on the inner surface of the clamping member. The cross-sections of the active protrusion and the passive protrusion are both conical table surfaces, and the cross-section of the fixing groove is a conical concave groove that fits into the active protrusion and the passive protrusion. The cross-sections of the active protrusion, the passive protrusion, and the fixing groove all adopt conical surfaces to ensure the connection stability in both the axial and radial directions simultaneously. And after the clamping member is fastened, the conical cross-section ensures that the active protrusion and the passive protrusion are press-fitted together, making the connection more secure.

[0024] As a preferred technical means: The aforementioned hoop fastening member has an annular structure, an arc-shaped structure, a flap-shaped structure, or a strip-shaped structure, and is provided with a connecting portion at its end through which a fastening member can pass, or a snap-fit ​​structure at its end, or a slip-in structure at its end. Preferably, by providing a snap-fit ​​structure and a plug-in structure, attachment and detachment become more convenient and simpler.

[0025] Alternatively, the first joint unit is a rotary motor and / or a reduction gear, the second joint unit is a rotary motor and / or a reduction gear, the rotary output end is the rotor of the rotary motor or the rotating end of the reduction gear, and the fixed end is the stator end of the rotary motor or the fixed part of the reduction gear or the fixed casing of the rotary motor.

[0026] As a preferred technical means: The connecting portion is provided with a screw hole, and the fastening member is a bolt, a screw with a handle, or a machine screw. Alternatively, the connecting portion may have a hole with a smooth inner surface, and the fastening member may be a bolt with a nut.

[0027] To achieve one of the above objectives, the third technical solution of this invention is as follows: The power transmission mechanism for the quadruped robot will be an application of the robotic power transmission mechanism described above.

[0028] The quadruped robot provided by this invention includes a robot transmission mechanism, and the upper and lower two-stage power units of the robot joint are fixedly connected by a hoop-fastening member and a radially extending member. Since it does not require excessive fastening members such as screws and bolts, assembly, maintenance, and disassembly are all very simple and quick, and the time required for attachment and detachment can be effectively saved.

[0029] Furthermore, compared to conventional flange connection methods, the two-joint fixed connection method of this invention does not increase the axial length, reduces the overall volume of the joint, and saves space. [Effects of the Invention]

[0030] This invention, developed through continuous exploration and testing, connects the rotating output end of the first joint unit and the fixed end of the second joint unit using a hoop clamping member. The hoop clamping member is clamped onto the outer wall surface of the fixed end and fixedly connected to the rotating output end, forming a hoop clamping fixed structure that positions the second and first joint units. Compared to connection methods in the background, it requires fewer bolts or screws, or even no bolts or screws at all. As a result, attachment and detachment, which are often required for assembly, maintenance, and repair, are extremely easy and quick, effectively saving time and improving assembly and maintenance efficiency. The solution is simple, practical, and feasible.

[0031] Furthermore, the robot transmission mechanism provided by this invention securely connects the upper and lower power units of the robot joint using a hoop-fastening member and a radially extending member. Compared to connection methods in the background, this secure connection method requires fewer screws and, as a result, does not require excessive fastening members such as screws and bolts. Therefore, assembly, maintenance, and disassembly are all very simple and quick, and attachment and detachment time can be effectively saved.

[0032] Furthermore, the quadruped robot provided by this invention includes a robot transmission mechanism, and the upper and lower two-stage power units of the robot joint are fixedly connected by a hoop-fastening member and a radially extending member. Since it does not require excessive fastening members such as screws and bolts, assembly, maintenance, and disassembly are all very simple and quick, and the time required for attachment and detachment can be effectively saved.

[0033] Furthermore, compared to conventional flange fixing methods, the structure of this invention does not increase the axial length, reduces the overall volume of the joint, and saves space. [Brief explanation of the drawing]

[0034] [Figure 1] This is a schematic diagram of the structure of the robot transmission mechanism of the present invention. [Figure 2] This is a schematic diagram of the entire cross-section of the robot transmission mechanism of the present invention along line AA. [Figure 3] This is a schematic diagram of the robot transmission mechanism of the present invention. [Figure 4] This is a localized, enlarged schematic diagram of part B of the robot transmission mechanism of the present invention. [Figure 5] This is a schematic diagram of the overall structure of the robot transmission mechanism of the present invention. [Modes for carrying out the invention]

[0035] To further clarify the purpose, technical solutions, and advantages of this invention, the invention will be described in more detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are used solely for interpreting the invention and are not intended to limit it.

