CN108161980B - Joint driving structure, robot joint and robot - Google Patents

Abstract

The invention discloses a joint driving structure, a robot joint using the same and a robot using the robot joint. The rotary table comprises a driving assembly, a transmission assembly and an output assembly, wherein the output end of the driving assembly is connected with the input end of the transmission assembly, the output end of the transmission assembly is connected with the input end of the output assembly, the output assembly comprises two oppositely arranged rotary tables, the two rotary tables rotate under the driving of the transmission assembly, and the rotary tables are of eccentric structures. The technical scheme of the invention can realize the variable transmission ratio of the output of the joint driving structure so as to meet different use environments, thereby improving the self-adaptability of the joint driving structure.

Description

Joint driving structure, robot joint and robot

Technical Field

The invention relates to the technical field of robots, in particular to a joint driving structure, a robot joint applying the joint driving structure and a robot applying the robot joint.

Background

With the development of artificial intelligence technology, robotic arms, foot-type, and wearable exoskeleton robots are widely used in various fields. The output requirements of the existing mechanical arm, foot type robot or wearable exoskeleton robot on all active joints are high, namely the use effects of high rotation speed and high force are met, so that different use environments are met.

Generally, a robot is composed of an execution structure, a driving structure, a detection device, a control system, complex machinery and the like; the driving structure is a power mechanism for driving the robot to act, and is an important component of the robot joint.

Once the power source (such as a motor and a speed reducing mechanism) of the existing driving structure is determined, corresponding output change is difficult to be made according to different use environments, namely, the requirement of variable transmission ratio cannot be met to meet different use occasions, so that the self-adaptability of the driving structure is poor.

Disclosure of Invention

The invention mainly aims to provide a joint driving structure, which aims to realize variable transmission ratio of the output of the joint driving structure so as to meet different use environments and improve the adaptability of the joint driving structure.

In order to achieve the above purpose, the joint driving structure provided by the invention comprises a driving component, a transmission component and an output component, wherein the output end of the driving component is connected with the input end of the transmission component, the output end of the transmission component is connected with the input end of the output component, the output component comprises two oppositely arranged turntables, the two turntables rotate under the drive of the transmission component, and the turntables are of eccentric structures.

Optionally, the turntable has a fan-shaped structure; or the turntable is of an elliptical structure.

Optionally, the transmission assembly includes transmission pivot and two at least glass fiber lines, the one end of transmission pivot with drive assembly's output is connected, and the other end rotates and is connected in output assembly's input, every glass fiber line one end connect in the transmission pivot, the other end connect in the carousel, one glass fiber line with the opposite direction of encircleing of another glass fiber line, so that the rotation direction of carousel realizes the transformation.

Optionally, the output assembly further includes a mounting seat, the mounting seat has two mounting columns disposed opposite to each other, axes of the two mounting columns overlap and are perpendicular to an axis of the transmission rotating shaft, and one of the turntables is rotatably connected to one of the mounting columns;

The glass fiber line comprises a first fiber line and a second fiber line, one ends of the first fiber line and the second fiber line are connected to the transmission rotating shaft, the other ends of the first fiber line and the second fiber line are respectively wound on the rotating discs, the first fiber line is tensioned when the transmission rotating shaft rotates towards one direction so that the two rotating discs rotate clockwise around the mounting column, and the second fiber line is tensioned when the transmission rotating shaft rotates towards the other direction so that the two rotating discs rotate anticlockwise around the mounting column.

Optionally, the two turntables are detachably connected to the two mounting posts respectively.

Optionally, the transmission assembly further comprises an elastomer, the elastomer comprises an outer ring, an inner ring and an elastic piece, the outer ring is elastically abutted to the inner ring through the elastic piece, the outer ring is connected with the output end of the driving assembly, the outer ring rotates and deforms under the driving of the driving assembly to compress the elastic piece to drive the inner ring to rotate, and the inner ring is connected with the output assembly.

Optionally, the drive assembly includes motor, speed reducer, and first band pulley, the output shaft of motor with the input shaft of speed reducer is connected, the output shaft of speed reducer with first band pulley is connected, first band pulley with the outer lane is connected.

