CN215920519U

CN215920519U - Joint bidirectional energy storage device, robot joint structure and robot

Info

Publication number: CN215920519U
Application number: CN202122055436.9U
Authority: CN
Inventors: 黄忠葵; 丁宏钰; 杜旭超; 谢铮; 范文华
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2022-03-01
Anticipated expiration: 2031-08-27

Abstract

The application provides a two-way energy memory of joint, robot joint structure and robot, the two-way energy memory of joint includes sleeve, first slider, second slider, elastic element, first flexible connecting rod, the flexible connecting rod of second. The first sliding part and the second sliding part are respectively arranged at two ends of the sleeve in a sliding manner. The elastic element is abutted between the first sliding piece and the second sliding piece. Two ends of the first telescopic connecting rod are respectively connected with the first sliding piece and the end rotating piece at the end part of the joint in a pivot mode. Two ends of the second telescopic connecting rod are respectively pivoted with the second sliding part and the output rotating part of the output end of the driving device. And the output rotating part or the second telescopic connecting rod is connected with the first telescopic connecting rod so as to drive the first telescopic connecting rod to move. The joint bidirectional energy storage device can realize bidirectional energy storage and bidirectional work, and the requirement that the robot joint needs to do larger positive work or negative work in both positive rotation and reverse rotation is met.

Description

Joint bidirectional energy storage device, robot joint structure and robot

Technical Field

The application belongs to the technical field of robots, and particularly relates to a joint bidirectional energy storage device, a robot joint structure and a robot.

Background

In the field of robotics, an elastic actuator is an auxiliary drive unit acting between the joint end and the load end, and is capable of storing part of the energy output by the joint and releasing it at the appropriate time.

The existing elastic driver can only realize unidirectional energy storage and release, namely, the elastic driver can only store energy in a unidirectional steering way relative to the joint and reversely release the energy in work, so that the elastic driver can only provide positive work or negative work for an energy output end of the joint. However, under some conditions, such as complex conditions of the robot joint, the positive work and negative work output requirements of the joint are high. For example, the joint needs to perform a large positive work (or negative work) when rotating forward and a large negative work (or positive work) when rotating backward relative to a certain initial position, which requires the elastic actuator to satisfy the capability of outputting both the large positive work and the large negative work, but the existing elastic actuator which can only perform one-way auxiliary work cannot perform an effective function.

Disclosure of Invention

An object of the embodiment of the application is to provide a joint bidirectional energy storage device, a robot joint structure and a robot, so as to solve the technical problems that in the prior art, an elastic driver can only store energy when steering in a unidirectional mode, and the energy is released reversely.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: the joint bidirectional energy storage device comprises a sleeve, a first sliding part, a second sliding part, an elastic element, a first telescopic connecting rod and a second telescopic connecting rod. Both ends of the sleeve are open ends, the first sliding piece is slidably arranged at one end of the sleeve, and the second sliding piece is slidably arranged at the other end of the sleeve. Two ends of the elastic element are respectively abutted against the first sliding part and the second sliding part. One end of the first telescopic connecting rod is pivotally connected to the first sliding part, so that the first telescopic connecting rod drives the first sliding part to slide when rotating. One end of the first telescopic connecting rod is connected with the second sliding part in a pivot mode, so that the first telescopic connecting rod drives the first sliding part to slide when rotating. The other ends of the first telescopic connecting rod and the second telescopic connecting rod are respectively and correspondingly pivoted to an end rotating part at the end part of the joint and an output rotating part at the output end of the driving device, and the output rotating part or the second telescopic connecting rod is connected with the first telescopic connecting rod so as to drive the first telescopic connecting rod to move.

Optionally, the joint bidirectional energy storage device includes a swing rod, two ends of the swing rod are respectively connected to the first telescopic connecting rod and the second telescopic connecting rod, or two ends of the swing rod are respectively used for connecting the end rotating member and the output rotating member. Optionally, the number of the swing rods is two, and the two swing rods are respectively located on two sides of the sleeve and arranged in parallel along the axial direction of the sleeve.

Optionally, the resilient element is a compression spring;

or the elastic element is a magnetic spring, the magnetic spring comprises a plurality of magnets which are slidably assembled in the sleeve along the axial direction of the sleeve, and the magnetism of the opposite sides of two adjacent magnets is opposite;

alternatively, the resilient element is a leaf spring member.

Optionally, the first slider and the second slider are both sliding plates nested in the sleeve.

Optionally, the first slider and the second slider both have mounting portions, the mounting portions have mounting holes, the joint bidirectional energy storage device includes a rotating shaft, the rotating shaft is nested in each mounting hole of the first slider and the second slider, and the first telescopic connecting rod and the second telescopic connecting rod are respectively sleeved on the rotating shaft.

Optionally, the joint bidirectional energy storage device comprises two stoppers, the two stoppers are respectively fixed at two ends of the sleeve to respectively prevent the first slider and the second slider from separating from the sleeve.

