CN116038752A

CN116038752A - Coupling mechanism and robot

Info

Publication number: CN116038752A
Application number: CN202310129648.8A
Authority: CN
Inventors: 何俊培; 张腾涛; 黄诗轩; 高松; 丁云鹏
Original assignee: Shenzhen Pengxing Intelligent Research Co Ltd
Current assignee: Shenzhen Pengxing Intelligent Research Co Ltd
Priority date: 2023-01-31
Filing date: 2023-01-31
Publication date: 2023-05-02

Abstract

The application provides a coupling mechanism and robot, the robot includes head mechanism and body mechanism, coupling mechanism includes: the bearing frame comprises a main frame body and an auxiliary frame body, a first gap is formed in the main frame body, the auxiliary frame body is arranged on one side of the main frame body, and the main frame body is used for connecting a body mechanism; the first movable frame is accommodated in the first gap and is rotationally connected with the main frame body, and a second gap is formed in the first movable frame; the first driving piece is arranged on the auxiliary frame body and positioned at the side part of the main frame body, the first driving piece is a rotary driving piece with a driving shaft, the driving shaft of the first driving piece is rotationally connected with the main frame body and fixedly connected with the first movable frame, and the first driving piece is used for driving the first movable frame to rotate; the second driving piece is accommodated in the second gap, the second driving piece is a rotary driving piece with a driving shaft, the driving shaft of the second driving piece is used for being connected with the head mechanism, and the second driving piece is used for driving the head mechanism to rotate.

Description

Coupling mechanism and robot

Technical Field

The application relates to the technical field of robots, in particular to a connecting mechanism and a robot.

Background

In the field of biomimetic robots, the connection mechanism may be connected to the head mechanism and the torso of the robot to enable connection of the head mechanism and the torso of the robot. The movement of the connecting mechanism drives the movement of the robot head mechanism so as to realize the relative movement of the robot head mechanism and the robot body mechanism.

Currently, in order to achieve movement of the robot head mechanism in multiple directions, the connection mechanism may include multiple movement driving means, resulting in a connection mechanism that is bulky, which increases the limitation of the space available for movement of the robot. Therefore, the reduction of the volume of the connecting mechanism is still an important issue to be solved in the field of robotics.

Disclosure of Invention

In view of the foregoing, it is necessary to provide a connection mechanism and a robot that can reduce the occupied volume of the connection mechanism by mounting a part of the driving members in the housing space in the frame body, and that can reduce the restriction of the movable space of the robot.

In a first aspect, embodiments of the present application provide a connection mechanism for use with a robot, the robot including a head mechanism and a body mechanism, the connection mechanism comprising: the bearing frame comprises a main frame body and an auxiliary frame body, a first gap is formed in the main frame body, the auxiliary frame body is arranged on one side of the main frame body, and the main frame body is used for being connected with the body mechanism; the first movable frame is accommodated in the first gap and is rotationally connected with the main frame body, and a second gap is formed in the first movable frame; the first driving piece is arranged on the auxiliary frame body and positioned at the side part of the main frame body, the first driving piece is a rotary driving piece with a driving shaft, the driving shaft of the first driving piece is rotationally connected with the main frame body and fixedly connected with the first movable frame, and the first driving piece is used for driving the first movable frame to rotate; the second driving piece is accommodated in the second gap, the second driving piece is a rotary driving piece with a driving shaft, the driving shaft of the second driving piece is used for being connected with the head mechanism, and the second driving piece is used for driving the head mechanism to rotate.

Optionally, the connection mechanism includes: the driving shaft of the first driving piece is fixedly connected with a first coupler, the first coupler penetrates through the main frame body and enters the first gap, the first coupler is rotationally connected with the main frame body, and one end of the first coupler, which enters the first gap, is fixedly connected with the first movable frame.

Optionally, the connection mechanism includes: the second movable frame comprises a first connecting part, a first base and a first protruding part, wherein the first connecting part is protruding on one side of the first base, the first protruding part is protruding on the other side of the first base, and the first connecting part is rotatably connected with the first movable frame and fixedly connected with a driving shaft of the second driving piece; a third drive member, which is a rotary drive member having a drive shaft; the third movable frame is fixedly connected with the third driving piece and can rotate relative to the second movable frame, the third movable frame is used for being connected with the head mechanism, and a driving shaft of the third driving piece penetrates through the third movable frame and is fixedly connected with the second movable frame.

Optionally, the rotation center axis of the first movable frame, the rotation center axis of the second movable frame, and the rotation center axis of the third movable frame intersect at a point.

Optionally, the second movable frame further includes a second connecting portion, the second connecting portion connect in one side of the first base deviating from the first protruding portion, the second connecting portion with the first connecting portion interval sets up, just the second connecting portion can rotate for the second driving piece.

