Multidimensional 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 a multi-dimensional joint and a robot. [Background Art]

[0002] Depending on the application of the robot, a single joint capable of outputting multi-dimensional motions is required. For example, a gimbal device similar to a human femur is disposed at the hip joint of a hydraulic bipedal walking robot, and the robot needs to use this gimbal device to realize the output of force and movement of the femoral head in multiple directions. Since it is necessary to provide multi-directional force and rotation angle in a considerably small space, high requirements are imposed on spatial design. One implementation known to the applicant is that high-pressure oil is delivered by a hydraulic pump to a small hydraulic cylinder in the hip bone, and the rotation of the bionic femur is realized by 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, which includes a main body and a drive assembly. The main body is provided with a first motor and a second motor. The drive assembly includes a planet carrier rotatably connected to the main body, a first drive gear drivably connected to the first motor, a second drive gear drivably 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 mounted on the planet carrier rotatably around a first axis, the at least one driven gear is mounted on the planet carrier rotatably around a second axis, and the first axis and the second axis are oriented in different directions. The first drive gear and the second drive gear respectively 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 invention provides a robot including a multidimensional joint. The multidimensional 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 planetary carrier rotatably connected to the body, a first drive gear drivably connected to the first motor, a second drive gear drivably connected to the second motor, at least one driven gear, and at least one output terminal. The first drive gear and the second drive gear are mounted on the planetary carrier rotatably around a first axis, and the at least one driven gear is mounted on the planetary carrier rotatably around a second axis, with the first axis and the second axis oriented 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 terminal, and the at least one output terminal is configured to output torque to a load.

[0005] Details of one or more embodiments of the present invention are described in the accompanying drawings and description below. Other features, purposes and advantages of the present invention will become apparent from the specification, accompanying drawings and claims. [Brief explanation of the drawing]

[0006] [Figure 1] This is a schematic perspective view of a multidimensional joint according to one embodiment of the present invention. [Figure 2] Figure 1 is a schematic cross-sectional view of the multidimensional joint of the embodiment shown. [Figure 3] Figure 1 is a schematic perspective view of the drive assembly of the embodiment shown. [Figure 4] This is a schematic cross-sectional view of a multidimensional joint of another embodiment of the present application. [Figure 5] This is a schematic cross-sectional view of a multidimensional joint of another embodiment of the present application. [Figure 6] Figure 5 is a schematic perspective view of the gear configuration within the drive assembly of the embodiment shown. [Figure 7] This is a schematic cross-sectional view of a multidimensional joint of another embodiment of the present application. [Figure 8]Figure 7 is a schematic perspective view of the gear configuration within the drive assembly of the embodiment shown. [Figure 9] This is a schematic perspective view of a multidimensional joint in another embodiment of the present invention. [Figure 10] Figure 9 is a schematic cross-sectional view of the multidimensional joint of the embodiment shown. [Figure 11] This is a schematic diagram of an application example of a multidimensional joint according to one embodiment of the present invention. [Modes for carrying out the invention]

[0007] To make the above-mentioned objectives, 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. Many specific details are included in the following description in order to fully understand the present invention. However, the present invention can be carried out 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 invention; therefore, the present invention is not limited to the specific embodiments disclosed below.

[0008] This invention provides a multidimensional joint and a robot using a multidimensional joint. The multidimensional 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 planetary carrier, a first drive gear, a second drive gear, at least one driven gear, and at least one output terminal. The planetary carrier is rotatably connected to the body, the first drive gear and the second drive gear are mounted on the planetary carrier rotatably around a first axis, and the driven gear is mounted on the planetary carrier rotatably around a second axis, with the first and second axes oriented in different directions. The first drive gear is kinetically connected to a first motor, and the second drive gear is kinetically connected to a second motor. The first drive gear and the second drive gear each mesh with a driven gear connected to at least one output terminal. The at least one output terminal is configured to output torque to a load.

[0009] The multidimensional joint of this invention concentrates the force or torque output by the first motor and the second motor into a drive assembly, and by the gear arrangement of the drive assembly, the torque for driving the load can be output in different directions, thereby realizing multi-degree-of-freedom movement of the load in the drive assembly.