Optionally, the transmission assembly further includes a second pulley and a belt, the belt connects the first pulley with the second pulley, so that the first pulley drives the second pulley to rotate, and the second pulley is connected with the outer ring, so that the second pulley drives the outer ring to rotate.

The invention also provides a robot joint, which comprises a first joint part and a second joint part, wherein the first joint part comprises a joint driving structure, the joint driving structure comprises a driving assembly, a transmission assembly and an output assembly, the output end of the driving assembly is connected with the input end of the transmission assembly, the output end of the transmission assembly is connected with the input end of the output assembly, the output assembly comprises two oppositely arranged turntables, the two turntables rotate under the driving of the transmission assembly, and the turntables are of eccentric structures; and the output end of the output assembly of the joint driving structure is connected with the second joint part.

The invention also provides a robot, which comprises a robot joint, wherein the robot joint comprises a first joint part and a second joint part, the first joint part comprises a joint driving structure, the joint driving structure comprises a driving component, a transmission component and an output component, the output end of the driving component is connected with the input end of the transmission component, the output end of the transmission component is connected with the input end of the output component, the output component comprises two oppositely arranged turntables, the two turntables rotate under the drive of the transmission component, and the turntables are of eccentric structures; and the output end of the output assembly of the joint driving structure is connected with the second joint part.

According to the technical scheme, two oppositely arranged turntables are arranged in the output assembly, the turntables are of an eccentric structure, the output shaft of the driving assembly is connected with the input end of the transmission assembly, and the output end of the transmission assembly is connected with the output assembly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an embodiment of a joint driving structure according to the present invention;

FIG. 2 is a schematic view of the joint driving structure of FIG. 1 from another perspective;

FIG. 3 is a schematic view of the structure of the rotor in FIG. 2 rotated by an angle β;

FIG. 4 is a schematic view of another embodiment of a joint driving mechanism according to the present invention;

FIG. 5 is a schematic view of the joint driving structure of FIG. 4 from another perspective;

FIG. 6 is a schematic view of the structure of the rotor of FIG. 5 after being rotated by an angle θ;

FIG. 7 is an exploded view of the transmission assembly of FIG. 4;

Fig. 8 is an exploded view of the output assembly of fig. 4.

Reference numerals illustrate:

Reference numerals	Name of the name	Reference numerals	Name of the name
				100	Joint driving structure	35	Transmission rotating shaft
10	Driving assembly	37	Glass fiber yarn
				11	Motor with a motor housing	371	First fiber line
13	Speed reducer	373	Second fiber yarn
				15	Fixing seat	39	Fixing support
17	First belt pulley	391	First bearing
				30	Transmission assembly	50	Output assembly
31	Second belt wheel	51	Turntable
				311	Conveyor belt	53	Mounting base
313	Mounting groove	531	Through hole
				33	Elastic body	533	Mounting column
331	Outer ring	535	Second bearing
				3311	Mounting boss	55	Mounting flange
333	Inner ring	57	Fixing flange
				3331	Limiting groove	59	Third bearing
335	Elastic piece

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.

The invention provides a joint driving structure 100, which is applied to a robot joint and comprises a driving assembly 10, a transmission assembly 30 and an output assembly 50, wherein the output end of the driving assembly 10 is connected with the input end of the transmission assembly 30, the output end of the transmission assembly 30 is connected with the input end of the output assembly 50, the output assembly 50 comprises two oppositely arranged turntables 51, the two turntables 51 rotate under the drive of the transmission assembly 30, and the turntables 51 are of an eccentric structure.

Specifically, the driving assembly 10 includes a motor 11 and a fixing seat 15 for installing and fixing the motor 11, the fixing seat 15 is provided with a yielding hole (not shown) for installing an output shaft of the motor 11, the output shaft of the motor 11 is connected to an input end of the transmission assembly 30 to drive the transmission assembly 30 to rotate, the two turntables 51 are identical in shape and are oppositely arranged, the disc surfaces of the two turntables 51 are parallel, the two turntables 51 rotate along with the rotation of the transmission assembly 30, and as the turntables 51 are of an eccentric structure, the turntables 51 have different output transmission ratios along with the change of rotation angles. Of course, the turntable 51 may be an eccentric with a regular shape or an eccentric with an irregular shape.