Optionally, the third movable frame includes second base and second bulge, the second base be used for with head mechanism is fixed, the second bulge with third driving piece fixed connection, cavity setting in the second bulge, the second bulge can rotate for first bulge.

Optionally, a first opening is formed in the first base, a second opening is formed in the first protruding portion, the second opening is communicated with the first opening, and the second opening and the first opening are used for allowing a wire harness of the robot to pass through.

Optionally, the driving end of the second driving piece is connected with a second coupling, the second coupling penetrates through the first movable frame, the second coupling is rotationally connected with the first movable frame, and the second coupling is fixedly connected with the first connecting part.

Optionally, the first movable frame is provided with a positioning hole, the positioning hole is communicated with the second gap, and the second driving piece at least partially passes through the positioning hole.

In a second aspect, embodiments of the present application provide a robot, including: a body mechanism; a connection mechanism as claimed in any one of the preceding claims, the connection mechanism being mounted to the body mechanism; and the head mechanism is connected with the connecting mechanism and is used for generating relative motion with the body mechanism in response to the driving of the connecting mechanism.

Through coupling mechanism and robot that this application provided, can accept in first clearance through with first movable frame, accept second driving piece in the second clearance to reduce coupling mechanism holistic occupation space, thereby reduce coupling mechanism during operation, but robot movable space is influenced the condition because coupling mechanism occupation space is too big, reduces coupling mechanism's occupation space to robot movable space's restriction.

Drawings

Fig. 1 is a system schematic diagram of a robot in an embodiment of the present application.

Fig. 2 is a schematic structural view of a mechanical structure in an embodiment of the present application.

Fig. 3 is a schematic structural view of the connection mechanism in the embodiment of the present application.

Fig. 4 is a schematic partial structure of the connection mechanism in the embodiment of the present application.

Fig. 5 is another schematic structural view of the connection mechanism in the embodiment of the present application.

Description of the main reference signs

Robot 100

Mechanical unit 101

Driving plate 1011

Motor 1012

Mechanical structure 1013

Body mechanism 1014

Head mechanism 1015

Coupling mechanism 1016

Leg 1017

Foot 1018

Tail structure 1019

Carrying structure 1020

Saddle structure 1021

Communication unit 102

Sensing unit 103

Interface unit 104

Storage unit 105

Display unit 106

Display panel 1061

Input unit 107

Touch panel 1071

Input device 1072

Touch detection device 1073

Touch controller 1074

Control module 110

Power supply 111

Carrier 10

Main frame 11

Auxiliary frame 12

First gap 13

First movable frame 20

Second gap 21

Positioning hole 22

First driving member 30

First coupling 40

Second driving member 50

Second movable frame 60

First base 61

First connecting portion 62

First projection 63

Second connecting portion 64

First opening 65

Second opening 66

Third opening 67

Fourth opening 68

Second coupling 70

Third movable frame 80

Second base 81

Second projection 82

Third driving member 90

Detailed Description

The technical solutions in the implementation manner of the present application will be clearly and completely described below with reference to the drawings in the implementation manner of the present application, and it is obvious that the described implementation manner is only a part of the implementation manner of the present application, not all the implementation manners.

In the following description, suffixes such as "module", "component", or "unit" for representing components are used only for facilitating the description of the present application, and are not of specific significance per se. Thus, "module," "component," or "unit" may be used in combination.

Referring to fig. 1, fig. 1 is a schematic hardware configuration of a robot 100 according to one embodiment of the present application. The robot 100 may be any of a variety of robots, including, but not limited to, at least one of a wheeled robot, a foot robot, a crawler robot, a crawling robot, a peristaltic robot, a swimming robot, etc., and for example, the robot 100 may be a foot robot, or a robot combining a foot robot and a wheel robot. Wherein, the foot robot comprises a single-foot robot, a double-foot robot or a multi-foot robot. The multi-legged robot means a legged robot having three legs or more, and for example, the multi-legged robot may be a four-legged robot. The robot means a machine capable of semi-autonomously or fully autonomously performing work, and the robot is not limited to a human-shaped machine device, and may include a robot of a dog-shaped, horse-shaped, snake-shaped, fish-shaped or the like configuration, for example, the robot may be a four-legged robot horse.

In the embodiment shown in fig. 1, the robot 100 may include a mechanical unit 101, a communication unit 102, a sensing unit 103, an interface unit 104, a storage unit 105, a display unit 106, an input unit 107, a control module 110, and a power source 111. The various components of the robot 100 may be connected in any manner, including wired or wireless connections, and the like. It will be appreciated by those skilled in the art that the particular configuration of the robot 100 shown in fig. 1 does not constitute a limitation of the robot 100, and that the robot 100 may include more or less components than illustrated, that certain components do not necessarily constitute the robot 100, that certain components may be omitted entirely, or that certain components may be combined as desired within a range that does not alter the nature of the application.