Optionally, the stopper is an annular collar and is fitted over an opening rim fixed to the end of the sleeve.

Optionally, the first and second telescopic links each comprise a link sleeve and a link, and one end of the link extends into the link sleeve and is capable of sliding along the link sleeve.

Optionally, the first and second pantograph linkage may be the same or different in length.

Optionally, the number of the first telescopic connecting rods and the number of the second telescopic connecting rods are two, one end of each of the two first telescopic connecting rods is pivotally connected to the first sliding member, and the other end of each of the two first telescopic connecting rods is pivotally connected to different positions of the end rotating member at the end of the joint;

and the other ends of the two second telescopic connecting rods are respectively pivoted at different positions of the output rotating piece at the output end of the driving device.

According to another aspect of the present application, the present application further provides a robot joint structure including a joint main body, a driving device, an end rotating member, an output rotating member, and a joint bidirectional energy storage device of any one of the above. The end rotating member is rotatably mounted to an end of the joint main body. The output rotating member is rotatably mounted to the output end of the driving device. The first telescopic link is pivotally connected to the end rotating member and the second telescopic link is pivotally connected to the output rotating member.

According to another aspect of the application, the application further provides a robot comprising the joint bidirectional energy storage device of any one of the above.

The application provides a two-way energy memory in joint, robot joint structure and robot's beneficial effect lies in: compared with the prior art, the joint bidirectional energy storage device has the advantages that the elastic element is arranged in the sleeve, and the first sliding piece and the second sliding piece are respectively arranged at the two ends of the sleeve in a sliding manner, so that the first sliding piece and the second sliding piece can axially slide along the sleeve, and the elastic element deforms when the distance between the first sliding piece and the second sliding piece is reduced; two ends of the first telescopic connecting rod are respectively pivoted to the first sliding part and the end part rotating part at the end part of the joint, so that the first telescopic connecting rod can drive the first sliding part to slide along the sleeve, and the first telescopic connecting rod can also drive the joint to rotate by the aid of the end part rotating part; two ends of the second telescopic connecting rod are respectively pivoted to the second sliding part and the output rotating part at the output end of the driving device, so that the output rotating part can drive the second telescopic connecting rod to rotate, and the second telescopic connecting rod can drive the second sliding part to slide along the sleeve; and the output rotating part or the second telescopic connecting rod is connected with the first telescopic connecting rod so as to drive the first telescopic connecting rod to move. . When the joint bidirectional energy storage device works, when the driving device drives the output rotating piece to rotate towards one side of the joint bidirectional energy storage device, the second telescopic connecting rod drives the second sliding piece to slide along the sleeve, and the output rotating piece or the second telescopic connecting rod drives the first telescopic connecting rod to stretch; when the driving device drives the output rotating piece to rotate towards the other side, the second telescopic connecting rod stretches, the output rotating piece or the second telescopic connecting rod drives the first telescopic connecting rod to rotate, and the first telescopic connecting rod drives the first sliding piece to slide along the sleeve. When the first sliding piece or the second sliding piece slides along the sleeve, the elastic element is deformed, and therefore energy can be stored bidirectionally. On the basis of energy storage, if the driving device drives the output rotating part to rotate reversely, the elastic element drives the first sliding part or the second sliding part to slide reversely, the first telescopic connecting rod or the second telescopic connecting rod gradually stretches and retracts to restore to an initial state, the elastic element also restores to the initial state, the stretching movement of the first telescopic connecting rod or the second telescopic connecting rod can assist the rotating movement of the end rotating part, and therefore the end rotating part of the auxiliary joint does work on a load, and energy of the elastic element is released bidirectionally. Therefore, no matter which side of the output rotating part rotates, the output rotating part can directly or indirectly drive one of the first telescopic connecting rod and the second telescopic connecting rod to extend and retract, and the other of the first telescopic connecting rod and the second telescopic connecting rod correspondingly drives the first sliding part or the second sliding part to axially slide along the sleeve, so that the elastic element changes and stores energy; and under the state that the elastic element stores energy, if the output rotating piece rotates reversely, one of the first telescopic connecting rod or the second telescopic connecting rod can be driven to do reverse telescopic motion, so that the energy stored in the elastic element is released, the complex working condition that the joint outputs large positive work (or negative work) in positive rotation and outputs large negative work (or positive work) in reverse rotation can be met simultaneously, and bidirectional energy storage and bidirectional work are realized.

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 schematic perspective view of a robot joint structure provided in an embodiment of the present application, where the robot joint structure includes a joint bidirectional energy storage device;

FIG. 2 is an exploded view of the joint structure of the robot shown in FIG. 1 to show the fitting relationship between the joint bidirectional energy storage device and the driving device, and the joint body;

fig. 3 is a schematic perspective view of a joint bidirectional energy storage device according to an embodiment of the present application;

FIG. 4 is a top view of the bi-directional energy storage device of the joint shown in FIG. 3;

FIG. 5 is an exploded view of the bi-directional energy storage device of the joint shown in FIG. 3;

fig. 6 is a schematic perspective view illustrating a state in which a robot joint structure according to an embodiment of the present disclosure rotates to one side thereof;

fig. 7 is a schematic perspective view illustrating a state in which a robot joint structure according to an embodiment of the present application is rotated to the other side.

