CN214055347U

CN214055347U - Joint energy storage power assisting mechanism, robot joint structure and robot

Info

Publication number: CN214055347U
Application number: CN202022485506.XU
Authority: CN
Inventors: 黄忠葵; 谢铮; 丁宏钰; 罗琪翔
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-08-27
Anticipated expiration: 2030-10-30

Abstract

The application belongs to the technical field of robot accessories and relates to a joint energy storage power-assisted mechanism, a robot joint structure and a robot. In the joint energy storage assisting mechanism, one end of the sleeve is used as a first pivot joint end, the one-way clutch rack can axially slide relative to the sliding rod, one end of the one-way clutch rack is used as a second pivot joint end, and the elastic structure is abutted between the sliding rod and the sleeve. When the joint needs energy storage, the one-way clutch rack is switched to a fixed state, the sliding rod moves along with the one-way clutch rack, and kinetic energy of the sliding rod is converted into potential energy of an elastic structure to realize energy storage. When the one-way clutch rack and the slide bar return stroke, the elastic structure releases energy to drive the one-way clutch rack and the slide bar to move reversely, and the auxiliary pushing effect is achieved on the movable arm. When the one-way clutch rack is switched to a free state, the one-way clutch rack can slide relative to the sliding rod, and the elastic structure can not store energy. The joint energy storage assisting mechanism, the robot joint structure and the robot can realize energy storage and energy release by timely escapement of the one-way clutch rack.

Description

Joint energy storage power assisting mechanism, robot joint structure and robot

Technical Field

The application belongs to the technical field of robot accessories, and particularly relates to a joint energy storage power-assisted mechanism, a robot joint structure and a robot.

Background

At present, the robot joint structure has two problems in the motion process: 1. in certain specific movements, larger speed and acceleration are required, and the required output power of the rotating power part is increased correspondingly, so that the overall mass and volume of the joint are increased, and the production cost is increased; 2. at a specific position, the gravitational potential energy of the robot joint structure cannot be stored, and a power part needs to be rotated to overcome the gravity to do work, so that energy loss is caused.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a joint energy storage assist drive device, robot joint structure and robot to solve the technical problems that the quality and the volume of a rotating power part of the existing robot joint are large, and the gravitational potential energy of the robot joint structure cannot be stored.

The embodiment of the application provides a joint energy storage assist drive device, includes:

the first end of the sleeve is used as a first pivoting end, and the second end of the sleeve is an opening end;

the first end of the sliding rod penetrates through the opening end and can slide relative to the sleeve along the axial direction of the sleeve;

the two ends of the elastic structure are respectively abutted against the end face of the first end of the sliding rod and the inner wall of the first end of the sleeve;

the one-way clutch rack is in a fixed state of being static relative to the sliding rod and in a free state of sliding relative to the sliding rod along the axial direction of the sliding rod; one end of the one-way clutch rack, which is far away from the sleeve, is used as a second pivoting end; and

the switching device comprises one-way clutch gear shaping and a driving assembly, the one-way clutch gear shaping is arranged at the second end of the sliding rod, and the driving assembly is used for driving the one-way clutch gear shaping to move so that the one-way clutch gear shaping is meshed with the one-way clutch rack to switch the one-way clutch rack to the fixed state, or the one-way clutch gear shaping is separated from the one-way clutch rack to switch the one-way clutch rack to the free state;

when external force enables the one-way clutch rack to move from the first pivot end to the second pivot end, the one-way clutch gear shaping and the one-way clutch rack can be converted from meshing to separation.

Optionally, the one-way clutch rack has a plurality of first wedge-shaped teeth, each of the first wedge-shaped teeth has a first inclined surface and a first vertical surface which are opposite to each other, the first vertical surface is disposed facing the first pivot end, and the first inclined surface is disposed facing the second pivot end;

the one-way clutch gear shaping is provided with a plurality of second wedge-shaped teeth, each second wedge-shaped tooth is provided with a second inclined surface and a second vertical surface which are opposite, the second inclined surface faces the first pivoting end, and the second vertical surface faces the second pivoting end;

when the one-way clutch rack is meshed with the one-way clutch gear shaping, the first inclined plane is abutted with the second inclined plane in the meshed first wedge-shaped tooth and the second wedge-shaped tooth, and the first vertical plane is abutted with the second vertical plane.

Optionally, the elastic structure is a magnetic spring, the magnetic spring includes at least two magnets slidably fitted in the sleeve in an axial direction of the sleeve, and the magnetic properties of facing sides of two adjacent magnets are opposite; when the one-way clutch rack is in the free state, two adjacent magnets are arranged at intervals;

or, the elastic structure is a compression spring, and the compression spring is accommodated in the sleeve.