Referring to fig. 2, the following details of the components of the robot 100 are described with reference to fig. 2:

the machine unit 101 is hardware of the robot 100. As shown in fig. 1, mechanical unit 101 may include a drive plate 1011, a motor 1012, and a mechanical structure 1013, as shown in fig. 2, mechanical structure 1013 may include a body mechanism 1014, a head mechanism 1015, and a connection mechanism 1016 connected between body mechanism 1014 and head mechanism 1015. In other embodiments, the mechanical structure 1013 may also include extendable legs 1017, feet 1018, extendable robotic arms (not shown), a swingable tail structure 1019, a carrying structure 1020, a saddle structure 1021, and the like. It should be noted that, the number of the component modules of the machine unit 101 may be one or plural, and may be set according to the specific situation, for example, the number of the legs 1017 may be four, each leg 1017 may be configured with three motors 1012, and the number of the corresponding motors 1012 may be twelve.

In embodiments of the present application, head mechanism 1015 may effect relative movement with body mechanism 1014 in response to actuation of coupling mechanism 1016.

The communication unit 102 may be used for receiving and transmitting signals, or may be used for communicating with a network and other devices, for example, receiving command information sent by the remote controller or other robots 100 to move in a specific direction with a specific speed value according to a specific gait, and then transmitting the command information to the control module 110 for processing. The communication unit 102 may include, for example, a WiFi module, a 4G module, a 5G module, a bluetooth module, an infrared module, etc.

The sensing unit 103 is used for acquiring information data of the surrounding environment of the robot 100 and parameter data of each component in the monitoring robot 100, and sending the information data to the control module 110. The sensing unit 103 may include various sensors, such as a sensor that acquires surrounding information: lidar (for remote object detection, distance determination and/or speed value determination), millimeter wave radar (for short range object detection, distance determination and/or speed value determination), cameras, infrared cameras, global navigation satellite systems (GNSS, global Navigation Satellite System), etc. Such as sensors that monitor various components within the robot 100: an inertial measurement unit (IMU, inertial Measurement Unit) (values for measuring velocity values, acceleration values and angular velocity values), plantar sensors (for monitoring plantar force point position, plantar posture, touchdown force magnitude and direction), temperature sensors (for detecting component temperature). As for other sensors such as a load sensor, a touch sensor, a motor angle sensor, a torque sensor, etc. that may be further configured for the robot 100, the description thereof will be omitted.

The interface unit 104 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more components within the robot 100, or may be used to output (e.g., data information, power, etc.) to an external device. The interface unit 104 may include a power port, a data port (e.g., a USB port), a memory card port, a port for connecting devices having identification modules, an audio input/output (I/O) port, a video I/O port, and the like.

The storage unit 105 is used to store a software program and various data. The storage unit 105 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system program, a motion control program, an application program (such as a text editor), and the like; the data storage area may store data generated by the robot 100 in use (such as various sensing data acquired by the sensing unit 103, log file data), and the like. In addition, the storage unit 105 may include high-speed random access memory, and may also include nonvolatile memory, such as disk memory, flash memory, or other volatile solid state memory.

The display unit 106 is used to display information input by a user or information provided to the user. The display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD), an organic light-Emitting Diode (OLED), or the like.

The input unit 107 may be used to receive input numeric or character information. In particular, the input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also referred to as a touch screen, may collect touch operations of a user (e.g., operations of the user on the touch panel 1071 or in the vicinity of the touch panel 1071 using a palm, a finger, or a suitable accessory), and drive the corresponding connection device according to a preset program. The touch panel 1071 may include a touch detection device 1073 and a touch controller 1074. The touch detection device 1073 detects the touch orientation of the user, detects a signal caused by the touch operation, and transmits the signal to the touch controller 1074; the touch controller 1074 receives touch information from the touch detecting device 1073, converts it into touch point coordinates, and sends the touch point coordinates to the control module 110, and can receive and execute commands sent from the control module 110. The input unit 107 may include other input devices 1072 in addition to the touch panel 1071. In particular, other input devices 1072 may include, but are not limited to, one or more of a remote control handle or the like, as is not limited herein.

Further, the touch panel 1071 may cover the display panel 1061, and when the touch panel 1071 detects a touch operation thereon or thereabout, the touch operation is transmitted to the control module 110 to determine the type of touch event, and then the control module 110 provides a corresponding visual output on the display panel 1061 according to the type of touch event. Although in fig. 1, the touch panel 1071 and the display panel 1061 are two independent components to implement the input and output functions, in some embodiments, the touch panel 1071 may be integrated with the display panel 1061 to implement the input and output functions, which is not limited herein.

