CN220864059U - Position detection assembly of rotatable limbs of robot and robot - Google Patents

Abstract

The application relates to the technical field of robots, and discloses a position detection assembly for a rotatable limb of a robot. The position detection assembly includes: the robot comprises an arc-shaped strip structure, a transmission rod and a sensor, wherein the arc-shaped strip structure is fixedly connected with a rotatable limb of the robot; the surface of the arc-shaped strip-shaped structure is provided with a first transmission connection structure; the first end of the transmission rod is provided with a second transmission connecting structure, and the first transmission connecting structure is in transmission connection with the second transmission connecting structure; the second end of the transmission rod is in transmission connection with the angle input end of the sensor; the arc-shaped strip-shaped structure is fixed at a first position of the rotatable limb, the sensor is arranged at a second position inside the shell of the robot, and the touch possibility of the second position and an environmental object is lower than that of the first position and the environmental object in the working process of the robot. The position detection assembly can improve the reliability of the sensor. The embodiment of the application also provides a robot.

Description

Position detection assembly of rotatable limbs of robot and robot

Technical Field

The application relates to the technical field of robots, in particular to a position detection assembly of a rotatable limb of a robot and the robot.

Background

The angle sensor has a function of detecting a rotation angle of the rotatable structure. For example, it can be used to detect the rotation angle of a motor, and also to detect the rotation angle of an actuator including a motor and a decelerator.

In a specific application, the actuator is a power component constituting a robot joint, and in order to realize motion control of the robot, it is generally necessary to detect a rotation angle of the robot joint. The angle sensor can be arranged around the joint to realize the detection of the rotation angle of the robot joint.

In the process of implementing the embodiment of the application, the related art is found to have at least the following problems:

The working environment of a robot is usually complex, such as a robot dog and a humanoid robot, needs to move continuously in the environment, and the environment has very large uncertainty, which leads to the possibility that the robot has touch with an environmental object, the installation position of the existing angle sensor, and in the working process of the robot, the possibility that the angle sensor has touch with the environmental object exists, and the possibility that the angle sensor cannot accurately detect the rotation angle is caused by the touch, so the possibility that the angle sensor has touch with the environmental object can reduce the reliability of the angle sensor.

Disclosure of utility model

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.

The embodiment of the application provides a position detection assembly of a rotatable limb of a robot, so as to improve the reliability of a sensor.

In some embodiments, the position detection assembly of the rotatable limb of the robot comprises an arc-shaped strip structure, a transmission rod and a sensor, wherein the arc-shaped strip structure is used for being fixedly connected with the rotatable limb of the robot, and the axis of the arc-shaped strip structure coincides with the axis of the rotatable limb; the surface of the arc-shaped strip-shaped structure is provided with a first transmission connection structure; the first end of the transmission rod is provided with a second transmission connecting structure, and the first transmission connecting structure is in transmission connection with the second transmission connecting structure; the sensor is arranged in the shell of the robot, and the second end of the transmission rod is in transmission connection with the angle input end of the sensor; the arc-shaped strip-shaped structure is fixed at a first position of the rotatable limb, and in the working process of the robot, the first position and an environmental object are in a position with touch possibility; the sensor is arranged at a second position inside the shell of the robot, and the touch possibility of the second position and an environmental object is lower than that of the first position and the environmental object in the working process of the robot.

Optionally, the arc strip structure is an arc rack, the second transmission connection structure is a gear, and the first transmission connection structure and the second transmission connection structure are meshed for transmission.

Optionally, the position detection assembly further comprises a first mounting base, a first mounting end of the first mounting base being configured to be mounted to a third position of the robot that is stationary relative to the second position, a distance between the third position and the first end of the transmission rod being smaller than a distance between the third position and the second end of the transmission rod.

Optionally, the first fixed end of the first mounting base is a first through hole, the first through hole is matched with the diameter of the transmission rod, after the transmission rod is arranged in the first through hole, the transmission rod can rotate in the first through hole, and the first through hole and the transmission rod have matching tolerance, so that the first transmission connecting structure and the second transmission connecting structure can be meshed.

Optionally, an included angle between the axis of the transmission rod and the axis of the arc-shaped strip structure is adapted to the engagement mode of the first transmission connection structure and the second transmission connection structure.

Optionally, the position detection assembly further comprises a second mounting base, a second mounting end of the second mounting base being configured to be mounted to a fourth position of the robot that is stationary relative to the second position, a distance between the fourth position and the first end of the drive rod being greater than a distance between the fourth position and the second end of the drive rod.

Optionally, the second fixed end of the second mounting base is a second through hole, the second through hole is matched with the diameter of the transmission rod, after the transmission rod is arranged in the second through hole, the transmission rod can rotate in the second through hole, and the second end of the transmission rod can be in transmission connection with the angle input end of the sensor due to the matching tolerance of the second through hole and the transmission rod.

Optionally, the position detection assembly further comprises a third mounting base, a third mounting end of the third mounting base being configured to be mounted in the second position.