Optionally, the first end of the sliding rod is provided with a limiting flange, and the limiting flange can abut against the inner wall of the second end of the sleeve to limit the axial movement range of the sliding rod.

Optionally, the second end of the sleeve is provided with a linear bearing for supporting the slide bar.

Optionally, the switching device comprises a support mounted on the sliding rod, and the one-way clutch gear shaping is slidably assembled on the support.

Optionally, the support has a limiting plate; the driving assembly comprises a rotary driving piece, a cam driven by the rotary driving piece to rotate, a driven plate fixed with the one-way clutch gear shaping and in abutting fit with the cam, and an elastic piece arranged between the limiting plate and the driven plate in a compression mode;

when the protruding part of the cam abuts against the driven plate, the one-way clutch gear shaping is separated from the one-way clutch rack; when the base circle part of the cam is abutted to the driven plate, the one-way clutch gear shaping is meshed with the one-way clutch rack.

Optionally, the driving assembly includes a linear driving element and an elastic element, and two ends of the elastic element are respectively connected to the output end of the linear driving element and the one-way clutch gear shaping.

Optionally, the support has a slide limiting part; the one-way clutch gear shaping is provided with a sliding limiting groove, and the sliding limiting part is assembled in the sliding limiting groove in a sliding mode so as to limit the position of the one-way clutch gear shaping relative to the support.

Optionally, the sliding rod is provided with an axial hole, and the one-way clutch rack is slidably assembled in the axial hole.

Optionally, the outer peripheral surface of the sliding rod is provided with a guide hole, the guide hole is communicated with the axial hole, and the one-way clutch gear shaping can be inserted in the guide hole.

Optionally, the joint energy storage assisting mechanism further comprises a first connecting seat and a second connecting seat, and the first connecting seat and the second connecting seat are arranged at intervals; the first end of the sleeve is pivoted to the first connecting seat, and one end, far away from the sleeve, of the one-way clutch rack is pivoted to the second connecting seat.

Optionally, the first connecting seat is connected with the first end of the sleeve through a first bearing;

the second connecting seat is connected with the one-way clutch rack through a second bearing.

The embodiment of the application provides a robot joint structure, which comprises the joint energy storage power-assisted mechanism, a fixed arm, a movable arm rotationally mounted on the fixed arm, and a rotary power part for driving the movable arm to rotate, wherein the rotary power part is mounted on the fixed arm; the first pivoting end is connected to the fixed arm, and the second pivoting end is connected to the movable arm.

The embodiment of the application provides a robot, including above-mentioned joint energy storage assist drive device.

One or more technical solutions provided in the embodiments of the present application have at least one of the following technical effects: in the joint energy storage assisting mechanism, one end of a sleeve is used as a first pivot joint end, a one-way clutch rack can axially slide relative to a sliding rod, one end of the one-way clutch rack is used as a second pivot joint end, an elastic structure is arranged between the sliding rod and the sleeve in an abutting mode, and a driving assembly drives the one-way clutch gear shaping to move to achieve meshing or separating with the one-way clutch rack so that the one-way clutch rack can be switched between a fixed state and a free state. When the joint needs energy storage, the one-way clutch rack is switched to a fixed state, the one-way clutch rack receives the power of the rotating power piece or the gravitational potential energy of a movable arm connected to the one-way clutch rack and converts the gravitational potential energy into kinetic energy, and the sliding rod moves along with the one-way clutch rack and converts the kinetic energy of the sliding rod into the potential energy of an elastic structure so as to realize energy storage. When the one-way clutch rack and the slide bar return stroke, the elastic structure releases energy to drive the one-way clutch rack and the slide bar to move reversely, and the auxiliary pushing effect is achieved on the movable arm. After the elastic structure releases energy, the elastic structure completely resets, and the one-way clutch gear shaping and the one-way clutch rack can be separated from each other by being meshed, so that the protection effect is achieved. When the one-way clutch rack is switched to a free state, the one-way clutch rack can slide relative to the sliding rod, and the elastic structure can not store energy.