Wherein, in the figures, the respective reference numerals:

1-a joint bidirectional energy storage device; 10-a sleeve; 11-a fixing member; 20-a first slide; 21-a mounting portion; 2101-mounting holes; 30-a second slide; 31-a mounting portion; 3101-mounting holes; 40-a resilient element; 50-a first pantograph linkage; 51-a connecting rod bushing; 52-a connecting rod; 60-a second pantograph linkage; 61-connecting rod sleeve; 62-a connecting rod; 70-oscillating bar; 80-a rotating shaft; 81-a position-limiting flange; 90-a stop; 2-a joint body; 3-an end rotation; 4-output rotation; 5-a support body.

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.

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 be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting 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.

Referring to fig. 1 and fig. 2 together, a joint bidirectional energy storage device 1 according to an embodiment of the present application will now be described. The joint bidirectional energy storage device 1 is used for being installed between a robot joint structure and a load so as to assist the robot joint structure to drive the load to do work. The joint bidirectional energy storage device 1 comprises a sleeve 10, a first sliding piece 20, a second sliding piece 30, an elastic element 40, a first telescopic connecting rod 50 and a second telescopic connecting rod 60.

Both ends of the sleeve 10 are open ends, and the inside of the sleeve 10 has a receiving cavity. The first slider 20 is slidably disposed at one end of the sleeve 10, and the second slider 30 is slidably disposed at the other end of the sleeve 10. That is, the first slider 20 and the second slider 30 are respectively disposed at two end positions of the sleeve 10, and both the first slider 20 and the second slider 30 can axially slide along the sleeve 10. Both ends of the elastic element 40 abut against the first slider 20 and the second slider 30, respectively. That is, the elastic member 40 is located between the first slider 20 and the second slider 30. When either one of the first slider 20 and the second slider 30 slides along the sleeve 10, the spacing between the first slider 20 and the second slider 30 decreases, and the first slider 20 or the second slider 30 forces the elastic element 40 to change, thereby enabling the storage and release of energy.

The first telescopic link 50 is capable of being extended and contracted in length. One end of the first pantograph linkage 50 is pivotally connected to the first slider 20 such that the one end of the first pantograph linkage 50 is rotatable with respect to the first slider 20. The other end of the first telescopic link 50 is pivotally connected to the end rotating member 3 at the joint end so that the other end of the first telescopic link 50 can rotate with respect to the end rotating member 3.

The length of the second pantograph linkage 60 is also extendable and retractable. One end of the second pantograph linkage 60 is pivotally connected to the second slider 30 so that one end of the second pantograph linkage 60 can rotate with respect to the second slider 30. The other end of the second telescopic link 60 is pivotally connected to the output rotary member 4 at the output end of the driving device, so that the output rotary member 4 can drive the second telescopic link 60 to rotate. An output rotary member or second pantograph linkage 60 is connected to the first pantograph linkage 50 for moving the first pantograph linkage 50.

Illustratively, in the illustrated embodiment, the joint bidirectional energy storage device 1 includes a swing link 70, and both ends of the swing link 70 are respectively used for connecting the end rotary member 3 and the output rotary member 4, so that the output rotary member 4 drives the first telescopic link 50 to move sequentially through the swing link 70 and the end rotary member 3. In other embodiments, the two ends of the swing link 70 are respectively connected to the first telescopic link 50 and the second telescopic link 60, so that the transmission between the first telescopic link 50 and the second telescopic link 60 can be performed through the swing link 70.

The joint bidirectional energy storage device 1 is mounted at the end of a robot joint structure, specifically, the end edge of the sleeve 10 is further provided with a fixing piece 11, and the fixing piece 11 is used for fixing with the end of the robot joint structure. The robot joint structure generally includes a joint main body 2, an end rotating member 3, a driving device, and an output rotating member 4. The end rotary member 3 is rotatably attached to an end of the joint main body 2. The drive device may be a steering engine. The output rotary member 4 is connected to the output end of the driving device so that the driving device drives the output rotary member 4 to rotate. Illustratively, the fixing member 11 is a substantially arc-shaped fixing plate, the fixing member 11 of the sleeve 10 is fixed to the end of the joint main body 2 by a fastener, and the shape of the arc-shaped fixing member 11 is relatively matched with that of the end of the joint main body 2, which is beneficial to the joint fixation of the two. In other embodiments, the fixing member 11 may have other shapes or other structures. The state of the joint bidirectional energy storage device 1 shown in fig. 1 is an initial state (also referred to as a zero state). When the driving device drives the output rotating member 44 to rotate towards one side of the initial state, for example, clockwise, the output rotating member 4 drives the second telescopic link 60 to rotate, the second telescopic link 60 drives the second sliding member 30 to slide along the sleeve 10 while rotating, and the second sliding member 30 then acts on the elastic element 40, so that the elastic element 40 changes, thereby storing energy; and the driving device drives the first telescopic connecting rod 50 to rotate and extend and retract in length through the output rotating part 4 and the swing rod 70 in sequence, and the first telescopic connecting rod 50 further drives the joint structure to rotate through the end rotating part 3.