[0010] Figure 1 is a schematic perspective view of a multidimensional joint 10 according to one embodiment of the present invention, and Figure 2 is a schematic cross-sectional view of the multidimensional joint 10. Referring to Figures 1 and 2, the multidimensional joint 10 includes a body 20 and a drive assembly 30 connected to the body 20. The 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 force or torque produced 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 axis of rotation, thereby achieving a compact configuration.

[0011] Referring to Figures 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 planetary carrier 35, and an output terminal 36. In this embodiment, the entire planetary carrier 35 has a quasi-spherical configuration and is mounted within the planetary carrier 35 such that the gears are rotatably connected to each gear by bearings. The planetary carrier 35 is rotatably coupled to the body 20 and is rotatably connected to the 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., they have the same number of teeth and module and are arranged opposite each other on the same axis. The first motor 22 is ductilely connected to the first drive gear 31 to drive the first drive gear 31 to rotate it around a first axis, and the second motor 23 is ductilely connected to the second drive gear 32 to drive the second drive gear 32 to rotate it around a first axis. The main body 20 further includes a transmission shaft 24 connecting the first motor 22 and the first drive gear 31, and a transmission member 25 connecting the second motor 23 and the second drive gear 32. The transmission shaft 24 passes through the second drive gear 32. The transmission member 25 is mounted on the outer circumference of the transmission shaft 24, enabling asynchronous rotation of the transmission shaft 24 and the transmission member 25, and achieving a stable and compact structure. The transmission shaft 24 has a hollow structure with an internal space for housing other components such as wires. In some embodiments, a bearing is provided between the transmission member 25 and the transmission shaft 24, thereby achieving robust 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 the center of the drive assembly 30. It should be understood that other suitable gear configurations may be adopted in other embodiments.

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

[0014] Continuing with Figure 21 showing a pair of driven gears 33 and a pair of output gears 34, referring to Figure 3, in this embodiment, the output terminals 36 are located on the pair of output gears 34, protrude outward from the planetary carrier 35, and are connected to the load, thereby outputting torque to the load. The driven gears 33 are connected to the output terminals 36 by the output gears 34. Two output terminals 36 can be appropriately arranged according to the requirements. In the embodiment shown in Figure 2, one output terminal 36 (the output terminal 36 shown at the top of Figure 2) is rotatably connected to the load by a bearing 341 so that the torque around its rotation axis output by the output terminal 36 is not transmitted to the load, while the other output terminal 36 (the output terminal 36 shown at the bottom of Figure 2) is fixedly connected to the load so that the torque around its rotation axis output is transmitted to the load. It should be understood that in other applications, it may be necessary for two output terminals 36 to output torque around their rotation axes simultaneously, for example, the two output terminals may be connected to different loads or to two separate parts of the same load. In this case, the bearing 341 can be removed, and the output terminal 36 can be directly connected to the load. It should also be understood that in other embodiments, only one output terminal may be sufficient.

[0015] The configuration and principle of the drive assembly 30 will be described below with reference to a Cartesian coordinate system. Referring to Figure 3, the X-axis of the coordinate system is coaxial with the transmission shaft 24, that is, it coincides with the first axis of rotation around which the first drive gear 31 and the second drive gear 32 revolve. A pair of output gears 34 have the same configuration, that is, the same number of teeth and module, and are arranged opposite each other on the same axis. The second axis of rotation around which the output gears 34 revolve coincides with the Y-axis. The number of teeth and module of the output gears 34 are the same as those of the drive gears 31 and 32. A pair of driven gears 33 have the same configuration, that is, the same number of teeth and module, and are arranged opposite each other on the same axis. The third axis of rotation around which the driven gears 33 revolve 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 mutually orthogonal and intersect at one 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 each of the pair of drive gears 31 and 32. In the Z direction, the pair of output gears 34 are located between the pair of driven gears 33 and mesh with each of the pair of driven gears 33. In other embodiments, it should be understood that by changing the position and configuration of the gears, the rotation axes of the three sets of gears do not have to be mutually orthogonal; for example, only two of the rotation axes may be mutually orthogonal. Furthermore, the rotation axes of the three sets of gears do not have to intersect at one point; for example, only two of the rotation axes may intersect at one point.

