CN213499283U - Robot and shoulder joint mechanism thereof - Google Patents

Abstract

The utility model relates to a robot and shoulder joint mechanism thereof. The shoulder joint mechanism includes: a first frame; the first driving piece is connected with the first frame; a drive shaft; the second rack is connected with the transmission shaft, and the transmission shaft penetrates through the first rack and is connected with the power output end of the first driving piece; the second driving piece is positioned in a space defined by the second rack and is connected with the second rack; the output piece is connected with the power output end of the second driving piece. The robot comprises the shoulder joint mechanism and an arm, wherein the arm is connected with an output piece of the shoulder joint mechanism. The shoulder joint mechanism can improve the space utilization rate as much as possible, so that the shoulder joint mechanism is more compact, occupies smaller space and can be used in some narrow environments.

Description

Robot and shoulder joint mechanism thereof

Technical Field

The utility model relates to the technical field of robot, especially, relate to a robot and shoulder joint mechanism thereof.

Background

With the continuous development of scientific technology, the research on the robot is deeper and deeper, and the robot starts to slowly go into our daily life, for example, some shopping malls can set a welcome robot or a security robot. These robots generally drive the shoulder joints to move by a motor, so that the arms perform the desired movements. At present, a plurality of robots pull joints to rotate through traction ropes, however, the mechanisms are usually complex, a plurality of traction ropes and pulley blocks exist, and the robots need to occupy large space in order to avoid winding caused by too close distance of the traction ropes.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model provides a robot and shoulder joint mechanism thereof need not to set up the pull wire, and its structure is compacter, can reduce occupying in space, also can use in some narrow environment.

A shoulder joint mechanism comprising:

a first frame;

the first driving piece is connected with the first frame;

a drive shaft;

the second rack is connected with the transmission shaft, and the transmission shaft penetrates through the first rack and is connected with the power output end of the first driving piece;

the second driving piece is positioned in a space defined by the second rack and is connected with the second rack;

the output piece is connected with the power output end of the second driving piece.

In one embodiment, the first drive member includes a first power take-off into which the driveshaft portion extends and is connected to the first power take-off.

In one embodiment, the circumferential surface of the transmission shaft is provided with at least one first limiting surface, the circumferential surface of the inner cavity of the first power output part at least comprises one second limiting surface, and the first limiting surface can be attached to the second limiting surface.

In one embodiment, the second frame includes a first limiting member extending toward the output member, and the first limiting member can abut against the output member moving to the predetermined position.

In one embodiment, the damping device further comprises a first one-way damping member, and the first one-way damping member is sleeved on the transmission shaft and connected with the first frame.

In one embodiment, the device further comprises a second one-way damping piece, and the output piece and the second frame are connected with the second one-way damping piece.

In one embodiment, the driving device further comprises a supporting member, the supporting member is fixedly connected with the second driving member, the output member comprises a first connecting plate and a second connecting plate, the second driving member is located between the first connecting plate and the second connecting plate, the first connecting plate is connected with the output shaft of the second driving member, and the second connecting plate is rotatably connected with the supporting member.

In one embodiment, the support is a one-way damper.

In one embodiment, one of the first frame and the second frame is provided with a second limiting member, and the other frame is provided with an arc-shaped limiting groove, the second limiting member is clamped into the limiting groove, and the second limiting member can slide along the limiting groove.

Above-mentioned shoulder joint mechanism, the transmission shaft directly passes behind second frame and the first frame to be connected with first driving piece, sets up the middleware in with conventional structure and connects in order dodging the frame and compare, can reduce part quantity, and the second driving piece is placed in the space that the second frame injectd, space in the second frame of can make full use of, and the part is arranged compactlyer. Through above-mentioned structure, can improve space utilization as far as possible, make shoulder joint mechanism compacter, need not to set up haulage rope and assembly pulley, occupation space is littleer, also can use in some narrow environment.

A robot comprises the shoulder joint mechanism and an arm, wherein the arm is connected with an output piece of the shoulder joint mechanism.