The control module 110 is a control center of the robot 100, connects various components of the entire robot 100 using various interfaces and lines, and performs overall control of the robot 100 by running or executing a software program stored in the storage unit 105 and calling data stored in the storage unit 105.

The power supply 111 is used to supply power to the various components, and the power supply 111 may include a battery (not shown) and a power control board (not shown) for controlling functions of battery charging, discharging, and power consumption management. In the embodiment shown in fig. 1, the power source 111 is electrically connected to the control module 110, and in other embodiments, the power source 111 may be electrically connected to the sensing unit 103 (such as a camera, a radar, a speaker, etc.), and the motor 1012, respectively. It should be noted that each component may be connected to a different power source 111, or may be powered by the same power source 111.

On the basis of the above-described embodiments, specifically, in some embodiments, the communication connection with the robot 100 may be performed through a terminal device, instruction information may be transmitted to the robot 100 through the terminal device when the terminal device communicates with the robot 100, the robot 100 may receive the instruction information through the communication unit 102, and the instruction information may be transmitted to the control module 110 in case of receiving the instruction information, so that the control module 110 may process to obtain the target speed value according to the instruction information. Terminal devices include, but are not limited to: a mobile phone, a tablet personal computer, a server, a personal computer, a wearable intelligent device and other electrical equipment with an image shooting function.

The instruction information may be determined according to preset conditions. In one embodiment, the robot 100 may include a sensing unit 103, and the sensing unit 103 may generate instruction information according to the current environment in which the robot 100 is located. The control module 110 may determine whether the current speed value of the robot 100 meets the corresponding preset condition according to the instruction information. If so, maintaining the current speed value and current gait movement of the robot 100; if not, the target speed value and the corresponding target gait are determined according to the corresponding preset conditions, so that the robot 100 can be controlled to move at the target speed value and the corresponding target gait. The environmental sensor may include a temperature sensor, a barometric pressure sensor, a visual sensor, an acoustic sensor. The instruction information may include temperature information, air pressure information, image information, sound information. The communication mode between the environment sensor and the control module 110 may be wired communication or wireless communication. Means of wireless communication include, but are not limited to: wireless networks, mobile communication networks (3G, 4G, 5G, etc.), bluetooth, infrared.

Referring to fig. 3, fig. 3 illustrates a coupling mechanism 1016 provided in accordance with one embodiment of the present application. The coupling mechanism 1016 is operable to drive the head mechanism 1015 in rotation relative to the body mechanism 1014.

The coupling mechanism 1016 may include a carrier 10, a first movable frame 20, and a first driving member 30. The carrier 10 may be coupled to a body mechanism 1014. The carrier 10 may include a main frame 11 and an auxiliary frame 12. The main frame 11 is fixedly connected to the body mechanism 1014. The auxiliary frame 12 is fixedly connected to one side of the main frame 11. A first gap 13 is formed in the main frame 11, and a space exists between the auxiliary frame 12 and the first gap 13. The first movable frame 20 is located in the first gap 13 and is rotatably connected with the main frame 11. The first movable frame 20 may be connected to the head mechanism 1015. The first driving member 30 is fixedly installed on the auxiliary frame body 12. The first drive member 30 is a rotary drive member having a drive shaft. The driving shaft of the first driving member 30 is disposed toward the main frame 11, and the driving shaft of the first driving member 30 is rotatably connected with the main frame 11. The driving shaft of the first driving member 30 is fixedly connected with the first movable frame 20.

It will be appreciated that operation of the first drive member 30 may drive rotation of the first movable frame 20 to rotate the head mechanism 1015, which is directly or indirectly coupled to the first movable frame 20, relative to the body mechanism 1014.

In the embodiment of the present application, the structure of the carrier 10 is not particularly limited. For example, the main frame 11 may be composed of two opposite side plates and a bottom plate fixedly connected to the two side plates. Both side plates are perpendicular to the bottom plate. The two side plates are spaced apart and form a first gap 13. The auxiliary frame body 12 may be fixedly installed at one side of one of the two side plates away from the other side plate. The auxiliary frame 12 may be a rectangular plate, and the auxiliary frame 12 is perpendicular to the side plate connected to the auxiliary frame 12.

In the embodiments of the present application, the fixing manner of the fixing connection and the fixing installation is not particularly limited. For example, the fixing means may include, but is not limited to, screw fixing, welding fixing, integrally formed fixing, key connection fixing, and the like.