The joint energy storage assisting mechanism, the robot joint structure and the robot can realize energy storage and energy release by timely escapement of the one-way clutch rack, actively store energy on the elastic structure when energy storage is needed, and release the energy when the energy is needed, thereby achieving the purposes of saving energy and increasing explosive force. The joint energy storage boosting mechanism has a compact structure and a small volume, can store larger energy in a limited space and achieves larger torque force in a limited angle.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a perspective assembly view of a joint energy storage assisting mechanism provided in the embodiment of the present application;

FIG. 2 is an exploded perspective view of the joint energy storage assisting mechanism of FIG. 1;

FIG. 3 is a sectional view taken along line A-A of FIG. 1;

FIG. 4 is an enlarged view at B in FIG. 3;

FIG. 5 is an exploded perspective view of a switching device used in the joint energy storage assisting mechanism of FIG. 1;

FIG. 6 is a schematic structural view of the joint energy storage assisting mechanism in FIG. 1, wherein the one-way clutch rack is in a free state;

FIG. 7 is a schematic structural view of the joint energy storage assisting mechanism in FIG. 1, wherein the one-way clutch rack is in a fixed state;

fig. 8 is a schematic structural diagram of a robot joint structure according to an embodiment of the present application.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the description of the embodiments of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the embodiments of the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the embodiments of the present application.

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 one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

Referring to fig. 1 and 2, an embodiment of the present disclosure provides a joint energy storage assisting mechanism 100, which is applied to different joint structures of a robot, such as a knee joint and an elbow joint of the robot, and is connected in parallel at two ends of each hinge joint to provide energy storage and release for the corresponding joint. The joint energy storage assisting mechanism 100 comprises a sleeve 10, a sliding rod 20, an elastic structure 30, a one-way clutch rack 40 and a switching device 50. The first end 10a of the sleeve 10 serves as a first pivot end 100a, and the second end 10b of the sleeve 10 serves as an open end. Referring to fig. 3, the first end 20a of the slide bar 20 passes through the open end and is capable of sliding relative to the sleeve 10 in the axial direction of the sleeve 10. Two ends of the elastic structure 30 are respectively abutted against the end surface of the first end 20a of the sliding rod 20 and the inner wall of the first end 10a of the sleeve 10. The one-way clutch rack 40 has a fixed state of being stationary with respect to the slide bar 20 and a free state of sliding with respect to the slide bar 20 in the axial direction of the slide bar 20; the end of the one-way clutch rack 40 away from the sleeve 10 serves as a second pivot end 100 b. The switching device 50 includes a one-way clutch gear shaping 52 and a driving component 53, the one-way clutch gear shaping 52 is disposed at the second end 20b of the sliding rod 20, the driving component 53 is configured to drive the one-way clutch gear shaping 52 to move, so that the one-way clutch gear shaping 52 is engaged with the one-way clutch rack 40 to switch the one-way clutch rack 40 to a fixed state (shown in fig. 7), or the one-way clutch gear shaping 52 is separated from the one-way clutch rack 40 to switch the one-way clutch rack 40 to a free state (shown in fig. 6). When the one-way clutch rack 40 moves from the first pivot end 100a to the second pivot end 100b by an external force, the one-way clutch gear 52 and the one-way clutch rack 40 can be separated from each other by the engagement.

The first pivot end 100a and the second pivot end 100b are respectively connected to two ends of the hinge joint. Referring to fig. 8, the robot joint structure generally includes a stationary arm 200, a movable arm 300 rotatably mounted on the stationary arm 200, and a rotary power member 400 for driving the movable arm 300 to rotate. When the joint energy storage assisting mechanism 100 is connected in parallel to two ends of the hinge joint, the first pivoting end 100a is connected to the fixed arm 200, and the second pivoting end 100b is connected to the movable arm 300. When the position of the center of gravity of the movable arm 300 is higher than the position of the center of gravity of the fixed arm 200, the movable arm 300 has a certain gravitational potential energy. Therefore, the one-way clutch rack 40 can receive power for rotating the power member 400 or gravitational potential energy of the movable arm 300 connected to the one-way clutch rack 40 and convert into kinetic energy.

In the joint energy storage assisting mechanism 100 provided by the present application, one end of the sleeve 10 is used as a first pivot end 100a, the one-way clutch rack 40 can axially slide relative to the sliding rod 20, one end of the one-way clutch rack 40 is used as a second pivot end 100b, the elastic structure 30 is abutted between the sliding rod 20 and the sleeve 10, and the driving component 53 drives the one-way clutch gear 52 to move to realize engagement or separation with the one-way clutch rack 40, so that the one-way clutch rack 40 is switched between a fixed state and a free state. Referring to fig. 8, when the joint needs to store energy, the one-way clutch rack 40 is switched to a fixed state, the one-way clutch rack 40 receives the power of the rotating power member 400 or the gravitational potential energy of the movable arm 300 connected to the one-way clutch rack 40 and converts the gravitational potential energy into kinetic energy, and the sliding rod 20 moves (moves downward in fig. 3 and 8) along with the one-way clutch rack 40 to convert the kinetic energy of the sliding rod 20 into the potential energy of the elastic structure 30 to store energy. When the one-way clutch rack 40 and the sliding rod 20 return (move upwards in fig. 3 and 8), the elastic structure 30 releases energy to drive the one-way clutch rack 40 and the sliding rod 20 to move reversely, so as to assist the moving arm 300 to push. After the elastic structure 30 releases energy, the elastic structure 30 is completely reset, and the one-way clutch gear shaping 52 and the one-way clutch rack 40 can be separated from each other from meshing to playing a role in protection. When the one-way clutch rack 40 is switched to the free state, the one-way clutch rack 40 can slide relative to the sliding rod 20, and the elastic structure 30 can not store energy. The joint energy storage assisting mechanism 100 can realize energy storage and energy release by timely escapement of the one-way clutch rack 40, actively store energy on the elastic structure 30 when energy storage is needed, and release energy when energy is needed, thereby achieving the purposes of saving energy and increasing explosive force. The joint energy storage assisting mechanism 100 is compact in structure and small in size, can store large energy in a limited space, and achieves large torsion in a limited angle.