When the driving device drives the output rotating member 4 to rotate towards the other side relative to the initial state, for example, when the driving device rotates counterclockwise, the output rotating member 4 drives the second telescopic connecting rod 60 to rotate, the second telescopic connecting rod 60 performs telescopic motion in the length direction while rotating, meanwhile, the driving device sequentially drives the first telescopic connecting rod 50 to rotate through the output rotating member 4 and the swing rod 70, the first telescopic connecting rod 50 drives the first sliding member 20 to slide along the sleeve 10 while rotating, and the first sliding member 20 then acts on the elastic element 40, so that the elastic element changes, and energy is stored. It can be seen that no matter which side direction the driving device drives the output rotary member 4 to rotate, the output rotary member 4 can directly or indirectly drive one of the first telescopic link 50 and the second telescopic link 60 to extend or retract, and the other of the first telescopic link 50 and the second telescopic link 60 correspondingly drives the first sliding member 20 or the second sliding member 30 to axially slide along the sleeve 10, so that the elastic element 40 changes and stores energy. Bidirectional energy storage is possible by means of the elastic element 40. In the state that the elastic element 40 stores energy, if the output rotating member 4 rotates reversely, it can drive one of the first telescopic link 50 or the second telescopic link 60 to perform a reverse telescopic motion, and the elastic element 40 drives the first sliding member 20 or the second sliding member 30 to slide reversely until the first telescopic link 50 or the second telescopic link 60 returns to the initial state, and the elastic element 40 also returns to the initial state, thereby releasing the energy stored in the elastic element 40.

The application provides joint two-way energy memory 1 compares with prior art, can realize two-way energy storage and two-way acting, can satisfy the joint simultaneously and export great positive work (or negative work) when corotation, exports great negative work (or positive work)'s complicated operating mode during the reversal.

In another embodiment of the present application, the elastic member 40 is a compression spring. The compression spring is disposed inside the sleeve 10. The compression spring has both ends abutting against the first slider 20 and the second slider 30 at both ends of the sleeve 10, respectively. The compression spring is compressed and stores energy when the first pantograph linkage 50 pushes the first slider 20 to slide axially along the sleeve 10 towards the interior of the sleeve 10 while rotating, or the second pantograph linkage 60 pushes the second slider 30 to slide axially along the sleeve 10 towards the interior of the sleeve 10 while rotating. On the contrary, when the first telescopic link 50 or the second telescopic link 60 rotates reversely, the compression spring pushes the first slider 20 or the second slider 30 to slide reversely under the action of the elastic force of the compression spring until the compression spring is restored to the initial state, thereby realizing the release of energy. The spring is used as the elastic element 40 for storing and releasing energy, and the spring is simple in structure, convenient to manufacture and convenient and fast to assemble.

In another embodiment, the side wall of the sleeve 10 is provided with an elongated sliding slot, the first slider 20 and the second slider 30 respectively have a connecting portion extending out of the sleeve 10 through the sliding slot, the elastic element 40 is a compression spring and is disposed on the outer wall of the sleeve 10, and both ends of the compression spring respectively abut against the connecting portions of the first slider 20 and the second slider 30, so that the compression spring is pushed by the connecting portions to be compressed and deformed when the first slider 20 or the second slider 30 slides.

In another embodiment of the present application, the elastic member 40 is a magnetic spring, and the magnetic spring includes a plurality of magnets axially slidably mounted in the sleeve 10 along the sleeve 10, and the facing sides of two adjacent magnets have opposite magnetic polarities, so that two adjacent magnets are mutually exclusive. When the first telescopic link 50 pushes the first slider 20 to axially slide along the sleeve 10 toward the inside of the sleeve 10 while rotating, or the second telescopic link 60 pushes the second slider 30 to axially slide along the sleeve 10 toward the inside of the sleeve 10 while rotating, the space between the respective magnets of the magnetic spring is compressed and reduced, thereby storing energy. On the contrary, when the first telescopic link 50 or the second telescopic link 60 rotates reversely, because the two adjacent magnets of the magnetic spring are mutually exclusive, the magnets are separated from each other under the action of magnetic force, the distance is increased, and the magnetic spring pushes the first slider 20 or the second slider 30 to slide reversely until the magnetic spring is restored to the initial state, thereby realizing the release of energy. The magnetic spring is used as the elastic element 40, the structure is simple, the assembly is convenient, the magnetic force is utilized to store and release energy, the magnetic spring is not easy to excessively deform to cause structural damage in the using process like a conventional spring, and the service life is longer.