Among the above-mentioned robot's shoulder joint mechanism, the transmission shaft directly passes behind the first frame and is connected with first driving piece, sets up the middleware in with conventional structure and connects in order dodging the frame and compare, can reduce part quantity, and the second driving piece is placed in the space that the second frame injectd, space in the second frame of can make full use of, and the part is arranged compactlyer. Through above-mentioned structure, can improve space utilization as far as possible, make shoulder joint mechanism compacter with whole robot, need not to set up haulage rope and assembly pulley, occupation space is littleer, also can use in some narrow environment.

Drawings

FIG. 1 is a schematic view showing the overall structure of a shoulder joint mechanism;

FIG. 2 is a schematic view of the shoulder joint mechanism of FIG. 1 taken from another perspective;

FIG. 3 is a partially exploded schematic view of the shoulder joint mechanism of FIG. 1;

FIG. 4 is a schematic view of the output member of the shoulder joint mechanism of FIG. 1 rotated to an upper limit position;

FIG. 5 is an exploded view of the shoulder joint mechanism of FIG. 1;

fig. 6 is an exploded view of the transmission shaft and the first power output portion of the shoulder joint mechanism of fig. 1.

Reference numerals:

the first driving part 100, the first power output part 110, the accommodating cavity 111 and the second limiting surface 112;

the first frame 200, the first frame body 210, the slot 211, the limiting groove 212, the bearing hole 213, the wire passing hole 214, the protrusion 215, the partition 220, the insertion part 221, and the fitting part 222;

a transmission shaft 300, a first limit surface 310 and a third limit surface 320;

the second frame 400, the second frame body 410, the first limiting member 411, the mounting groove 412, the second frame connecting part 420, and the guide hole 421;

a second driving member 500, a second power output portion 510;

an output member 600, a first connecting plate 610, a second connecting plate 620, a baffle 630;

a first unidirectional damping member 700;

a support member 800;

a second limiting member 910 and a third limiting member 920;

a first bearing 1010, a second bearing 1020, and a third bearing 1030.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 3, an overall structural schematic diagram and a partially exploded structural schematic diagram of a shoulder joint mechanism according to an embodiment of the present invention are respectively shown. An embodiment of the present invention provides a shoulder joint mechanism of a robot, which includes a first driving member 100, a first frame 200, a transmission shaft 300, a second frame 400, a second driving member 500, an output member 600, and other components.

One end of the first driving member 100 extends into the first frame 200 and is fixedly connected to the first frame 200 by a threaded fastener. The output member 600 is connected with an output shaft of a second driving member 500, the second driving member 500 is positioned in a space defined by the second frame 400 and is fixedly connected with the second frame 400 through a threaded fastener, and the second frame 400 is fixedly connected with the end of the transmission shaft 300. The head end of the transmission shaft 300 passes through the first frame 200 and is connected to the first power output part 110 of the first driving unit 100. The output member 600 is a distal member of the shoulder joint mechanism and is connectable to an actuator member to perform a desired action. The first driving member 100 is perpendicular to the output shaft of the second driving member 500, and the output member 600 can be driven to rotate along the first direction by the first driving member 100, and the output member 600 can be driven to rotate along the second direction by the second driving member 500.

As described above, the one end of the first driving member 100 protrudes into the first frame 200, and the overall size of the shoulder joint mechanism can be reduced to be smaller in the axial direction of the output shaft of the first driving member 100. In addition, compared to a conventional method in which an intermediate member is provided to connect to avoid the frame (for example, a gear set is provided to avoid the frame), the head end of the transmission shaft 300 is connected to the first power output portion 110 after passing through the first frame 200, and the overall size of the shoulder joint mechanism can also be reduced, so that the size of the shoulder joint mechanism along the radial direction of the output shaft of the first driving member 100 is smaller. Meanwhile, the second driving member 500 is disposed in the space defined by the second frame 400, which can improve the space utilization and make the arrangement of the components more compact. In the structure, the output part 600 can move without the arrangement of components such as a traction rope, a pulley block and the like, occupies a small space and can be used in some narrow environments.

Further, the head end of the transmission shaft 300 can sequentially pass through the second frame 400 and the first frame 200, so that the structure is more compact.