Referring to fig. 8, the axis a1 of the first pivot end 100a, the axis a2 of the second pivot end 100b, and the pivot axis A3 between the movable arm 300 and the fixed arm 200 are parallel to each other, that is, the joint energy storage assisting mechanism 100 is parallel connected to both ends of the hinge joint. Because the distance between the one-way clutch rack 40 and the two adjacent teeth on the one-way clutch gear shaping 52 is smaller, the one-way clutch gear shaping 52 can be driven to move by the driving assembly 53 at any time when energy is required to be stored, so that the one-way clutch gear shaping 52 is meshed with the one-way clutch rack 40, and the one-way clutch rack 40 is switched to a fixed state.

For example, referring to fig. 1 and 2, the sleeve 10 includes a cylindrical body 11 and an end cap 12, where both ends of the cylindrical body 11 are open ends, and the end cap 12 is disposed at one of the open ends. This configuration facilitates the assembly of the resilient structure 30 with the slide rod 20 to the sleeve 10.

In another embodiment of the present application, referring to fig. 3 and 4, the one-way clutch rack 40 has a plurality of first wedge-shaped teeth 41, each of the first wedge-shaped teeth 41 has a first inclined surface 41a and a first vertical surface 41b opposite to each other, the first vertical surface 41b is disposed facing the first pivot end 100a, and the first inclined surface 41a is disposed facing the second pivot end 100 b. The one-way clutch gear teeth 52 have a plurality of second wedge-shaped teeth 522, each second wedge-shaped tooth 522 has a second inclined surface 522a and a second perpendicular surface 522b which are opposite to each other, and the second inclined surface 522a is disposed facing the first pivot end 100a, and the second perpendicular surface 522b is disposed facing the second pivot end 100 b. When the one-way clutch rack 40 is meshed with the one-way clutch gear shaping 52, the first inclined surface 41a is abutted with the second inclined surface 522a and the first vertical surface 41b is abutted with the second vertical surface 522b in the meshed first wedge-shaped gear tooth 41 and the meshed second wedge-shaped gear tooth 522, so that the two-way locking can be realized when the one-way clutch rack 40 and the one-way clutch gear shaping 52 move in a certain range. During the process of engaging the one-way clutch rack 40 with the one-way clutch gear shaping 52 and releasing the energy of the elastic structure 30, the one-way clutch rack 40 is extended outward relative to the sliding rod 20. After the elastic structure 30 is completely reset, the sliding rod 20 is constrained by the sleeve 10 and cannot extend out continuously, at this time, if the movable arm continues to drive the one-way clutch rack 40 to move, under the action of the first inclined surface 41a and the second inclined surface 522a, the one-way clutch pinion 52 will slide (move rightwards in fig. 4) in a direction away from the one-way clutch rack 40, so that the one-way clutch pinion 52 is separated from the one-way clutch rack 40, and thus the protection effect is achieved.