It will be appreciated that the rotational connection may be a connection of two components by means of a rotational connection. The type of rotary joint is not particularly limited in the embodiments of the present application. For example, the rotational connection may include, but is not limited to, a bearing, a shaft, a hinge, a coupler, a hinge, and the like.

In an embodiment, the driving shaft of the first driving member 30 is fixedly connected with a first coupling 40, and the first coupling 40 penetrates through the main frame 11 and is rotatably connected with the main frame 11. The first coupling 40 is fixedly connected with the second movable frame 60. In this way, the first coupling 40 can realize the rotational connection of the driving shaft of the first driving member 30 with the main frame 11, and the rotational connection of the driving shaft of the first driving member 30 with the second movable frame 60.

It will be appreciated that the arrangement of the first coupling 40 also limits the play of the drive shaft of the first drive member 30 in its axial direction, reduces the probability of damage to the first drive member 30 and increases the operational life of the first drive member 30. Wherein the axial direction of the driving shaft of the first driving member 30 is the same as the axial direction of the first coupling 40.

Referring to fig. 4, in an embodiment, a second gap 21 may be formed in the first movable frame 20. The coupling mechanism 1016 may also include a second drive member 50. The second driving member 50 is accommodated in the second gap 21 and fixedly connected to the first movable frame 20. The second drive member 50 is a rotary drive member having a drive shaft. The drive shaft of the second drive member 50 may be coupled to the head mechanism 1015 to effect coupling of the first movable frame 20 to the head mechanism 1015. The driving shaft extending direction of the second driving member 50 is perpendicular to the driving shaft extending direction of the first driving member 30.

It will be appreciated that the second drive member 50 is operable to drive the head mechanism 1015 directly or indirectly coupled to the drive shaft of the second drive member 50 such that the head mechanism 1015 directly or indirectly coupled to the first movable frame 20 rotates relative to the body mechanism 1014. The rotation center axis of the second driving member 50 when driving the head mechanism 1015 rotates intersects with the rotation center axis of the first driving member 30 when driving the first movable frame 20 to rotate, that is, the first driving member 30 and the second driving member 50 can respectively drive the head mechanism 1015 to rotate in two directions.

It will be appreciated that the second driving member 50 is received in the second gap 21, and the first movable frame 20 is received in the first gap 13, which may be intermediate the volume of the connecting mechanism 1016, thereby reducing the volume occupied by the connecting mechanism 1016 in the robot 100. The reduced volume of the coupling mechanism 1016 may reduce the restriction on the movable space of the robot 100 and improve the convenience of movement of the robot 100.

In some embodiments, the first movable frame 20 may be provided with a positioning hole 22 that communicates with the second gap 21. The second driver 50 is at least partially positioned within the positioning hole 22. The positioning hole 22 can facilitate positioning and mounting of the second driving member 50 on the first movable frame 20, and simultaneously reduce the material consumption of the first movable frame 20, so that the first movable frame 20 can be light-weighted.

In the embodiment of the present application, the shape of the first movable frame 20 is not particularly limited. For example, the first movable frame 20 may include a rectangular frame and three side plates. The positioning hole 22 is formed on the rectangular frame. The three side plates are respectively positioned on three sides of the rectangular frame body and are perpendicular to the rectangular frame body. Wherein, a second gap 21 is formed between two oppositely arranged side plates, and the two oppositely arranged side plates are rotationally connected with the main frame 11. The other side plate is provided on the side of the first driving member 30 on which the driving shaft is provided. The drive shaft of the first drive member 30 may be rotatably coupled to the side plate.

Referring to fig. 5, in some embodiments, the connecting mechanism 1016 may further include a second movable frame 60. The second movable frame 60 may include a first connection portion 62, a first base 61, and a first protrusion portion 63. The first base 61 may be spaced apart from the first movable frame 20 and the carrier 10. The first connecting portion 62 is protruding on a side of the first base 61 facing the first movable frame 20, and is fixedly connected to the first base 61. The first protruding portion 63 is protruding on a side of the first base 61 facing away from the first movable frame 20, and is fixedly connected with the first base 61. The first connecting portion 62 may be rotatably connected to the first movable frame 20 and fixedly connected to the driving shaft of the second driving member 50. The first protrusion 63 may be connected with the head mechanism 1015 to enable connection of the driving shaft of the second driving member 50 with the head mechanism 1015.

The first connection 62 can be connected in a rotationally fixed manner to the first movable frame 20 and to the drive shaft of the second drive element 50 via the second coupling 70. The second coupling 70 may be fixedly connected with the driving shaft of the second driving member 50. The second coupling 70 may be inserted through a side of the second movable frame 60 adjacent to the first connection portion 62 and rotatably connected to the second movable frame 60. One end of the second coupling 70 penetrating the second movable frame 60 may be fixedly connected to the first connecting portion 62.