Therefore, it can be understood that in the technical solution of the present invention, two oppositely disposed turntables 51 are disposed in the output assembly 50, and the turntables 51 are of an eccentric structure, and the output shaft of the driving assembly 10 is connected to the input end of the transmission assembly 30, and the output end of the transmission assembly 30 is connected to the output assembly 50, so that the driving assembly 10 drives the transmission assembly 30 to rotate, and drives the two turntables 51 to rotate simultaneously, and the output ratio of the turntables 51 is different with the change of the rotation angle due to the eccentric structure. The arrangement can meet the output requirements of different corner positions, different rotating speeds and different torques so as to meet different use environments, thereby realizing the self-adaptive driving of the variable transmission ratio.

Optionally, the turntable 51 has a fan-shaped structure; or the turntable 51 is of oval configuration.

As shown in fig. 1 to 3, in an embodiment of the joint driving structure 100 of the present invention, the transmission assembly 30 includes a transmission shaft 35 and two glass fiber wires 37, one ends of the two glass fiber wires 37 are fixed at the end of the transmission shaft 35 facing away from the turntable 51, and the other ends are respectively wound around the outer contours of the two turntable 51, so that the winding directions of the two glass fiber wires 37 are opposite, and the rotation direction of the turntable 51 can be changed. Alternatively, the rotation direction of the turntable 51 is perpendicular to the rotation direction of the transmission shaft 35; it will be appreciated that power transmission in two perpendicular directions can be achieved by transmitting power between the drive shaft 35 and the two turntables 51 via the fiberglass threads 37.

The distance from the engagement point of the two turntables 51 with the tensioning fiber line to the axis of the transmission shaft 35 in the rotation process is R, and the magnitude of the R value changes along with the change of the rotation angle of the turntables 51, so that the output transmission ratio also changes. For example, in the process of rotating the turntable 51 along the counterclockwise direction by the angle β, the R value is continuously increased, so that the transmission ratio is continuously increased, and the output requirements of different rotational speeds and different torques at different rotational angle positions can be met, thereby realizing the self-adaptive driving of the variable transmission ratio. The joint driving structure 100 of the present embodiment is applicable to the hip and ankle joints of the lower limb wearable exoskeleton.

In another embodiment of the articulation driving structure 100 of the present invention, as shown in fig. 4-6, the dial 51 is of elliptical configuration. In the process of rotating the turntable 51 along the anticlockwise rotation angle θ, the R value is continuously increased, and it can be understood that, because the distances from each point of the outer contour of the turntable 51 to the rotation axis are different, the distances from the acting point of the turntable 51 and the tight fiber line to the axis of the transmission rotating shaft 35 are continuously changed in the rotation process, that is, the transmission ratio is changed along with the change of the rotation angle, so that the output requirements of different rotation speeds and different torques in different rotation angle positions can be satisfied, and the self-adaptive driving of the transmission ratio is realized. The joint driving structure 100 of the embodiment can be used for knee joints of lower limb wearable exoskeletons, and has high requirements on rotating speed and low requirements on torque when the knee joint has a small rotating angle; at large rotation angles, the rotation speed is low, and a larger torque is required.

Referring again to fig. 4, in an embodiment of the joint driving structure 100 of the present invention, the transmission assembly 30 includes a transmission shaft 35 and at least two glass fiber wires 37, one end of the transmission shaft 35 is connected to the output end of the driving assembly 10, the other end is rotatably connected to the input end of the output assembly 50, one end of each glass fiber wire 37 is connected to the transmission shaft 35, the other end is connected to the turntable 51, and the surrounding directions of one glass fiber wire 37 and the other glass fiber wire 37 are opposite, so that the rotation direction of the turntable 51 is changed.