In another embodiment of the present application, referring to fig. 2 and 3, the elastic structure 30 is a magnetic spring, and the magnetic spring includes at least two magnets 31 slidably mounted in the sleeve 10 along the axial direction of the sleeve 10, and the facing sides of two adjacent magnets 31 have opposite magnetism, so that two adjacent magnets 31 mutually repel each other by magnetic force; when the one-way clutch rack 40 is in a free state, two adjacent magnets 31 are arranged at intervals. One end of the magnet 31 is in contact with the end face of the first end 20a of the slide rod 20 under the action of magnetic force, and the other end of the magnet 31 is in contact with the inner wall of the first end 10a of the sleeve 10 under the action of magnetic force. The decrease in the spacing between adjacent magnets 31 is magnetic potential energy storage and the increase in the spacing between adjacent magnets 31 is magnetic potential energy release. Referring to fig. 8, when the one-way clutch rack 40 is switched to the fixed state, the one-way clutch rack 40 is stationary relative to the sliding rod 20, the power of the movable arm 300 is transmitted to the sliding rod 20 through the one-way clutch rack 40, and the sliding rod 20 pushes the magnet 31 in contact with the sliding rod to move (move downward in fig. 3 and 8), so that the interaction force between the adjacent magnets 31 is increased to realize energy storage. When energy release is required, the sliding rod 20 is moved outward (upward in fig. 3 and 8) relative to the sleeve 10 by the magnetic force of the magnet 31 in contact therewith, and energy release is realized. When the one-way clutch rack 40 is switched to the free state, the adjacent magnets 31 are maintained in the state of maximum spacing, and the magnetic spring does not perform energy storage or release.

In order to research the relationship between the magnetic force of the magnetic spring and the distance between the magnets, different distances between adjacent magnets are adjusted, the magnetic force is measured, the measurement data of the magnetic spring is subjected to conventional linear fitting, and a magnetic force expression of the magnetic spring can be obtained:

F＝a*e^-cx+b*e^-dx

wherein F is the magnetic force of the magnetic spring; x is the spacing of adjacent magnets; a. b, c and d are undetermined coefficients and can be obtained through linear fitting.

As can be seen from the magnetic force expression of the magnetic spring, the magnetic force of the magnetic spring changes approximately exponentially. The magnetic force of the magnetic spring is inversely proportional to the spacing of the adjacent magnets 31. The embodiment of the present application adopts a form that a plurality of magnets 31 are distributed along a straight line and two adjacent magnets 31 mutually repel each other magnetically, that is, the magnets 31 are connected in series. The rigidity of the magnetic spring can be increased by increasing the number of the magnets 31 connected in series, and the energy storage density of the magnetic spring can be increased by increasing the number of the magnets 31 connected in series in a certain space motion range, so that the joint explosive force is increased.

Furthermore, the cross-section of the inner cavity of the sleeve 10 is adapted to the cross-section of the magnet 31, which facilitates the axial movement of the magnet 31 along the sleeve 10. Illustratively, the inner cavity of the sleeve 10 is cylindrical, and the magnet 31 is cylindrical, so that the magnet 31 can be easily and slidably assembled in the sleeve 10 along the axial direction of the sleeve 10.

In another embodiment of the present application, the elastic structure is a compression spring, the compression spring is accommodated in the sleeve, and two ends of the compression spring respectively abut against the end surface of the first end of the sliding rod and the inner wall of the first end of the sleeve. When the one-way clutch rack is switched to a fixed state, the one-way clutch rack is static relative to the sliding rod, the power of the movable arm is transmitted to the sliding rod through the one-way clutch rack, the sliding rod pushes the compression spring to compress the compression spring, and the kinetic energy of the sliding rod is converted into the elastic potential energy of the compression spring. When energy needs to be released, the sliding rod extends outwards relative to the sleeve under the action of the compression spring, and energy release is achieved.

In another embodiment of the present application, referring to fig. 2 and 3, the first end 20a of the sliding rod 20 is provided with a limiting flange 21, and the limiting flange 21 can abut against the inner wall of the second end 10b of the sleeve 10 to limit the axial moving range of the sliding rod 20. This prevents the slide rod 20 from being separated from the sleeve 10 when the slide rod 20 is moved outwardly with respect to the sleeve 10, thereby improving the reliability of the operation of the mechanism.

In another embodiment of the present application, referring to fig. 2 and 3, the second end 10b of the sleeve 10 is provided with a linear bearing 60 for supporting the sliding rod 20. This prevents the slide bar 20 from directly contacting the inner wall of the sleeve 10, so that the slide bar 20 can smoothly and stably slide on the second end 10b of the sleeve 10. Wherein, the linear bearing 60 can be a graphite bearing or other linear bearings, and has strong wear resistance and good lubricity.

In another embodiment of the present application, referring to fig. 1, 2 and 4, the switching device 50 includes a support 51 mounted on the sliding rod 20, and the one-way clutch gear 52 is slidably mounted on the support 51. This facilitates the one-way clutch gear shaping 52 provided on the slide rod 20 to follow the slide rod 20 to move back and forth in the axial direction of the sleeve 20, and also facilitates the one-way clutch gear shaping 52 to stably move on the support 51 to effect engagement or disengagement of the one-way clutch gear shaping 52 with the one-way clutch rack 40. Referring to FIG. 4, the support 51 may be mounted to the second end 20b of the slider bar 20, and may be secured with fasteners or by other means.