It will be appreciated that the provision of the second coupling 70 also limits play of the drive shaft of the second drive member 50 in its axial direction, reduces the probability of damage to the second drive member 50, and increases the operational life of the second drive member 50. Wherein the axial direction of the drive shaft of the second drive member 50 is the same as the axial direction of the second coupling 70.

It is understood that the second movable frame 60 may be directly or indirectly connected to the head mechanism 1015. In this way, the second movable frame 60 can provide more space for the connection and movement of the head mechanism 1015, and flexibility of the movement of the robot 100 is improved.

In some embodiments, the second movable frame 60 may further include a second connection portion 64. The second connecting portion 64 is disposed with the first connecting portion 62, and a direction in which the first connecting portion 62 and the second connecting portion 64 are disposed opposite to each other is the same as an axial direction of the driving shaft of the second driving member 50. The second connecting portion 64 may be connected to the second driving member 50, and the second connecting portion 64 may rotate relative to the second driving member 50.

In the embodiment of the present application, the connection relationship of the second connection portion 64 and the second driving member 50 is not particularly limited. For example, the second connection 64 may be rotatably connected to the side of the second drive member 50 facing away from its drive shaft by a rotary connection. For another example, the driving shaft of the second driving member 50 may extend out of the second driving member 50 from two ends of the second driving member 50, and one end of the driving shaft is rotatably connected to the first movable frame 20 and fixedly connected to the first connection portion 62; the other end of the drive shaft is fixedly connected to the second connecting portion 64.

It will be appreciated that the provision of the second connecting portion 64 can reduce the load when the first connecting portion 62 supports the first base 61, and improve the balance of the stress of the second movable frame 60 and the structural stability.

In some embodiments, the first base 61 may be provided with a first opening 65, and the middle of the first protruding portion 63 is provided with a second opening 66. The first opening 65 communicates with the second opening 66. The first opening 65 and the second opening 66 may be used for routing of the robot 100 wire harness. In this manner, at least a portion of the wiring harness of the robot 100 may be routed through the first opening 65 and the second opening 66, reducing the number of wiring harnesses located outside of the connection mechanism 1016. When the link mechanism 1016 operates to drive the head mechanism 1015 to rotate, it is possible to reduce the situation where the wire harness disposed outside the link mechanism 1016 is pulled due to the movement of the link mechanism 1016, and to improve the service life of the wire harness of the robot 100.

In the embodiment of the present application, the structure of the first protruding portion 63 is not specifically limited, for example, the first protruding portion 63 may be cylindrical, the first protruding portion 63 is disposed in a hollow manner, and the second opening 66 is opened at one side of the first protruding portion 63. The diameter of the end of the first protrusion 63 remote from the first base 61 may be smaller than the diameter of the end of the first protrusion 63 connected to the first base 61.

It is understood that the diameter of the first protruding portion 63 may gradually decrease in a direction in which the end of the first protruding portion 63 near the first base 61 faces the end of the first protruding portion 63 far from the first base 61. In this way, the cross section of the first protruding portion 63 can be tapered, the structural strength of the first protruding portion 63 can be improved, and the stability of the first protruding portion 63 when the head mechanism 1015 is loaded can be improved.

In some embodiments, the first connecting portion 62 may have a third opening 67 formed therein, and the second connecting portion 64 may have a fourth opening formed therein. The third opening 67 and the fourth opening 68 may be used for routing of the wire harness of the robot 100. Thus, the convenience of the worker in arranging the wire harness can be improved, and the weight of the first connecting portion 62 and the second connecting plate can be reduced, thereby improving the weight reduction degree of the second movable frame 60.

In some embodiments, the coupling mechanism 1016 may further include a third movable frame 80 and a third drive member 90. The third movable frame 80 is fixedly connected to the head mechanism 1015 to connect the second movable frame 60 to the head mechanism 1015. The third movable frame 80 can rotate relative to the second movable frame 60. The third driving member 90 is fixedly installed at a side of the third movable frame 80 remote from the second movable frame 60. The third drive member 90 is a rotary drive member having a drive shaft. The driving shaft of the third driving member 90 penetrates the third movable frame 80. One end of the driving shaft of the third driving member 90 penetrating through the third movable frame 80 is fixedly connected with the first protruding portion 63.

It can be understood that when the third driving member 90 works, the driving shaft of the third driving member 90 rotates, and the driving shaft of the third driving member 90 is fixedly connected with the first protruding portion 63, so that the body of the third driving member 90 rotates and drives the third movable frame 80 fixedly connected with the third driving member 90 to synchronously rotate, i.e. the third driving member 90 works to drive the third movable frame 80 to rotate relative to the first protruding portion 63. Meanwhile, the second driving member 50 can drive the second movable frame 60 to rotate relative to the first movable frame 20, and the first driving member 30 can drive the first movable frame 20 to rotate relative to the carrier 10. In this manner, the coupling mechanism 1016 may enable the head mechanism 1015 to be rotationally driven in three directions, increasing the flexibility of movement of the robot 100.