In particular, the fiberglass threads 37 have better toughness and resistance to breakage, which may make the transmission process more stable. By encircling the two glass fiber wires 37 around the transmission rotating shaft 35 and the rotating discs 51 in opposite directions, when the transmission rotating shaft 35 rotates in one direction, one glass fiber wire 37 is pulled to enable the two rotating discs 51 to rotate in one direction at the same time, and correspondingly, when the transmission rotating shaft 35 rotates in the opposite direction, the other glass fiber wire 37 is pulled to enable the two rotating discs 51 to rotate in the opposite direction at the same time, so that the rotation direction of the rotating discs 51 can be changed. The switching of the rotation direction is mainly achieved by controlling the driving of the motor 11. Optionally, a connection (not shown) is provided between the two turntables 51 to enable the two turntables 51 to rotate simultaneously.

As shown in fig. 4 and 8, in an embodiment of the joint driving structure 100 of the present invention, the output assembly 50 further includes a mounting seat 53, the mounting seat 53 has two mounting posts 533 disposed opposite to each other, the axes of the two mounting posts 533 are coincident and perpendicular to the axis of the transmission shaft 35, and the rotating disc 51 is rotatably connected to one mounting post 533;

The glass fiber yarn 37 includes a first fiber yarn 371 and a second fiber yarn 373, one ends of the first fiber yarn 371 and the second fiber yarn 373 are both connected to the transmission shaft 35, the other ends are respectively wound around the two turntables 51, the transmission shaft 35 tightens the first fiber yarn 371 when rotating in one direction so that the two turntables 51 are both rotated clockwise around the mounting post 533, and tightens the second fiber yarn 373 when the transmission shaft 35 rotates in the other direction so that the two turntables 51 are both rotated counterclockwise around the mounting post 533.

Specifically, the mounting seat 53 is generally in a step column shape, the cross-sectional area of the middle part is larger than that of the two ends, the two ends respectively form the mounting columns 533, the mounting columns 533 are generally cylindrical, the axis of the mounting columns 533 is overlapped with the axis of the mounting seat 53 and is perpendicular to the axis of the transmission rotating shaft 35, the middle part of the mounting seat 53 is provided with a through hole 531 towards the transmission rotating shaft 35, the end part of the transmission rotating shaft 35, which is away from the elastic body 33, forms a step column, the end part of the transmission rotating shaft 35 is inserted into the through hole 531, the step surface of the end part of the transmission rotating shaft 35 is abutted against the surface of the mounting seat 53, which faces the elastic body 33, and the transmission rotating shaft 35 rotates relative to the mounting seat 53, alternatively, the inner wall of the through hole 531 is sleeved on the outer wall surface of the second bearing 535, and the inner wall surface of the second bearing 535 is sleeved on the outer surface of the transmission rotating shaft 35, so that sliding friction between the end part of the transmission rotating shaft 35 and the inner wall of the through hole 531 is converted into rolling friction, and friction is reduced, so that the rotation of the transmission rotating shaft 35 is more labor-saving, and the transmission process is more effective and rapid.

The disc surfaces of the two turnplates 51 are provided with mounting holes (not labeled), the shape of the mounting holes is approximately the same as the cross-sectional shape of the mounting column 533, the size of the mounting holes is slightly larger than the outer contour dimension of the cross-section of the mounting column 533, and the two turnplates 51 are respectively sleeved on the outer surfaces of the two mounting columns 533 through the mounting holes and simultaneously rotate around the mounting column 533 under the transmission of the transmission rotating shaft 35 through the glass fiber line 37.

The two turntables 51 are identical in shape and are oppositely arranged, the two turntables are respectively arranged on two sides of the transmission rotating shaft 35, the first fiber wires 371 are wound on the outer contour of the turntables 51 at the position deviating from the end of the transmission rotating shaft 35, the second fiber wires 373 are wound on the outer contour of the other turntables 51 at the position deviating from the end of the transmission rotating shaft 35, and the winding directions of the two fiber wires are opposite, so that when the transmission rotating shaft 35 rotates in one direction, one of the glass fiber wires 37 is tensioned to drive the turntables 51 to rotate in the clockwise direction, at the moment, the other glass fiber wire 37 is in a loose state, and conversely, when the transmission rotating shaft 35 rotates in the other direction, the other glass fiber wire 37 is tensioned to drive the turntables 51 to rotate in the anticlockwise direction, and the rotation direction of the output assembly 50 can be changed.