In another embodiment of the present application, the elastic member 40 is a plate spring member. Both ends of the leaf spring member abut against the first slider 20 and the second slider 30, respectively. When the first telescopic link 50 pushes the first sliding part 20 to axially slide along the sleeve 10 towards the interior of the sleeve 10 while rotating, or the second telescopic link 60 pushes the second sliding part 30 to axially slide along the sleeve 10 towards the interior of the sleeve 10 while rotating, the two ends of the leaf spring part are stressed to be bent and deformed, and thus the energy is stored bidirectionally. On the contrary, when the first telescopic link 50 or the second telescopic link 60 rotates reversely, the plate spring member tends to restore its shape and pushes the first slider 20 or the second slider 30 to slide reversely until the plate spring member restores its shape, thereby releasing energy. The plate spring element is adopted as the elastic element 40 for storing and releasing energy, and the structure is simple, the manufacture is convenient, and the assembly is convenient. In other embodiments, the elastic element 40 may also be other elements capable of storing and releasing energy.

In another embodiment of the present application, the first slider 20 and the second slider 30 are sliding plates nested in the sleeve 10. The slide plate is cylindrical in shape and the cross-section of the slide plate matches the cross-sectional shape of the sleeve 10. The slip plate is slidably nested at the end of the sleeve 10 such that the slip plate is axially slidable along the sleeve 10 within the sleeve 10 under thrust. The two ends of the elastic element 40 are respectively abutted against the side walls of the two sliding plates, so that the elastic element 40 and the sliding plates can be mutually abutted, and the cylindrical sliding plates can be convenient for stably transmitting force.

In another embodiment of the present application, the side of the first slider 20 facing the outside of the sleeve 10 has a protruding mounting portion 21, and the mounting portion 21 has a mounting hole 2101. Likewise, the side of the second slider 30 facing the outside of the sleeve 10 also has a protruding mounting portion 31, the mounting portion 31 having a mounting hole 3101. The joint bidirectional energy storage device 1 comprises a plurality of rotating shafts 80, wherein the rotating shafts 80 are columnar, one rotating shaft 80 is nested in the mounting hole 2101 of the first sliding part 20, and one end of the first telescopic connecting rod 50 is provided with a through hole and is sleeved on the rotating shaft 80. Similarly, the other rotating shaft 80 is fitted in the mounting hole 3101 of the second slider 30, and one end of the second telescopic link 60 is provided with a through hole and fitted around the rotating shaft 80. In this manner, pivotal connections between the first pantograph linkage 50 and the first slider 20, and between the second pantograph linkage 60 and the second slider 30, are made so that both the first pantograph linkage 50 and the second pantograph linkage 60 are rotatable about the rotation axis 80.

Specifically, a limit flange 81 is provided at an edge position of the rotation shaft 80, and the limit flange 81 can limit the first and second

telescopic links

50 and 60 to prevent the first and second

telescopic links

50 and 60 from being separated from the rotation shaft 80.

In another embodiment of the present application, the pivotal connections between the first pantograph linkage 50 and the end turn member 3, and between the second pantograph linkage 60 and the output turn member 4 are made by means of a pivot shaft 80.

In another embodiment of the present application, referring to fig. 1 and 2, the bi-directional energy storage device 1 includes a plurality of stoppers 90, and the stoppers 90 are fixed on the edge of the end opening of the sleeve 10 to prevent the first slider 20 and the second slider 30 from being separated from the sleeve 10.

In the illustrated embodiment, the stop 90 is an annular collar that is snugly secured to the open-ended rim of the sleeve 10. The cross-sectional dimensions of the first slider 20 and the second slider 30 are each larger than the channel dimension in the middle of the annular collar so that the first slider 20 and the second slider 30 cannot pass through the annular collar, thereby preventing the first slider 20 and the second slider 30 from sliding out of the end of the sleeve 10.

In another embodiment of the present application, referring to fig. 2, the first telescopic link 50 includes a link sleeve 51 and a link 52, the link sleeve 51 has a hollow inside, one end of the link sleeve 51 is open, and the other end is closed, so that the two ends of the link sleeve 51 are an end surface and a groove surface, respectively. Wherein the end surface of the connecting rod sleeve 51 is provided with a through hole and is rotatably sleeved on one of the rotating shafts 80. One end of the connecting rod 52 is a shaft surface and is provided with a through hole, and the shaft surface of the connecting rod 52 is rotatably sleeved on the other rotating shaft 80. The other end of link 52 is a stop and extends into the cavity of link casing 51 to slide along link casing 51 to effect extension and retraction of first pantograph link 50.

Similarly, the second telescopic link 60 includes a link bush 61 and a link 62, the link bush 61 has a hollow inside, and one end of the link bush 61 is open and the other end is closed, so that both ends of the link bush 61 are an end face and a groove face, respectively. Wherein the end surface of the connecting rod sleeve 61 is provided with a through hole and is rotatably sleeved on one of the rotating shafts 80. One end of the connecting rod 62 is a shaft surface and is provided with a through hole, and the shaft surface of the connecting rod 62 is rotatably sleeved on the other rotating shaft 80. The other end of the link 62 is a stopper and extends into the cavity of the link bushing 61 to slide along the link bushing 61, thereby accomplishing the extension and contraction of the second pantograph link 60.