In another embodiment of the present application, referring to fig. 4 to 6, the support 51 has a limiting plate 511, and the driving assembly 53 includes a rotary driving member 531, a cam 532 driven by the rotary driving member 531, a driven plate 533 fixed to the one-way clutch gear 52 and engaged with the cam 532 in an abutting manner, and an elastic member 534 compressed between the limiting plate 511 and the driven plate 533. The cam 532 has a base circle portion 532a and a projection 532b provided on the base circle portion 532 a. The elastic member 534 is used for pushing the driven plate 533 to the cam 532, so that the outer peripheral surface of the cam 532 abuts against the driven plate 533; the driven plate 533 is fixed to the one-way clutch gear 52, and the elastic member 534 can also push the one-way clutch gear 52 toward the one-way clutch rack 40. The base circular portion 532a or the protruding portion 532b of the cam 532 abuts on the driven plate 533 under the driving of the rotary driver 531. With reference to fig. 6, when the protruding portion 532b of the cam 532 abuts against the driven plate 533, the driven plate 533 and the one-way clutch gear 52 are pushed and moved in a direction away from the one-way clutch rack 40 (upward in fig. 6), the elastic member 534 is further compressed, the one-way clutch gear 52 is separated from the one-way clutch rack 40, and the one-way clutch rack 40 is switched to the free state; referring to fig. 7, when the base circular portion 532a of the cam 532 abuts against the driven plate 533, the elastic member 534 pushes the driven plate 533 to move the one-way clutch gear 52 (downward in fig. 7) so that the one-way clutch gear 52 engages with the one-way clutch rack 40, and the one-way clutch rack 40 is switched to the fixed state. Wherein the rotary driving member 531 may be a motor for outputting a predetermined displacement to drive the cam 532 to rotate. The rotary drive 531 may be mounted on the support 51. The elastic member 534 may be a spring. Referring to fig. 4 and 5, the limiting plate 511 and the driven plate 533 are respectively provided with a positioning groove 5111 and a positioning groove 5331 for positioning and assembling two ends of the elastic member 534. After the elastic structure 30 releases energy, the elastic structure 30 is completely reset, the one-way clutch gear shaping 52 and the one-way clutch rack 40 can be converted from meshing to separation, and the elastic element in the driving assembly 53 is compressed to play a protection role.

In another embodiment of the present application, the driving assembly includes a linear driving member and an elastic member, and two ends of the elastic member are respectively connected to the output end of the linear driving member and the one-way clutch gear shaping. The linear driving piece can drive the one-way clutch gear shaping to move relative to the one-way clutch rack, so that the one-way clutch gear shaping is meshed with or separated from the one-way clutch rack. Wherein, the linear driving member can be an electric cylinder, which is convenient for outputting the preset displacement. Furthermore, the linear drive may be mounted on a support. After the elastic structure releases energy, the elastic structure completely resets, the one-way clutch gear shaping and the one-way clutch rack can be converted into phase separation from meshing, and an elastic piece in the driving assembly can be compressed to play a role in protection.

In another embodiment of the present application, referring to fig. 5, the support 51 has a sliding limiting portion 512, the one-way clutch gear 52 has a sliding limiting groove 521, the sliding limiting portion 512 is matched with the sliding limiting groove 521, and the sliding limiting portion 512 is slidably assembled in the sliding limiting groove 521 to limit the position of the one-way clutch gear 52 relative to the support 51. Therefore, the one-way clutch gear shaping 52 can slide on the support 51 in a limiting mode, the possibility that the one-way clutch gear shaping 52 is separated from the support 51 in the moving process is reduced, and the reliability of the mechanism is improved. Illustratively, the sliding limiting groove 521 is a dovetail groove, and the cross section of the sliding limiting part 512 is dovetail-shaped, so that the one-way clutch gear shaping 52 can be limited and slidably mounted on the support 51. In addition, the cross-section of the sliding limiting groove 521 and the sliding limiting portion 512 may have other shapes, such as T-shaped.

In another embodiment of the present application, referring to fig. 3 and 4, the sliding rod 20 has an axial hole 22, and the one-way clutch rack 40 is slidably mounted in the axial hole 22. One end of the one-way clutch rack 40 is extended into the slide bar 20, which facilitates the assembly of the one-way clutch rack 40, and stabilizes the movement of the one-way clutch rack 40 with respect to the slide bar 20. Illustratively, the axial bore 22 may be a D-shaped bore or other non-circular shaped bore, and the one-way clutch rack 40 has a cross-section adapted such that the one-way clutch rack 40 is constrained to move axially but not rotate when the one-way clutch rack 40 is fitted into the axial bore 22, facilitating the one-way clutch rack 40 to be disposed opposite the one-way clutch gear teeth 52 for engagement therewith.