Further, the two turntables 51 are detachably connected to the two mounting posts 533, respectively. Specifically, a mounting flange 55 is arranged on one side of the turntable 51, which is away from the transmission rotating shaft 35, a flange pipe of the mounting flange 55 is arranged in the mounting hole in a penetrating manner, and a flange plate of the flange pipe is fixed on the surface of the turntable 51 through screws; the end of the mounting column 533, which is away from the transmission shaft 35, is provided with a fixing flange 57, the fixing flange 57 is fixed to the end of the mounting column 533 by screws, and An Zhuaifa a 55 is abutted against the fixing flange 57 when the turntable 51 rotates, so as to prevent the turntable 51 from being separated from the mounting column 533 in the rotation process, i.e. limit and fix the turntable 51. In addition, the turntable 51 can be detached by detaching the fixing flange 57 and the mounting flange 55, and the turntable 51 is replaced under different use conditions so as to meet the requirements of different use conditions on different outputs, thereby realizing the self-adaptive output of the variable transmission ratio in a limited range.

Optionally, the mounting post 533 is further provided with a third bearing 59, the third bearing 59 is sleeved on the outer surface of the mounting post 533, the inner wall surface of the third bearing 59 is abutted on the outer surface of the mounting post 533, and the outer wall surface of the third bearing 59 is abutted on the inner wall surface of the mounting hole. This arrangement reduces friction between the turntable 51 and the mounting posts 533, thereby enabling the turntable 51 to rotate in a labor-saving and efficient manner.

Referring to fig. 4 and 7 again, the transmission assembly 30 further includes an elastic body 33, the elastic body 33 includes an outer ring 331, an inner ring 333, and an elastic member 335, the outer ring 331 is elastically abutted against the inner ring 333 by the elastic member 335, the outer ring 331 is connected to the output shaft of the driving assembly 10, and the outer ring 331 rotates and deforms under the driving of the driving assembly 10 to compress the elastic member 335 to drive the inner ring 333 to rotate, and the inner ring 333 is connected to the output assembly 50.

Specifically, the elastic body 33 is generally disc-shaped, and is generally made of high-strength spring steel material, and has a certain flexibility, the elastic member 335 is generally wavy, two ends of the elastic member are respectively elastically abutted against the inner wall surface of the outer ring 331 and the outer wall surface of the inner ring 333, the outer ring of the elastic body 33 is connected to the output shaft of the motor 11, and the structure of the elastic member is deformed due to the flexibility of the elastic member under the driving of the motor 11 so as to compress the elastic member 335 to push the inner ring 333 to rotate; the inner ring 333 is connected to an end of the transmission shaft 35 facing away from the output assembly 50, so as to drive the transmission shaft 35 to rotate and further drive the two turntables 51 to rotate. In addition, the elastic body 33 can control force or impedance so as to save the use of the original force sensor, thereby effectively reducing the structural size of the transmission assembly 30, namely reducing the overall structural size of the joint driving structure 100, and facilitating the application of the robot joint; at the same time, the provision of the elastic body 33 also reduces the rigidity of the joint driving structure 100, thereby effectively avoiding damage to the wearer or the external environment to some extent due to excessive rigidity thereof.

The surface of the inner ring 333 facing the transmission rotating shaft 35 is provided with a limiting groove 3331, the limiting groove 3331 is arranged in the middle of the inner ring 333, the end part of the transmission rotating shaft 35 facing the elastic body 33 is formed with a step post (not labeled) matched with the limiting groove 3331, the step post is inserted into the limiting groove 3331 and the step surface of the step post is abutted against the surface of the inner ring 3313, and further, the end surface of the step post facing the inner ring 333 is fixed on the bottom wall of the limiting groove 3331 through a screw, so that the inner ring 333 and the transmission rotating shaft 35 can be fixedly connected, and the power transmission process of the transmission rotating shaft 35 by the inner ring 333 is more stable and effective.