In the present embodiment, the extension of the drive shaft of the third drive member 90, the extension of the drive shaft of the second drive member 50, and the extension of the drive shaft of the first drive member 30 are compared at one point. Namely, the rotation center axes of the third movable frame 80 and the second movable frame 60 intersect with the rotation center axis of the first movable frame 20 at a point. In this manner, the stability of the coupling mechanism 1016 may be increased, improving the smoothness with which the coupling mechanism 1016 operates to drive the head mechanism 1015 in multiple directions.

In the embodiment of the present application, the connection relationship of the driving shaft of the third driving member 90 and the third movable frame 80 is not particularly limited. For example, the third movable frame 80 is provided with a through hole (not shown), the diameter of which is larger than that of the driving shaft of the third driving member 90, and the driving shaft of the third driving member 90 passes through the through hole and is spaced from the inner wall of the through hole. For another example, the driving shaft of the third driving member 90 penetrates the third movable frame 80 and is rotatably connected to the third movable frame 80.

In the embodiment of the present application, the connection manner of the third movable frame 80 and the second movable frame 60 is not particularly limited. For example, the third movable frame 80 may be rotatably coupled with the first protrusion 63. For another example, the third movable frame 80 is disposed at a distance from the first protruding portion 63, and the driving shaft of the third driving member 90 is fixedly connected to the first protruding portion 63, while the third movable frame 80 fixedly connected to the third driving member 90 is supported, so that the third movable frame 80 is kept at a distance from the first protruding portion 63.

In some embodiments, the third movable frame 80 may include a second base 81 and a second protrusion 82. The second base 81 is fixedly connected to the head mechanism 1015. The second base 81 is spaced apart from the first base 61, and the second base 81 is located at a side of the first base 61 away from the second driving member 50. The second protruding portion 82 is protruding from a side of the second base 81 away from the first base 61. The end of the second protrusion 82 away from the first base 61 may rotate relative to the first protrusion 63, so that the third movable frame 80 rotates relative to the second movable frame 60. The third driving member 90 is fixedly installed at an end of the second protruding portion 82 away from the first base 61, and a driving shaft of the third driving member 90 penetrates through an end of the second protruding portion 82 away from the first base 61.

It will be appreciated that the second base 81 provides sufficient space for attachment of the head mechanism 1015 and the second projection 82 provides space for installation of the third drive member 90, thus improving ease of assembly of the attachment mechanism 1016 and the head mechanism 1015 between workers.

It is understood that the second protrusion 82 may be spaced from the first protrusion 63, or may be rotatably connected to the first protrusion 63, which is not limited in the embodiment of the present application.

In the embodiment of the present application, the structure of the second protruding portion 82 is not particularly limited, for example, the second protruding portion 82 may be cylindrical, and the second protruding portion 82 may be hollow. The diameter of the end of the first protrusion 63 remote from the first base 61 may be smaller than the diameter of the end of the first protrusion 63 connected to the first base 61.

It is understood that the diameter of the first protrusion may gradually decrease in a direction in which the end of the second protrusion 82 near the first base 61 faces the end of the second protrusion 82 away from the first base 61. In this way, the cross section of the second protruding portion 82 may be tapered, improving the structural strength of the first protruding portion, and improving the stability of the second protruding portion 82 when the third driving member 90 is loaded.

For example, when the second protruding portion 82 has a cylindrical shape, the second protruding portion 82 may be provided corresponding to the first protruding portion 63 having a cylindrical shape. An end of the first protrusion 63 remote from the first base 61 may be located in the second protrusion 82. When the second protruding portion 82 is rotatably connected to the first protruding portion 63, an end of the first protruding portion 63 remote from the first base 61 is rotatably connected to an end of the second protruding portion 82 remote from the first base 61.

In the robot 100 provided by the embodiment of the application, the connecting mechanism 1016 can reduce the overall occupied space of the connecting mechanism 1016 by accommodating the first movable frame 20 in the first gap 13, accommodating the second driving piece 50 in the second gap 21 and accommodating the first protruding part 63 at least partially in the second protruding part 82, thereby reducing the situation that the movable space of the robot 100 is affected due to overlarge occupied space of the connecting mechanism 1016 when the connecting mechanism 1016 works, and reducing the limitation of the occupied space of the connecting mechanism 1016 on the movable space of the robot 100.