In addition, the first driving member 100 and the second driving member 500 can be selected as steering gears, so that the weight of the shoulder joint structure is reduced, and the product is light.

In some embodiments, a third drive member (not shown) may be provided to connect the output member 600 to the third drive member. In this manner, the output member 600 can be rotated in three directions. The connection structure between the third driving member and the second driving member 500 can refer to the connection structure between the second driving member 500 and the first driving member 100, or other reasonable structures can be used, which are not described herein again.

Referring to fig. 4 to 5, a schematic diagram of the output member of the shoulder joint mechanism rotating to the upper limit position and an exploded structural schematic diagram of the shoulder joint mechanism are respectively shown. The first chassis 200 includes a first chassis body 210 and a partition 220, and slots 211 are formed in two opposite plates of the first chassis body 210. The partition 220 has two ends provided with insertion parts 221, and the insertion parts 221 are inserted into the insertion grooves 211 to limit positions. The attaching portion 222 is disposed below the inserting portion 221, and the attaching portion 222 is bent relative to the main body of the partition 220 to attach to the inner sidewall of the first rack body 210, and the attaching portion 222 is fixedly connected to the inner sidewall of the first rack body 210 by a threaded fastener. The strength of the first housing body 210 can be improved by the partition 220, so that it is not easily deformed or damaged when subjected to an external force.

The first housing body 210 is provided with a bearing hole 213 for installing a second bearing 1020 and allowing the transmission shaft 300 to pass therethrough, and the transmission shaft 300 is connected to the first housing body 210 through the second bearing 1020 to limit the axial displacement of the transmission shaft 300. Similarly, a similar hole is provided in the spacer 220 for the first bearing 1010 and the drive shaft 300. In addition, the first frame body 210 is further provided with a wire passing hole 214 for routing a steering engine. The wire passing hole 214 is communicated with the bearing hole 213, so that the machining process can be simplified, a machine tool only needs to perform positioning once, and the wire passing hole 214 is machined when the bearing hole 213 is machined.

Referring to fig. 2, 5 to 6, an overall structure schematic diagram, an exploded structure schematic diagram, and an exploded structure schematic diagram of the shoulder joint mechanism at the transmission shaft and the first power output portion are respectively shown. In some embodiments, the first power output portion 110 is provided with a receiving cavity 111 inside, the head end of the transmission shaft 300 extends into the receiving cavity 111, and the transmission shaft 300 is fixedly connected with the first power output portion 110 through a threaded fastener. Therefore, the overall size of the shoulder joint mechanism can be reduced, the size of the shoulder joint mechanism along the axial direction of the output shaft of the first driving piece 100 is smaller, the structural distribution is more compact, and the occupied space is smaller.

Further, in some embodiments, a first limiting surface 310 is disposed on a circumferential surface of a head end of the transmission shaft 300, a second limiting surface 112 is disposed on a circumferential surface of an inner cavity of the first power output portion 110, and shapes and sizes of the first limiting surface 310 and the second limiting surface 112 are matched with each other, when the head end of the transmission shaft 300 extends into the first power output portion 110, the first limiting surface 310 and the second limiting surface 112 are matched with each other to limit, so as to prevent the transmission shaft 300 from rotating and shifting relative to the first power output portion 110. Of course, a plurality of first stopper surfaces 310 may be provided on the propeller shaft 300, for example, three first stopper surfaces 310 may be provided so that the end surface of the head end thereof has a triangular shape, and similarly, the inner cavity of the first power output unit 110 may have a shape matching the inner cavity.

Referring to fig. 2, 3 and 5, the second frame 400 includes a second frame body 410 and a second frame connecting portion 420 fixedly connected by a threaded fastener, so as to improve the strength of the second frame body 410 and make it not easy to deform or damage. In addition, the second frame connecting part 420 protrudes toward the first frame 200 with respect to the second frame body 410 to partially enclose the transmission shaft 300 within the second frame connecting part 420, so that it is not easily damaged by the outside. The peripheral face of the tail end of the transmission shaft 300 is provided with a third limiting face 320, the second frame connecting portion 420 is provided with a guide hole 421 matched with the tail end shape of the transmission shaft 300, the transmission shaft 300 penetrates through the guide hole 421 to be guided and limited, the third limiting face 320 is attached to the inner wall of the second frame connecting portion 420, and the third limiting face and the second frame connecting portion are fixedly connected through a threaded fastener.