Further, one end of the elastic member 335 is fixedly connected to one of the outer ring 331 and the inner ring 333, and the other end abuts against the other end. In this embodiment, one end of the elastic member 335 is fixed to the inner wall surface of the outer ring 331, the outer wall surface of the inner ring 333 is formed with a supporting portion (not labeled), the end portion of the elastic member 335 facing away from the outer ring 331 is elastically supported against the supporting portion, and when the outer ring 331 rotates, the elastic member 335 is compressed to be pressed against the supporting portion to push the inner ring 333 to rotate, and the supporting portion is generally a protruding structure, such as a protruding rib; in this way, the power transmission process can be made efficient and rapid. The elastic member 335 may also be a spring or a compression spring, or other waved elastic material. Of course, in other embodiments, the elastic member 335 may be fixed to the outer wall surface of the inner ring 3313, and the inner wall surface of the outer ring 331 is correspondingly formed with a corresponding abutting portion.

Further, the elastic members 335 are provided in plurality, and the plurality of elastic members 335 are uniformly distributed at intervals along the circumferential direction of the elastic body 33; the supporting portion is also provided with a plurality of supporting portions, and the end portion of each elastic member 335 is elastically supported against one supporting portion, and is pressed against the supporting portion when the outer ring 331 rotates to push the inner ring 333 to rotate, so that the power transmission process is more effective and faster.

Optionally, a fixed support 39 is disposed on one side of the elastic body 33 facing the transmission shaft 35, a through hole (not labeled) is formed on the surface of the fixed support 39 facing the elastic body 33, the through hole is correspondingly disposed with a limit groove 3331 of the inner ring 333, the transmission shaft 35 passes through the through hole toward the end of the elastic body 33 and then is inserted into the limit groove 3331, further, a first bearing 391 is sleeved in the through hole, the inner wall surface of the first bearing 391 is sleeved on the outer surface of the transmission shaft 35, and friction between the transmission shaft 35 and the inner wall surface of the through hole is reduced due to such arrangement, so that the transmission process is more labor-saving and effective.

Referring again to fig. 1 and 7, in an embodiment of the present invention, the driving assembly 10 includes a motor 11, a speed reducer 13, and a first pulley 17, an output shaft of the motor 11 is connected to an input shaft of the speed reducer 13, an output shaft of the speed reducer 13 is connected to the first pulley 17, and the first pulley 17 is connected to an outer ring 331. The planetary gear reducer 13 is generally selected as the speed reducer 13, so that the output rotation speed of the motor 11 can be reduced, and meanwhile, the output torque of the motor 11 can be increased, so that the joint driving structure 100 has good application effect in the low-rotation-speed high-torque occasion; the arrangement of the first pulley 17 may further reduce the output rotational speed of the drive assembly 10. Optionally, the first pulley 17 is circumferentially connected with the outer ring of the elastic body 33, so that the stress of the elastic body 33 is more uniform, and the damage of the part caused by uneven stress is avoided.

Further, the transmission assembly 30 further includes a second pulley 31 and a belt 311, the belt 311 connects the first pulley 17 and the second pulley 31, such that the first pulley 17 drives the second pulley 31 to rotate, and the second pulley 31 is connected with the outer ring 331, such that the second pulley 31 drives the outer ring 331 to rotate.

Specifically, the speed reducer 13 drives the first pulley 17 to rotate, and transmits power through the transmission belt 311 to drive the second pulley 31 to rotate, so as to increase the transmission ratio of the transmission assembly 30. Alternatively, the second pulley 31 is disposed side by side with the first pulley 17, and the conveying direction of the conveying belt 311 is perpendicular to the axial direction of the output shaft of the speed reducer 13, so that the structure of the joint driving structure 100 can be made more compact, thereby reducing the overall size of the joint driving structure 100.

The outer lane 331 is equipped with a plurality of installation bosss 3311 towards the surface of second band pulley 31, a plurality of installation bosss 3311 are evenly distributed along the circumference interval of outer lane 331, a plurality of mounting grooves 313 have been seted up towards the surface of outer lane 3311 to second band pulley 31, each installation bosss 3311 is installed in a mounting groove 313, and the mesa of each installation bosss 3311 passes through the diapire of screw fixation in mounting groove 313, so, can strengthen the connection steadiness between second band pulley 31 and the outer lane 331, simultaneously, such fixed mode can further make the atress of outer lane 331 more even and be difficult for impaired.