[0016] In the embodiment shown in Figures 1 to 3, the first drive gear 31 and the second drive gear 32 each mesh with a pair of driven gears 33, the pair of driven gears 33 each mesh with a pair of output gears 34, and the driven gears 33 are connected to the output terminals 36 by the output gears 34. As a result, different movement outputs of the drive assembly 30 can be achieved by adjusting the first motor 22 and the second motor 23, that is, by different combinations of the outputs of the first motor 22 and the second motor 23.

[0017] Taking the initial position of each component as the reference origin, assuming that the rotation angle of the first driving gear 31 is α1, the rotation angle of the second driving gear 32 is α2, the output angle of the drive assembly 30 about the X-axis is θx, and the output angle of the drive assembly 30 about the Y-axis is θy, based on the above structural arrangement of the drive assembly 30, the following relations are obtained. θx+θy=α1(1) θx-θy=α2(2)

[0018] Since the movements of the driving gears 31, 32 and the output gear 34 are synchronized, the above formulas (1) and (2) also reflect the relationship between the rotation speeds of the driving gears 31, 32 and the rotation speed of the output gear 34 or the drive assembly 30.

[0019] Assuming that the torque output of the first driving gear 31 is M1, the torque output of the second driving 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, based on the above structural arrangement of the drive assembly 30, the following relations are obtained. Mx+My=2M1(3) Mx-My=2M2(4)

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

[0021] Referring to the above input-output relations of angle, rotation speed and torque, based on different combinations of 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 at the same speed around the X axis. In this case, the driven gear 33 does not rotate around the Z axis. In the example where an output gear 34 is provided, the output gear 34 that meshes with the driven gear 33 also does not rotate around the Y axis. That is, these gears 31, 32, 33, and 34 have no relative movement and rotate together with the planetary carrier 35 around the X axis, driving the external load connected to the output end 36 to rotate together with the robot's components around the X axis. The rotation angle of the load around the X axis is the same as the rotation angles 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 in opposite directions at the same speed, driving the first drive gear 31 and the second drive gear 32 to rotate in opposite directions at the same speed around the X axis. The output gear 34 rotates in opposite directions at the same speed around the Y axis, driving the load to rotate around the Y axis. A pair of output gears 34 output 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, which is fixedly connected to the load, 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 angles 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. Furthermore, in this mode, the first drive gear 31 and the second drive gear 32 rotate in opposite directions at the same speed, so the entire drive assembly 30 does not rotate around the X axis.

[0024] In the third operating mode, the first motor 22 and the second motor 23 rotate in the same direction at different speeds. In this case, the first drive gear 31 and the second drive gear 32 rotate in the same direction 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 opposite directions 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 and drives the load to rotate around the Y axis, but in the direction around the X axis, both output ends 36 output torque that is applied to the load simultaneously. Thus, the multidimensional joint 10 ultimately achieves two-dimensional motion output, that is, it drives the load to rotate around the X axis and the Y axis, respectively. According to equations (1) to (4), the drive assembly 30 has a rotation angle around the X axis that is equal to half the sum of the rotation angles of the first drive gear 31 and the second drive gear 32, a rotation angle around the Y axis that is half the difference between the rotation angles of the first drive gear 31 and the second drive gear 32, an output torque around the X axis that is the sum of the output torques of the first drive gear 31 and the second drive gear 32, and an output torque around the Y axis that is the difference between the output torques 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. Similar to 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 and the second drive gear 32 with the higher rotational speed. As a result, the multidimensional joint 10 ultimately achieves two-dimensional motion output, that is, it drives the load to rotate around the X-axis and Y-axis, respectively. The output angle and output torque of the drive assembly 30 can also be calculated using the same formulas as described above. In other words, the output angle of the drive assembly 30 around the X axis is equal to half the difference in rotation angles between the first drive gear 31 and the second drive gear 32, the output angle around the Y axis is half the sum of the rotation angles between the first drive gear 31 and the second drive gear 32, the output torque around the X axis is the difference in output torques between the first drive gear 31 and the second drive gear 32, and the output torque around 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 processes in each mode, note that each parameter in the equation is a vector including direction. However, in the following interpretations of each mode, for the sake of clarity, note that the angles and torques mentioned refer only to 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 allows for stable support, uniform force transmission and distribution between the components of the drive assembly 30, and has excellent interference resistance.