When the first driving member 30 in the connection mechanism 1016 is operated, the first movable frame 20 can be driven to rotate, so that the head mechanism 1015 can rotate in the first direction; when the second driving member 50 of the connecting mechanism 1016 is operated, the second movable frame 60 can be driven to rotate, so that the head mechanism 1015 can rotate in the second direction; when the third driving member 90 of the coupling mechanism 1016 is operated, the third movable frame 80 is driven to rotate, so that the head mechanism 1015 is rotated in the third direction. The coupling mechanism 1016 may allow the head mechanism 1015 to move in multiple directions, which may increase the flexibility of the robot 100.

The first opening 65, the second opening 66, the third opening 67 and the fourth opening 68 in the connecting mechanism 1016 can facilitate wiring of the wire harness of the robot 100, provide convenience for wiring operation of workers, reduce the wire harness arranged on the outer side of the connecting mechanism 1016, reduce the situation that the wire harness on the outer side of the connecting mechanism 1016 is pulled along with movement of the connecting mechanism 1016 when the connecting mechanism 1016 works, prolong the service life of the wire harness and prolong the service life of the robot 100.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A connection mechanism for use with a robot, the robot comprising a head mechanism and a body mechanism, the connection mechanism comprising:

the bearing frame comprises a main frame body and an auxiliary frame body, a first gap is formed in the main frame body, the auxiliary frame body is arranged on one side of the main frame body, and the main frame body is used for being connected with the body mechanism;

the first movable frame is accommodated in the first gap and is rotationally connected with the main frame body, and a second gap is formed in the first movable frame;

the first driving piece is arranged on the auxiliary frame body and positioned at the side part of the main frame body, the first driving piece is a rotary driving piece with a driving shaft, the driving shaft of the first driving piece is rotationally connected with the main frame body and fixedly connected with the first movable frame, and the first driving piece is used for driving the first movable frame to rotate;

the second driving piece is accommodated in the second gap, the second driving piece is a rotary driving piece with a driving shaft, the driving shaft of the second driving piece is used for being connected with the head mechanism, and the second driving piece is used for driving the head mechanism to rotate.

2. The connection mechanism of claim 1, wherein the connection mechanism comprises: the driving shaft of the first driving piece is fixedly connected with a first coupler, the first coupler penetrates through the main frame body and enters the first gap, the first coupler is rotationally connected with the main frame body, and one end of the first coupler, which enters the first gap, is fixedly connected with the first movable frame.

3. The connection mechanism of claim 1, wherein the connection mechanism comprises:

the second movable frame comprises a first connecting part, a first base and a first protruding part, wherein the first connecting part is protruding on one side of the first base, the first protruding part is protruding on the other side of the first base, and the first connecting part is rotatably connected with the first movable frame and fixedly connected with a driving shaft of the second driving piece;

a third drive member, which is a rotary drive member having a drive shaft;

the third movable frame is fixedly connected with the third driving piece and can rotate relative to the second movable frame, the third movable frame is used for being connected with the head mechanism, and a driving shaft of the third driving piece penetrates through the third movable frame and is fixedly connected with the second movable frame.

4. A connection mechanism according to claim 3, wherein the rotation center axis of the first movable frame, the rotation center axis of the second movable frame, and the rotation center axis of the third movable frame intersect at a point.

5. The connection mechanism of claim 3, wherein the second movable frame further comprises a second connection portion, the second connection portion is connected to a side of the first base facing away from the first protruding portion, the second connection portion is spaced from the first connection portion, and the second connection portion is rotatable relative to the second driving member.

6. A connection mechanism according to claim 3, wherein the third movable frame comprises a second base and a second protruding portion, the second base is fixedly connected with the head mechanism, the second protruding portion is fixedly connected with the third driving member, the second protruding portion is hollow and arranged in the second protruding portion, and the second protruding portion can rotate relative to the first protruding portion.

7. The connection mechanism of claim 3, wherein the first base has a first opening, the first protrusion has a second opening, the second opening is in communication with the first opening, and the second opening and the first opening are configured to allow a wire harness of the robot to pass through.

8. A connection mechanism according to claim 3, wherein the driving end of the second driving member is connected with a second coupling, the second coupling penetrates through the first movable frame, the second coupling is rotatably connected with the first movable frame, and the second coupling is fixedly connected with the first connection portion.

9. The connection mechanism of claim 1, wherein the first movable frame is provided with a positioning hole, the positioning hole is communicated with the second gap, and the second driving member at least partially passes through the positioning hole.

10. A robot, comprising:

a body mechanism;

the connection mechanism of any one of claims 1 to 9, mounted to the body mechanism;

and the head mechanism is connected with the connecting mechanism and is used for generating relative motion with the body mechanism in response to the driving of the connecting mechanism.