Specifically, in the initial state (also referred to as a zero point state) shown in fig. 1, the stopper surface of the link 52 abuts against the end surface of the link bush 51, and the stopper surface of the link 62 abuts against the end surface of the link bush 61. When the first telescopic link 50 and the second telescopic link 60 rotate towards one side relative to the initial state, for example, clockwise rotation, the stop surface of the link 62 and the end surface of the link sleeve 61 are still abutted, the stop surface of the link 52 and the end surface of the link sleeve 51 are gradually separated, and the stop surface of the link 52 slides in the link sleeve 51, so that the first telescopic link 50 is extended. When the first telescopic link 50 and the second telescopic link 60 rotate in opposite directions and return to the initial state, the stop surface of the link 62 and the end surface of the link sleeve 61 still abut against each other, the stop surface of the link 52 and the end surface of the link sleeve 51 gradually approach to each other until abutting against each other, and the stop surface of the link 52 slides in the link sleeve 51, so that the first telescopic link 50 is shortened.

When the first telescopic link 50 and the second telescopic link 60 rotate toward the other side relative to the initial state, for example, counterclockwise, the stopper surface of the link 52 and the end surface of the link bushing 51 still abut against each other, the stopper surface of the link 62 and the end surface of the link bushing 61 separate, and the stopper surface of the link 62 slides in the link bushing 61, thereby extending the second telescopic link 60. When the first telescopic link 50 and the second telescopic link 60 rotate in opposite directions and return to the initial state, the stop surface of the link 52 and the end surface of the link sleeve 51 still abut against each other, the stop surface of the link 62 and the end surface of the link sleeve 61 gradually approach to each other until abut against each other, and the stop surface of the link 62 slides in the link sleeve 61, so that the second telescopic link 60 is shortened.

In other embodiments, first pantograph linkage 50 and second pantograph linkage 60 may have other reasonably telescopic configurations. For example, the first telescopic link 50 may also include two rod members, one of which is provided with a sliding slot, and the other of which is provided with a sliding block and slidably embedded in the sliding slot, so that the two rod members can relatively slide and stretch; the second pantograph link 60 is identical in structure to the first pantograph link 50.

In another embodiment of the present application, first pantograph link 50 and second pantograph link 60 are of the same length. In other embodiments, the lengths of first pantograph link 50 and second pantograph link 60 may also be different. According to the requirement of practical application, when the rotation amplitude of the robot joint structure to two sides is different, the lengths of the first telescopic connecting rod 50 and the second telescopic connecting rod 60 can be reasonably set.

In another embodiment of the present application, the number of the first telescopic links 50 and the second telescopic links 60 is two, one end of each of the two first telescopic links 50 is pivotally connected to the first sliding member 20 through a same rotating shaft 80, both sides of the rotating shaft 80 are provided with limiting flanges 81, the mounting hole 2101 of the mounting portion 21 is matched with the middle position of the rotating shaft 80, and the limiting flanges 81 at both sides of the rotating shaft 80 are respectively located at both sides of the mounting portion 21. One end of one of the first telescopic links 50 is restrained between the mounting portion 21 and a restraining flange 81 on one side of the rotary shaft 80. The other end of the first telescopic link 50 is restrained between the mounting portion 21 and a restraining flange 81 on the other side of the rotary shaft 80. Thus, the respective ends of the two first telescopic links 50 are positioned on both sides of the mounting portion 21 and are both restricted by the restricting flanges 81. The other ends of the two first telescopic links 50 are pivotally connected to different positions of the end rotary member 3 at the joint end portion through the two rotary shafts 80, respectively.

Similarly, one end of each of the two second telescopic links 60 is coaxially connected to the second sliding member 30 through the same rotating shaft 80, the two sides of the rotating shaft 80 are provided with limit flanges 81, the mounting hole 3101 of the mounting portion 31 is matched with the middle position of the rotating shaft 80, and the limit flanges 81 at the two sides of the rotating shaft 80 are respectively located at the two sides of the mounting portion 31. One end of one of the second telescopic links 60 is restrained between the mounting portion 31 and a restraining flange 81 at one side of the rotary shaft 80. The end of the other second telescopic link 60 is restrained between the mounting portion 31 and a restraining flange 81 on the other side of the rotary shaft 80. Thus, the ends of the two second telescopic links 60 are located on both sides of the mounting portion 31 and are both restricted by the restricting flanges 81. The other ends of the two second telescopic links 60 are respectively and correspondingly pivoted to different positions of the output rotary member 4 at the output end of the driving device through the two rotating shafts 80.