[0036] Conversely, the present invention includes all substitutions, modifications, equivalent methods and schemes that are carried out within the spirit and scope of the present invention as defined in the claims. Furthermore, in order to enable the public to better understand the present invention, several specific details are described in the detailed description below. Those skilled in the art will be able to fully understand the present invention without the description of these details.

[0037] When two elements are “fixedly connected” or “hooped,” they may be directly connected, or an intermediate element may exist. Conversely, when one element is “directly” “on” another element, there is no intermediate element. The terms “on,” “below,” and similar expressions used herein are for illustrative purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as that commonly understood by those skilled in the art of the present invention. Terms used herein are used solely for the purpose of describing specific embodiments and are not intended to limit the present invention. The terms “or / and” used herein include any and all combinations of one or more related enumerations.

[0039] A specific embodiment of the robot transmission mechanism of this invention is as follows: The robotic drive mechanism includes a first joint unit and a second joint unit capable of driving robotic joints. The first joint unit is provided with a rotation output terminal. A fixed end is provided on the second joint unit. The rotating output end and the fixed end are fixed by a hoop clamping member. The aforementioned hoop-fastening member is fastened to the outer wall surface of the fixed end and fixedly connected to the rotation output end, forming a hoop-fastening fixed structure to position the second joint unit and the first joint unit.

[0040] As shown in Figures 1, 2, 3, 4, and 5, preferred embodiments of the robot transmission mechanism of the present invention are as follows: The robot transmission mechanism includes a second joint unit 1 and a first joint unit 2, with a detachable connection component provided between the second joint unit 1 and the first joint unit 2. The detachable connection component includes a radially extending member 3 and a clamping member 4 that clamps onto the outer ring of the radially extending member 3. The end face edge of the radially extending member 3 protrudes radially to form an active projection 5, and the end face edge of the second joint unit 1 protrudes radially to form a driven projection 6 that fits onto the active projection 5. The clamping member 4 embraces and clamps the active projection 5 and the driven projection 6 together, and the radially extending member 3 is fixedly connected to the rotation output end of the first joint unit 2.

[0041] A specific embodiment of the hoop-fastening structure of this invention is as follows: A fixing groove 7 is provided on the inner surface of the hoop clamping member 4 to clamp and bond the active projection 5 and the driven projection 6. The cross-sections of the active projection 5 and the driven projection 6 are both conical trapezoidal surfaces, and the cross-section of the fixing groove 7 is a conical recessed groove that fits into the active projection 5 and the driven projection 6. The cross-sections of the active projection 5, the driven projection 6, and the fixing groove 7 all employ conical surfaces, simultaneously ensuring connection stability in both the axial and radial directions. After the hoop clamping member 4 is fastened, the conical cross-section ensures that the active projection 5 and the driven projection 6 are pressed and bonded together, making the connection more secure.

[0042] A specific embodiment of the hoop clamping member 4 of the present invention is as follows: The hoop clamping 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 by circumferential fastening members 10. The hoop clamping member 4 consists of two semi-circular structures and only requires connection in the circumferential direction via a small number of fastening members 10 such as fastening screws and fastening bolts, making installation and disassembly easy and convenient. The number of small screws that need to be loosened during installation and removal is reduced, installation is simple and does not require intentional alignment, resulting in high assembly and maintenance efficiency.

[0043] In this invention, a specific example of adding a structure to prevent accidental rotation is as follows: A rotation-preventing boss 8 and a rotation-preventing groove 9 are provided between the contact fitting end faces of the active projection 5 and the driven projection 6, respectively, to prevent the active projection 5 and the driven projection 6 from rotating relative to each other in the axial direction. By providing the rotation-preventing boss 8 and the rotation-preventing groove 9, the upper and lower power units are prevented from rotating relative to each other when transmitting torque, thereby ensuring connection reliability.

[0044] The following are examples of applications of the transmission mechanism of this invention: The quadruped robot includes the robotic transmission mechanism described above.

[0045] In this application, the fixed connection method may be screw connection, riveting connection, insert connection, or connection by a third member, and a person skilled in the art can select one according to the actual situation.