[0028] In the configuration of the drive assembly 30 illustrated above, a pair of output gears 34 are provided, one of which outputs torque only around the X axis and works in cooperation with the driven gear 33 to achieve balance and stabilization of the configuration. In another embodiment, the output gear that does not output torque around the Y axis may be omitted, for example, the load may be directly connected to only one output gear, or for stabilization, the load may be rotatably connected to a support rod installed on the planetary carrier 35 (see Figure 7 for further explanation). Similarly, in the above embodiment, the provision of a pair of driven gears 33 provides 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] Figure 5 is a schematic cross-sectional view of a multidimensional joint 10A of another embodiment of the present application, and Figure 6 is a schematic diagram of the gear configuration in 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 mounted opposite each other in the same configuration. The pair of driven gears 43 are mounted opposite each other in the same configuration 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 gears 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] The difference between this embodiment and the previously described embodiment is that the output gear is omitted. The output terminal 46 is installed on the driven gear 43 so as to be connected to the driven gear 43, and is also connected to the load, and is configured to output torque to the load. Similar to the previously described embodiment, only one output terminal 46 may output torque around the Y axis, and the other output terminal 46 may be rotatably connected to the load by a bearing.

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

[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 load, and the pair of driven gears 43 do not rotate around the Y axis.

[0033] In the second operating mode, the first drive gear 41 and the second drive gear 42 rotate in opposite directions at the same speed around the X-axis. In this case, the pair of driven gears 43 rotate in opposite directions at the same speed around the Y-axis to drive the load, and the entire drive assembly 40 does not rotate around the X-axis.

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

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

[0036] Figure 7 is a schematic cross-sectional view of a multidimensional joint 10B of another embodiment of the present application, and Figure 8 is a local schematic diagram of the drive assembly 50 of the said embodiment. In this embodiment, the drive assembly 50 includes a first drive gear 51, a second drive gear 52, and a driven gear 53 provided with an output end 56 connected to a load. The difference between this embodiment and the embodiments shown in Figures 5 and 6 is that only one driven gear 53 is installed, but since the operating principle is the same as that of the embodiments shown in Figures 5 and 6, it will not be explained again here. To stably connect the load, support rods 54 may be installed on the planetary carrier 55, and the support rods 54 and the output end 56 may be arranged symmetrically on both sides of the planetary carrier 55. The support rods 54 and the load are rotatably connected to the load in the direction of the Y axis, so that 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 resembling a differential speed device, and the drive assembly can achieve the desired operating output corresponding to different combinations of outputs of a pair of drive gears. Furthermore, it should be understood that equations (1) to (4), which describe the input-output relationships of each angle and torque mentioned based on the configuration of the two embodiments in Figures 6 to 9, are also applicable to the multidimensional joints of the two embodiments shown in Figures 6 to 9, and details are omitted here.

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

[0039] Figure 9 is a schematic perspective view of a multidimensional joint 10C of another embodiment of the present application, and Figure 10 is a schematic cross-sectional view of the multidimensional joint 10C. The distinction between this embodiment and the embodiments shown in Figures 1 to 3 lies 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 the drive assembly 60 by being connected to a first drive gear 61 and a pair of driven gears 63. The planetary carrier 65 is also rotatably connected to the main body by gears and a transmission mechanism. In other embodiments, the planetary carrier may have other structures, such as a cubic structure, and it should be understood that it is used to configure a mechanism similar to a differential speed device by attaching drive gears and driven gears to it.