Referring to fig. 1 and 5, the wing plate extending downward from the second frame body 410 is folded by 180 degrees in a direction away from the first frame 200 to form a first limiting member 411 for limiting the output member 600 downward, which is the case where the output member 600 rotates to the lowest position in the second direction as shown in fig. 1. When the output member 600 rotates downward to the position, it is blocked by the first limiting member 411 and cannot rotate downward. The corresponding position on the second frame body 410 is directly folded for limiting, so that the number of parts can be reduced, a limiting part is not required to be additionally arranged, and the structure is simplified.

In addition, a third limiting member 920 is further disposed on the top of the second frame body 410, and the third limiting member 920 and the second frame body are fixedly connected through a threaded fastener, so that the third limiting member 920 can limit the output member 600. Specifically, referring to fig. 4, when the output element 600 rotates to the position, it will be blocked by the third limiting element 920 and cannot rotate upward. Of course, the third limiting member 920 may be integrally formed with the second frame body 410, or the second frame body 410 may be partially folded to form the third limiting member in a manner similar to the first limiting member 411.

Referring to fig. 1 and 5, in some embodiments, a second limiting member 910 is further provided, and the second limiting member 910 is fixedly connected to the second frame connecting portion 420 through a threaded fastener. Alternatively, the second limiting member 910 may be integrated with the second frame connecting portion 420, for example, a bump is directly disposed on the second frame connecting portion 420 to form the second limiting member 910. The first housing body 210 is further provided with a limiting groove 212, and after the assembly is completed, the second limiting member 910 is inserted into the limiting groove 212. The limiting groove 212 is arc-shaped and matches with the rotation path of the second limiting member 910. When the first driving element 100 drives the output element 600 to rotate along the first direction, the second limiting element 910 slides along the limiting groove 212 to guide, so as to improve the stability during rotation. When the second position-limiting member 910 slides to the two ends of the position-limiting groove 212, it will be blocked to realize position limitation. Of course, the second limiting member may be disposed on the first frame main body 210, and the limiting groove may be disposed on the second frame connecting portion 420.

Referring to fig. 4 to 5, the output member 600 includes a first connecting plate 610, a second connecting plate 620 and a baffle 630, wherein the first connecting plate 610 is located at an opposite side of the second connecting plate 620, and two ends of the baffle 630 are integrally connected to the first connecting plate 610 and the second connecting plate 620 respectively. The second driving member 500 is located between the first connecting plate 610 and the second connecting plate 620, and the blocking plate 630 is located outside the second driving member 500 when the output member 600 is not rotated upward in the second direction. The output member 600 can shield the second driving member 500 from being damaged. In the above up-down limiting process, when the output element 600 rotates to the lowest position along the second direction, the first connecting plate 610 is blocked by the first limiting element 411; when the output member 600 rotates to the highest position in the second direction, the blocking plate 630 is blocked by the third limiting member 920.

Referring to fig. 2 and 5, a supporting member 800 is provided at one end of the second driving member 500, and the two are coupled by a screw fastener. The second coupling plate 620 is located at an outer side of the supporter 800 and is rotatably coupled to the supporter 800. The first connecting plate 610 is fixedly connected to the second power output part 510 of the second driving member 500, and the second power output part 510 is connected to a side plate of the second frame body 410 through a third bearing 1030. The support member 800 may be provided to make the output member 600 more stable when rotated in the second direction. In addition, the side plate of the second frame body 410 is provided with a mounting groove 412, and one side of the mounting groove is provided with an opening so that the second power output part 510 and the third bearing 1030 can enter the mounting groove 412 during mounting.