It can be understood that, in the case that the number of the first telescopic links 50 and the second telescopic links 60 is two, when the driving device drives the output rotary member 4 to rotate towards one side, for example, clockwise, the output rotary member 4 drives the two second telescopic links 60 to rotate simultaneously, and at this time, one of the second telescopic links 60 drives the second sliding member 30 to slide along the sleeve 10, and the second sliding member 30 then acts on the elastic element 40, so that the elastic element 40 changes, and thus stores energy, and the other second telescopic link 60 performs length expansion and contraction while rotating. The output rotating member 4 or the second telescopic link 60 drives the two first telescopic links 50 to rotate through the swing rod 70, at this time, one of the first telescopic links 50 performs length expansion while rotating, and the other first telescopic link 50 drives the first sliding member 20 to slide along the sleeve 10. The two first telescopic links 50 further drive the joint structure to rotate through the end rotating member 3. It will be appreciated that in this case, both the first slider 20 and the second slider 30 slide along the sleeve 10 and towards each other, with a double amount of deformation of the elastic element 40, compared to the case of only one first and

second pantograph linkage

50, 60, and therefore a greater energy storage. Similarly, when the driving device drives the output rotary member 4 to rotate to the other side, for example, counterclockwise, the amount of deformation of the elastic member 40 is doubled, so that a larger amount of energy can be stored.

In a state that the elastic element 40 stores energy, if the output rotating member 4 rotates in a reverse direction, one of the first telescopic links 50 and one of the second telescopic links 60 can be driven to perform a reverse telescopic motion, the elastic element 40 synchronously drives the first sliding member 20 and the second sliding member 30 to perform a reverse sliding motion, so that the first sliding member 20 and the second sliding member 30 are away from each other until the one of the first telescopic links 50 and the one of the second telescopic links 60 both return to an initial state, and the elastic element 40 also returns to the initial state, thereby doubly releasing the energy stored in the elastic element 40. By arranging the two first telescopic connecting rods 50 and the two second telescopic connecting rods 60, the complex working condition that the joint needs to output larger positive work (or negative work) during positive rotation and outputs larger negative work (or positive work) during reverse rotation can be met.

In another embodiment of the present application, the number of the swing rods 70 is two, and the two swing rods 70 are respectively located at two sides of the sleeve 10 and are arranged in parallel along the axial direction of the sleeve 10. In the case where the number of the first and second

telescopic links

50 and 60 is one, both ends of one swing link 70 are connected to the end rotary 3 and the output rotary 4, respectively; and both ends of the other swing link 70 may be connected to the first and second

telescopic links

50 and 60, respectively, or both ends of the other swing link 70 may be connected to the end rotary 3 and the output rotary 4, respectively. In the case where the number of the first telescopic link 50 and the second telescopic link 60 is two, both ends of each swing link 70 are connected to the end rotator 3 and the output rotator 4, respectively, or both ends of each swing link 70 are connected to the first telescopic link 50 and the second telescopic link 60, respectively. The swing rod 70 is arranged to drive the first telescopic connecting rod 50 to move, so that the stability and integrity of the structure can be enhanced, and the stable transmission of force is facilitated.

Further, the first telescopic link 50 and the second telescopic link 60 are both provided with exhaust holes and have a movement clearance design. The first slider 20 and the second slider 30 are provided with a gas discharge hole and an oil groove, and the sleeve 10 is provided with a small hole at a position corresponding to the oil groove of the first slider 20 and the second slider 30 so as to add lubricating oil to the oil groove. An oilless bushing is sleeved between the through hole of each end of the first telescopic link 50 and the second telescopic link 60 and the rotating shaft 80. In order to simplify the structure, one end of the first telescopic connecting rod 50 far away from the sleeve 10 and the end part of the swing rod 70, the end part rotating piece 3 and the rotating piece of the joint main body 2 can be sleeved on a corresponding rotating shaft 80 together; and a spacer is provided between any adjacent two of the end of the first telescopic link 50, the end of the swing link 70, the end rotary member 3, and the rotary member of the joint main body 2. Similarly, one end of the second telescopic connecting rod 60 far from the sleeve 10, the end of the swing rod 70 and the output rotating member 4 are sleeved on a corresponding rotating shaft 80; and a gasket is arranged between any adjacent two of the end of the second telescopic connecting rod 60, the end of the swing rod 70 and the output rotating member 4.

The application also provides a robot joint structure, the robot joint structure includes foretell two-way energy memory 1 of joint, joint main part 2, drive arrangement, tip rotating member 3 and output rotating member 4. The end rotary member 3 is rotatably attached to an end of the joint main body 2. The output rotary member 4 is rotatably mounted to the output end of the drive device. The first telescopic link 50 is pivotally connected to the end rotator 3 through a rotating shaft 80, and the second telescopic link 60 is pivotally connected to the output rotator 4 through a rotating shaft 80. The robot joint structure further comprises a supporting body 5, and the joint bidirectional energy storage device 1, the joint main body 2, the driving device, the end rotating part 3 and the output rotating part 4 are all connected with the supporting body 5 to form a whole.