[0040] Referring again to Figure 2, force sensors and torque sensors may be added within the joint in situations where precise force control is required. For example, to detect the force and torque output by the first motor 22 and the second motor 23, a first sensor 28 and a second sensor 29 are installed at both ends of the housing 21, respectively. The first sensor 28 and the second sensor 29 may be multi-degree-of-freedom force and torque sensors for detecting multi-directional forces and torques. 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 such an 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 given timing, and furthermore, based on equations (3) and (4) described above, the torque output by the multi-dimensional joint drive assembly to the load at that timing can be directly measured. In this way, the output torque of the multidimensional joint can be accurately acquired, enabling precise force control of the robot to which the joint is attached.

[0041] Based on the arrangement of the drive assembly in each of the embodiments described above, the output terminal outputs torque around the first axis and / or around the second axis to the load, depending on the output of the first motor and the second motor. Since torque in both directions may occur only in one direction or both simultaneously, a flexible multidimensional operating output of the load is provided.

[0042] In this invention, by using motors as drive devices and a mechanism similar to a differential speed device composed of gears, the rotational speed output by two motors is converted into multidirectional force and rotation, and concentrated as output in the drive assembly, thereby enabling multi-degree-of-freedom output in a limited space. The arrangement in which multiple degrees of freedom intersect at a single point is the optimal solution on the numerical model, and in this case, for example, it becomes possible to make force control operations of joints and the entire robot extremely easy.

[0043] Another aspect of the present invention provides a robot including the multidimensional joints described in each of the above embodiments. The multidimensional joints can be applied to multiple structures of the robot; for example, if the robot is a humanoid robot, the multidimensional joints can be used as shoulder joints or hip joints. Figure 11 shows an example of the application of the multidimensional joints of the present invention, in which robot 100 includes a multidimensional joint 10C that functions as a shoulder joint for driving an arm. The multidimensional joints of the present invention can also be used for other joints in a robot where it is necessary to achieve two degrees of freedom.

[0044] It should be understood that the multidimensional joint of this invention can be applied not only to robots but also to other industrial products and can be used to provide multidimensional relative motion between two members.

[0045] The technical features of the embodiments described above can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the embodiments described above have been explained, but as long as these combinations of technical features are inconsistent, they should be considered to be within the scope of this specification.

[0046] The embodiments described above are merely specific and detailed representations of some embodiments of the present disclosure and should not be construed as limiting the scope of the present disclosure. Those skilled in the art will be able to make many modifications and improvements without departing from the spirit of the present disclosure, and these will also fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the present invention shall be subject to the appended claims.

Claims

1. It is a multidimensional joint, A main body equipped with a first motor and a second motor, The drive assembly includes a planetary carrier rotatably connected to the main body, a first drive gear kinetically connected to the first motor, a second drive gear kinetically connected to the second motor, at least one driven gear, at least one output gear, and at least one output terminal, The first drive gear and the second drive gear are mounted on the planetary carrier so as to be rotatable around a first axis, and the at least one driven gear is mounted on the planetary carrier so as to be rotatable around a second axis, and the first axis and the second axis are located in different directions. The first drive gear and the second drive gear each mesh with the at least one driven gear, the at least one output gear meshes with the at least one driven gear, the at least one driven gear is connected to the at least one output terminal by the output gear, the at least one output terminal is configured to output torque to a load, the at least one output gear is configured to rotate about a third axis, the third axis is located in a direction different from the first axis and the second axis, A multidimensional joint characterized in that the at least one driven gear includes a pair of driven gears mounted opposite each other, the at least one output gear includes a pair of output gears mounted opposite each other, 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 their teeth facing the center of the drive assembly.

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

4. The multidimensional joint according to claim 1, characterized in that the first axis, the second axis, and the third axis are mutually orthogonal and intersect at a single point.

5. The at least one output terminal comprises two output terminals, Each of the pair of output gears is provided at one of the two output terminals. The multidimensional joint according to claim 1, characterized in that one of the two output terminals is rotatably connected to a load by a bearing.

6. The multidimensional joint according to claim 1, wherein a bearing is provided between the planetary carrier and the main body for rotatably supporting the drive assembly.

7. The multidimensional joint according to claim 1, further comprising a first sensor and a second sensor configured to detect the torque output by the first motor and the second motor, respectively.

8. A robot comprising a multidimensional joint as described in any one of Claims 1 to 7.

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