In another embodiment of the present application, referring to fig. 2 to 4, a guide hole 23 is formed on an outer circumferential surface of the slide rod 20, the guide hole 23 is communicated with the axial hole 22, and the one-way clutch gear 52 can be inserted into the guide hole 23. This scheme can lead one-way clutch gear shaping 52 for one-way clutch gear shaping 52 effectively cooperates with one-way clutch rack 40, improves mechanism operational reliability.

In another embodiment of the present application, referring to fig. 1 to fig. 3, the joint energy storage assisting mechanism 100 further includes a first connecting seat 71 and a second connecting seat 72, wherein the first connecting seat 71 and the second connecting seat 72 are disposed at an interval; the first end 10a of the sleeve 10 is pivotally connected to the first connecting seat 71, and the end of the one-way clutch rack 40 away from the sleeve 10 is pivotally connected to the second connecting seat 72. The connecting seats are arranged, so that the connecting seats can be conveniently fixed at two ends of the hinge joint, the joint energy storage assisting mechanisms 100 are connected to two ends of the hinge joint in parallel, and the assembling efficiency is improved. The connecting seat can be designed into different styles according to different structures of the joint, and can be fixed on the joint by adopting a fastener. Referring to fig. 8, when the one-way clutch rack 40 is in a fixed state and the movable arm 300 rotates relative to the fixed arm 200, the second connecting seat 72 will rotate along with the movable arm 300, and then the one-way clutch rack 40 and the sliding rod 20 will move linearly, and the sliding rod 20 pushes against the elastic structure 30, so as to convert the kinetic energy of the sliding rod 20 into the potential energy of the elastic structure 30. When the movable arm 300 rotates to the maximum angle, the potential energy storage of the elastic structure 30 reaches the maximum value, at this time, the movable arm 300 rotates in the opposite direction to drive the second connecting seat 72 to move in the opposite direction, at this time, the direction of the acting force of the elastic structure 30 is the same as the linear motion direction of the one-way clutch rack 40, and the acting force of the elastic structure 30 plays an auxiliary pushing role on the movable arm 300 to provide energy explosion for the joint.

In another embodiment of the present application, please refer to fig. 2 and 3, the first connecting seat 71 is connected to the first end 10a of the sleeve 10 through a first bearing 73; the second connecting seat 72 is connected with the one-way clutch rack 40 through a second bearing 74. The arrangement of the bearing can reduce the friction force between the structural parts and improve the working reliability of the mechanism.

Illustratively, the first connection seat 71 has a first connection post 711, the first end 10a of the sleeve 10 is mounted with an end cap 12, the end cap 12 has a first mounting groove 121 for mounting the first bearing 73, the first connection post 711 penetrates the first mounting groove 121, the first bearing 73 is received in the first mounting groove 121, and the end cap 12 is supported on the first connection post 711, such that the sleeve 10 can stably rotate relative to the first connection seat 71.

Illustratively, the second connecting seat 72 has a second mounting groove 721 for mounting the second bearing 74, a second connecting rod 42 is fixed at one end of the one-way clutch rack 40, the second connecting rod 42 penetrates through the second mounting groove 721, the second bearing 74 is accommodated in the second mounting groove 721, and the second connecting seat 72 is supported on the second connecting rod 42, so that the one-way clutch rack 40 can stably rotate relative to the second connecting seat 72.

Referring to fig. 8, an embodiment of the present application provides a robot joint structure, which includes the joint energy storage assisting mechanism 100, a fixed arm 200, a movable arm 300 rotatably mounted on the fixed arm 200, and a rotating power component 400 for driving the movable arm 300 to rotate, wherein the rotating power component 400 is mounted on the fixed arm 200; the first pivoting end 100a is connected to the fixing arm 200, and the second pivoting end 100b is connected to the movable arm 300. The rotary power member 400 may be a steering engine.

Since the robot joint structure adopts all the technical solutions of all the embodiments, all the beneficial effects brought by the technical solutions of the embodiments are also achieved, and are not repeated herein.