[0046] Finally, it should be noted that the above embodiments merely illustrate, and do not limit, the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art will understand that modifications or equivalent substitutions can still be made to specific embodiments of the present invention, and any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should all be within the scope of protection of the claims of the present invention. [Explanation of symbols]

[0047] 1. Second joint unit 2. First joint unit 3 Radially stretched member 4. Hoop fastening member 41. First Quick-Release Ring 42. Second Quick-Release Ring 5 Active protrusion 6 Follower protrusion 7 Fixed groove 8 Anti-rotation boss 9. Anti-rotation grooves 10 Fastening members

Claims

1. It includes a second joint unit (1) and a first joint unit (2), and a detachable connecting component is provided between the second joint unit (1) and the first joint unit (2). The detachable connection component includes a radially extending member (3) and a clamping member (4) that clamps onto the outer ring of the radially extending member (3), and the end face edge of the radially extending member (3) protrudes radially to form an active projection (5). The end face edge of the second joint unit (1) protrudes radially to form a driven projection (6) that fits into the active projection (5), and the hoop clamping member (4) embraces and clamps the active projection (5) and the driven projection (6) together. A robot transmission mechanism characterized in that the radially extending member (3) is fixedly connected to the rotation output end of the first joint unit (2).

2. The robot transmission mechanism according to claim 1, characterized in that a fixing groove (7) is provided on the inner surface of the hoop clamping member (4) to hold and clamp the active projection (5) and the driven projection (6) together, the cross-sections of the active projection (5) and the driven projection (6) are both conical trapezoidal surfaces, and the cross-section of the fixing groove (7) is a conical recessed groove that fits into the active projection (5) and the driven projection (6).

3. The active projection (5) and / or the dependent projection (6) may be an annular projection, or composed of a plurality of dot-shaped projections, or composed of a plurality of fan-shaped projections. The robot transmission mechanism according to claim 1, wherein the hoop tightening 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 by a circumferential fastening member (10).

4. The robot transmission mechanism according to any one of claims 1 to 3, characterized in that a rotation-preventing boss (8) is provided on either the contact-fitting end face of an adjacent active projection (5) or the contact-fitting end face of an adjacent driven projection (6), and a rotation-preventing groove (9) that engages with the rotation-preventing boss (8) is provided on the other.

5. It includes a first joint unit and a second joint unit capable of driving robot joints, The first joint unit is provided with a rotation output terminal. A fixed end is provided on the second joint unit. The rotating output end and the fixed end are fixed by a hoop clamping member. The aforementioned hoop-fastening member is fastened to the outer wall surface of the fixed end and fixedly connected to the rotation output end, forming a hoop-fastening fixed structure, and is characterized in that it positions the second joint unit and the first joint unit.

6. The hoop clamping member (4) is fixedly connected to the rotation output end of the first joint unit (2) via the radial extension member (3). The robot transmission mechanism according to claim 5, wherein the radially extending member (3) is an annular structure, disc structure, frame structure, or spoke structure that extends in the axial direction of the first joint unit (2), and is fixed to the rotating output end via a bolt, screw, or hoop fastening structure.

7. The end face edge of the radially extending member (3) protrudes along the radial direction to form an active projection (5), The end face edge of the fixed end protrudes radially to form a driven projection (6) that fits into the active projection (5), and the hoop clamping member (4) clamps and fastens the active projection (5) and the driven projection (6) together. The robot transmission mechanism according to claim 6, characterized in that, or / and, a fixing groove (7) is provided on the inner surface of the hoop clamping member (4) to hold and clamp the active projection (5) and the driven projection (6) together, the cross-sections of the active projection (5) and the driven projection (6) are both conical trapezoidal surfaces, and the cross-section of the fixing groove (7) is a conical recessed groove that fits into the active projection (5) and the driven projection (6).

8. The hoop fastening member (4) has an annular structure, an arc-shaped structure, a flap-shaped structure, or a strip-shaped structure, and is provided with a connecting portion at its end through which the fastening member (10) can pass, or a snap-fit ​​structure at its end, or a slip-in structure at its end. The robot transmission mechanism according to claim 5, wherein the first joint unit (2) is a rotary motor and / or a reduction gear, the second joint unit (1) is a rotary motor and / or a reduction gear, the rotary output end is the rotor of the rotary motor or the rotating end of the reduction gear, and the fixed end is the stator end of the rotary motor or the fixed part of the reduction gear or the fixed casing of the rotary motor.

9. The connecting portion is provided with a screw hole, and the fastening member (10) is a bolt, a screw with a handle, or a machine screw. Alternatively, the robot transmission mechanism according to claim 8, characterized in that a hole with a smooth inner surface is provided in the connecting portion, and the fastening member (10) is a bolt with a nut.

10. A transmission mechanism for a quadruped robot, characterized by applying the robot transmission mechanism described in any one of claims 1 to 9.

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