Referring to fig. 3 and 5, the transmission shaft 300 is further sleeved with a first one-way damping element 700, which is located in a space defined by the first frame body 210 and the partition 220. The first housing body 210 is provided with a protrusion 215, and the first one-way damping member 700 is fixedly connected to the protrusion 215 by a screw fastener. In the direction in which the first driver 100 drives the transmission shaft 300 to rotate so as to raise the position of the output member 600, the first one-way damping member 700 is undamped, and the rotation of the transmission shaft 300 is not hindered; in the direction in which the first driver 100 drives the drive shaft 300 to rotate so as to lower the output member 600, the first one-way damping member 700 provides damping to resist the rotation of the drive shaft 300 against the action of its gravity. When a power failure occurs, the transmission shaft 300 can rotate slowly due to the obstruction of the first one-way damping member 700, and the output member 600 falls slowly, so that people or objects beside the transmission shaft can be prevented from colliding quickly, and potential safety hazards can be reduced.

Similarly, a second one-way damping member (not shown) may be provided between the output member 600 and the second frame 400, the second one-way damping member being undamped in the direction in which the second driving member 500 drives the output member 600 to rotate to the raised position, and the rotation of the output member 600 being unimpeded; in the direction in which the second driver 500 drives the output member 600 to rotate to the lowered position, the second one-way damping member is damped to resist rotation of the output member 600 against its gravitational force. When power failure occurs, the output member 600 can slowly fall down to avoid fast collision with people or objects beside, and potential safety hazards are reduced.

Alternatively, the first one-way damping member 700 and the second one-way damping member may be provided at the same time in the above-described manner to further improve safety.

In some embodiments, the support 800 may also be directly configured as a one-way damper to further reduce components and simplify the structure.

In addition, in some embodiments, a robot is further provided, and the robot comprises the shoulder joint mechanism in any one of the embodiments, and further comprises an arm. The arm is fixedly connected to the output 600 in the shoulder joint mechanism. The arm can be driven to rotate in a first direction by the first driving member 100, and can also be driven to rotate in a second direction by the second driving member 500. Since the above-described shoulder joint mechanism is simple and compact in structure and small in size, a robot including the shoulder joint mechanism also has such advantages that it can work in a narrow environment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A shoulder joint mechanism, comprising:

a first frame;

the first driving piece is connected with the first frame;

a drive shaft;

the second rack is connected with the transmission shaft, and the transmission shaft penetrates through the first rack and is connected with the power output end of the first driving piece;

the second driving piece is positioned in a space defined by the second rack and is connected with the second rack;

the output piece is connected with the power output end of the second driving piece.

2. The shoulder joint mechanism of claim 1 wherein the first drive member includes a first power output, the driveshaft section extending into and being connected to the first power output.

3. The shoulder joint mechanism according to claim 2, wherein at least one first position-limiting surface is provided on a circumferential surface of the transmission shaft, the circumferential surface of the inner cavity of the first power output portion includes at least one second position-limiting surface, and the first position-limiting surface can be attached to the second position-limiting surface.

4. The shoulder joint mechanism according to claim 1, wherein the second frame includes a first stopper that protrudes toward the output member, the first stopper being capable of abutting against the output member that moves to a predetermined position.

5. The shoulder joint mechanism of claim 1 further comprising a first one-way damping member sleeved over the drive shaft and connected to the first housing.

6. The shoulder joint mechanism of claim 1 further comprising a second one-way damping member, the output member, the second frame each being connected to the second one-way damping member.

7. The shoulder joint mechanism of claim 1, further comprising a support member fixedly coupled to the second drive member, the output member including a first coupling plate and a second coupling plate, the second drive member being positioned between the first coupling plate and the second coupling plate, the first coupling plate being coupled to the output shaft of the second drive member, the second coupling plate being rotatably coupled to the support member.

8. The shoulder joint mechanism of claim 7 wherein the support member is a one-way damper.

9. The shoulder joint mechanism according to claim 1, wherein one of the first frame and the second frame is provided with a second stopper, and the other is provided with an arc-shaped stopper groove, the second stopper is engaged in the stopper groove, and the second stopper is slidable along the stopper groove.

10. A robot, comprising:

a shoulder joint mechanism as claimed in any one of claims 1 to 9;

an arm connected with an output of the shoulder joint mechanism.

Images