Illustratively, the joint body 2 is a hip joint, and the driving device is a steering engine. The hip joint and the steering engine are respectively positioned at two ends of the joint bidirectional energy storage device 1, wherein the hip joint is connected with the end part rotating piece 3, and the steering engine is connected with the output rotating piece 4.

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.

The application also provides a robot, which comprises the joint bidirectional energy storage device 1. 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 application provides joint two-way energy memory 1 and include joint two-way energy memory 1's robot joint structure and robot have following advantage: 1) the elastic element 40 is utilized to realize the energy storage and release of the joint structure in a specific interval, and the explosive force of the joint structure at a specific moment is increased; 2) the joint bidirectional energy storage device 1 realizes bidirectional storage and release of energy of a joint structure by utilizing clutch conversion of a link mechanism, solves the problem that the existing elastic driver can only store energy in a unidirectional way and release energy in a reverse direction, can assist a joint to do positive work and negative work on a load, and can meet the large requirements of a load end on the positive work and the negative work under a complex working condition; 3) the joint bidirectional energy storage device 1 assists the joint main body 2 to apply work to a load, reduces the power requirement on the joint, improves the output performance of the robot through a mechanical structure, and achieves cost reduction and energy conservation; 4) the joint bidirectional energy storage device 1 is in a modular design, can be directly installed between a joint and a load end, can be installed when needed, and can be detached when not needed.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A joint bidirectional energy storage device, comprising:

the two ends of the sleeve are both open ends;

a first slider slidably disposed at one end of the sleeve;

the second sliding piece is slidably arranged at the other end of the sleeve;

the two ends of the elastic element are respectively abutted to the first sliding part and the second sliding part;

one end of the first telescopic connecting rod is pivotally connected to the first sliding part, so that the first telescopic connecting rod drives the first sliding part to slide when rotating;

one end of the second telescopic connecting rod is pivotally connected to the second sliding part, so that the second telescopic connecting rod drives the second sliding part to slide when rotating;

the other ends of the first telescopic connecting rod and the second telescopic connecting rod are respectively and correspondingly pivoted to an end rotating part at the end part of the joint and an output rotating part at the output end of the driving device, and the output rotating part or the second telescopic connecting rod is connected with the first telescopic connecting rod to drive the first telescopic connecting rod to move.

2. The joint bidirectional energy storage device of claim 1, wherein said joint bidirectional energy storage device comprises a swing link, both ends of said swing link are respectively connected to said first telescopic link and said second telescopic link, or both ends of said swing link are respectively used for connecting an end rotary member and an output rotary member.

3. The joint bidirectional energy storage device of claim 2, wherein the number of the swing rods is two, and the two swing rods are respectively positioned on two sides of the sleeve and are arranged in parallel along the axial direction of the sleeve.

4. The bi-directional energy storage device of claim 1, wherein said elastic element is a compression spring;

or, the elastic element is a magnetic spring, the magnetic spring comprises a plurality of magnets which are slidably assembled in the sleeve along the axial direction of the sleeve, and the magnetism of the facing sides of two adjacent magnets is opposite;

alternatively, the elastic element is a leaf spring member.

5. The bi-directional energy storage device of claim 1, wherein said first slider and said second slider are each sliding plates nested within said sleeve.

6. The joint bidirectional energy storage device of claim 5, wherein said first slider and said second slider each have a mounting portion, said mounting portion having a mounting hole, said joint bidirectional energy storage device comprising a rotating shaft, said rotating shaft being nested in said mounting hole of each of said first slider and said second slider, said first telescopic link and said second telescopic link being respectively sleeved on said rotating shaft.

7. The bi-directional energy storage device of claim 1, wherein said bi-directional energy storage device comprises two stoppers fixed to two ends of said sleeve respectively for preventing said first slider and said second slider from being separated from said sleeve respectively.

8. The articulating bi-directional energy storage device of claim 7 wherein said stop is an annular retainer ring and is attached to an open edge of said sleeve end.

9. The bi-directional energy storage device of claim 1, wherein each of said first and second pantograph linkages includes a bushing and a rod, one end of said rod extending into said bushing and being slidable along said bushing.

10. The bi-directional energy storage device of any of claims 1-9, wherein the first and second pantograph linkage have the same or different lengths.

11. The bi-directional energy storage device of any of claims 1-9, wherein said first and second pantograph linkages are two in number, one end of each of said two first pantograph linkages is pivotally connected to said first slider member, and the other end of each of said two first pantograph linkages is pivotally connected to a different position of the end rotation member at the end of the knuckle;

12. A robot joint structure, comprising:

a joint main body;

a drive device;

an end rotating member rotatably attached to an end of the joint main body;

the output rotating piece is rotatably arranged at the output end of the driving device;

the joint bidirectional energy storage device of any of claims 1-11, said first pantograph linkage being pivotally connected to said end-turn and said second pantograph linkage being pivotally connected to said output-turn.

13. A robot comprising a joint bidirectional energy storage device as claimed in any one of claims 1-11.