The present invention also proposes a robot joint comprising a first joint part and a second joint part, the first joint part comprising a joint driving structure 100 as described above, the specific structure of the joint driving structure 100 being referred to the previous embodiments. The robot joint adopts all the technical schemes of all the embodiments, so that the robot joint has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted.

In addition, the output end of the output assembly 50 of the joint driving structure 100 is connected to the second joint part. Specifically, the first joint part includes a joint driving structure 100 and a housing coated outside the joint driving structure 100, and the joint driving structure 100 is connected with the second joint part through two turntables 51 to realize the transformation of the rotation direction of the second joint part. Because the joint driving structure 100 is compact in structure, the structural size of the first joint portion is greatly reduced, so that the connection structure of the first joint portion and the second joint portion is more stable, the transmission is effective and the error is smaller, the overall structure of the robot joint is more compact, and the transmission is reliable and effective.

The invention also proposes a robot comprising a robot joint as described above, the specific structure of which refers to the embodiments described above. The robot adopts all the technical schemes of all the embodiments, so that the robot has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (6)

1. The joint driving structure is characterized by comprising a driving assembly, a transmission assembly and an output assembly, wherein the output end of the driving assembly is connected with the input end of the transmission assembly, the output end of the transmission assembly is connected with the input end of the output assembly, the output assembly comprises two oppositely arranged turntables, the two turntables rotate under the driving of the transmission assembly, the turntables are of an eccentric structure, and the turntables are of an elliptic structure;

The transmission assembly comprises a transmission rotating shaft and at least two glass fiber wires, one end of the transmission rotating shaft is connected with the output end of the driving assembly, and the other end of the transmission rotating shaft is rotatably connected with the input end of the output assembly;

The output assembly further comprises a mounting seat, wherein the mounting seat is provided with two mounting columns which are oppositely arranged, the axes of the two mounting columns are overlapped and perpendicular to the axis of the transmission rotating shaft, and one rotary table is rotatably connected with one mounting column;

The glass fiber wires comprise first fiber wires and second fiber wires, one ends of the first fiber wires and the second fiber wires are connected to the transmission rotating shaft, the other ends of the first fiber wires and the second fiber wires are respectively wound on the rotating discs, the surrounding directions of the first fiber wires and the second fiber wires are opposite, when the transmission rotating shaft rotates in one direction, the first fiber wires are tensioned so that the two rotating discs rotate clockwise around the mounting column, and when the transmission rotating shaft rotates in the other direction, the second fiber wires are tensioned so that the two rotating discs rotate anticlockwise around the mounting column;

The transmission assembly further comprises an elastic body, the elastic body comprises an outer ring, an inner ring and an elastic piece, the outer ring is elastically abutted to the inner ring through the elastic piece, the outer ring is connected with the output end of the driving assembly, the outer ring rotates and deforms under the driving of the driving assembly to compress the elastic piece to drive the inner ring to rotate, and the inner ring is connected with the output assembly.

2. The joint driving structure as defined in claim 1, wherein two of said turntables are detachably connected to two of said mounting posts, respectively.

3. The joint driving structure according to claim 1, wherein the driving assembly includes a motor, a speed reducer, and a first pulley, an output shaft of the motor is connected to an input shaft of the speed reducer, an output shaft of the speed reducer is connected to the first pulley, and the first pulley is connected to the outer ring.

4. The joint driving structure as defined in claim 3, wherein the transmission assembly further comprises a second pulley and a belt connecting the first pulley and the second pulley such that the first pulley rotates the second pulley, and the second pulley is connected with the outer race such that the second pulley rotates the outer race.

5. A robotic joint comprising a first joint part and a second joint part, the first joint part comprising a joint driving structure, the joint driving structure being the joint driving structure of any one of claims 1 to 4; and the output end of the output assembly of the joint driving structure is connected with the second joint part.

6. A robot comprising the robot joint of claim 5.