Illustratively, the joint structure of the robot is a knee joint, the fixed arm 200 is a thigh, and the movable arm 300 is a calf. If it is desired to provide a burst of force during a certain extension, such as to perform a jumping action, energy is stored during the relative bending phase of the lower leg with respect to the upper arm. In the process that the shank rotates relative to the thigh, the one-way clutch rack 40 is in a fixed state, the second pivoting end 100b rotates along with the shank, and then the one-way clutch rack 40 and the sliding rod 20 move linearly, the sliding rod 20 pushes against the elastic structure 30, and the kinetic energy of the sliding rod 20 is converted into the potential energy of the elastic structure 30. When the lower leg rotates to the maximum angle, the potential energy storage of the elastic structure 30 reaches the maximum value, at this time, the knee joint starts to extend and rotate, the lower leg rotates in the opposite direction, the second pivot joint end 100b is driven to move in the opposite direction, at this time, the acting force direction of the elastic structure 30 is the same as the linear motion direction of the one-way clutch rack 40, and the acting force of the elastic structure 30 plays an auxiliary pushing role on the lower leg, so that energy explosion is provided for the knee joint.

Referring to fig. 8, an embodiment of the present application provides a robot including the joint energy storage assisting mechanism 100. Since the robot adopts all technical solutions of all the embodiments, all the beneficial effects brought by the technical solutions of the embodiments are also achieved, and are not described in detail herein.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims

1. A joint energy storage assist drive device, characterized by comprising:

2. The joint energy storage assisting mechanism according to claim 1, wherein the one-way clutch rack is provided with a plurality of first wedge-shaped teeth, each first wedge-shaped tooth is provided with a first inclined surface and a first vertical surface which are opposite, the first vertical surface is arranged facing the first pivot end, and the first inclined surface is arranged facing the second pivot end;

3. The joint energy storage assisting mechanism according to claim 1, wherein the elastic structure is a magnetic spring, the magnetic spring comprises at least two magnets which are slidably assembled in the sleeve along the axial direction of the sleeve, and the magnetism of the facing sides of the two adjacent magnets is opposite; when the one-way clutch rack is in the free state, two adjacent magnets are arranged at intervals;

4. The joint energy storage assisting mechanism as claimed in claim 1, wherein the first end of the sliding rod is provided with a limiting flange, and the limiting flange can abut against an inner wall of the second end of the sleeve to limit the axial movement range of the sliding rod.

5. The energy-storing and power-assisting joint as claimed in claim 1, wherein the second end of the sleeve is provided with a linear bearing for supporting the sliding rod.

6. The joint energy storage assisting mechanism according to any one of claims 1 to 5, wherein the switching device comprises a support mounted on the sliding rod, and the one-way clutch gear shaping is slidably assembled on the support.

7. The joint energy storage assisting mechanism according to claim 6, wherein the support is provided with a limiting plate; the driving assembly comprises a rotary driving piece, a cam driven by the rotary driving piece to rotate, a driven plate fixed with the one-way clutch gear shaping and in abutting fit with the cam, and an elastic piece arranged between the limiting plate and the driven plate in a compression mode;

8. The energy storage and power assisting mechanism for joints as claimed in claim 6, wherein the driving assembly comprises a linear driving member and an elastic member, and two ends of the elastic member are respectively connected to the output end of the linear driving member and the one-way clutch gear shaping.

9. The joint energy storage assisting mechanism according to claim 6, wherein the support is provided with a sliding limiting part; the one-way clutch gear shaping is provided with a sliding limiting groove, and the sliding limiting part is assembled in the sliding limiting groove in a sliding mode so as to limit the position of the one-way clutch gear shaping relative to the support.

10. The energy-storing and boosting mechanism for joints according to claim 6, wherein the sliding rod is provided with an axial hole, and the one-way clutch rack is slidably assembled in the axial hole.

11. The joint energy storage assisting mechanism according to claim 10, wherein a guide hole is formed in an outer peripheral surface of the slide rod, the guide hole is communicated with the axial hole, and the one-way clutch gear shaping can be inserted into the guide hole.

12. The joint energy storage assisting mechanism according to any one of claims 1 to 5, further comprising a first connecting seat and a second connecting seat, wherein the first connecting seat and the second connecting seat are arranged at intervals; the first end of the sleeve is pivoted to the first connecting seat, and one end, far away from the sleeve, of the one-way clutch rack is pivoted to the second connecting seat.

13. The joint energy storage assisting mechanism according to claim 12, wherein the first connecting seat is connected with the first end of the sleeve through a first bearing;

14. A robot joint structure, characterized in that, it comprises a joint energy storage assisting mechanism as claimed in any one of claims 1 to 13, a fixed arm, a movable arm rotatably mounted on the fixed arm, and a rotary power member for driving the movable arm to rotate, the rotary power member being mounted on the fixed arm; the first pivoting end is connected to the fixed arm, and the second pivoting end is connected to the movable arm.

15. A robot comprising the joint energy storage assisting mechanism according to any one of claims 1 to 13.