Optionally, a third fixed end of the third mounting base is conformal to the housing of the sensor, and the third fixed end is capable of fixing the sensor.

Optionally, the rotatable limb is a limb of the humanoid robot, the shoulder of which is directly connected with the trunk skeleton of the humanoid robot.

Optionally, the second position is located on a torso skeleton inside the upper body housing of the humanoid robot.

Optionally, corresponding to the shoulder position of the humanoid robot, the shell is provided with an arc edge, and a notch is formed along the arc edge towards the inside of the shell; the notch corresponds to the position of the transmission rod, the size of the notch is matched with the diameter of the transmission rod, the transmission rod can penetrate through the shell, the rotation of the arc-shaped strip-shaped structure at the first position is transmitted to the sensor at the second position, and in the rotation process of the transmission rod, a gap exists between the surface of the transmission rod and the edge of the notch.

Optionally, the rotatable limb includes a fixing portion and a rotating portion, where the fixing portion and the rotating portion are both cylindrical, the fixing portion is fixedly connected with an edge of the trunk skeleton, an axis of the fixing portion is parallel to a plane where the trunk skeleton is located, and a thickness of the trunk skeleton is smaller than a diameter of the fixing portion, so that the fixing portion protrudes out of a surface of the trunk skeleton;

The transmission rod extends out of the shell, extends to the rotating part along the surface of the fixed part and is in transmission connection with an arc-shaped strip structure arranged on the surface of the rotating part;

The sensor is arranged on the surface of the trunk framework, and the distance between the angle input end of the sensor and the surface of the trunk framework is matched with the distance between the rotatable limb protruding from the surface of the trunk framework, so that the second end of the transmission rod is in transmission connection with the angle input end of the sensor.

Optionally, the sensor is an angle sensor, an angular velocity sensor or an angular acceleration sensor.

In some embodiments, a robot includes a rotatable limb, a housing, and a position detection assembly provided by the foregoing embodiments; the arc-shaped strip-shaped structure of the position detection assembly is fixedly connected with the rotatable limb, and the sensor of the position detection assembly is arranged at a second position inside the shell.

The position detection assembly for the rotatable limb of the robot and the robot provided by the embodiment of the application can realize the following technical effects:

After the position detection assembly is installed, when the arc-shaped strip-shaped structure is touched with an environmental object, the arc-shaped strip-shaped structure is collided or extruded by the environmental object, the sensor arranged at the second position cannot be collided or extruded by the environmental object, the angle input end of the sensor and the sensitive element cannot be irreversibly deformed, and the sensor can continue to work normally.

The sensor comprises a sensing element and a sensing device, the sensing element has poorer impact resistance and extrusion resistance, and compared with the impact resistance and extrusion resistance of the angle input end of the sensor, the impact resistance and extrusion resistance of the arc-shaped strip structure are obviously stronger. Therefore, under the condition that the touch possibility with an environmental object cannot be avoided, the arc-shaped strip-shaped structure of the position detection assembly is enabled to touch the environmental object, the transmission rod is arranged, the sensor installed at other positions can still normally detect the rotating angle of the rotatable limb, so that the touch possibility of the sensor and the environmental object is lower than the touch possibility of the arc-shaped strip-shaped structure and the environmental object in the normal working process of the robot, the direct touch of the sensor and the environmental object is reduced or even avoided, the protection of the sensor in the aspect of the installation position is realized, and the reliability of the sensor is improved.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:

Fig. 1 is a schematic structural view of a position detecting assembly for a rotatable limb of a robot according to an embodiment of the present application;

FIG. 2 is a schematic structural view of an arc adjustment structure according to an embodiment of the present application;

fig. 3 is a schematic diagram of an application scenario of a position detection assembly according to an embodiment of the present application;

fig. 4 is an application scenario schematic diagram of a position detection component provided in an embodiment of the present application.

Reference numerals:

arc strip structure: 110;

First transmission connection structure: 111;

A transmission rod: 120;

and a second transmission connection structure: 121;

Angle input end: 130;

a first mounting base: 140;

first installation end: 141;

a first fixed end: 142;

And a second mounting base: 150;

And a second mounting end: 151;

A second fixed end: 152;

Third mounting base: 160, a step of detecting a position of the base;

Third mounting end: 161;

third fixed end: 162;

rotatable limb: 210;

A fixing part: 211;

A rotating part: 212;

Torso skeleton: 220;

Robot housing: 230, a step of;

Notch: 231;

First position: p1;

a second position: p2;

Third position: p3;

Fourth position: and P4.

Detailed Description

For a more complete understanding of the nature and the technical content of the embodiments of the present application, reference should be made to the following detailed description of embodiments of the application, taken in conjunction with the accompanying drawings, which are meant to be illustrative only and not limiting of the embodiments of the application. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.

The terms first, second and the like in the description and in the claims of embodiments of the application and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the application herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiments of the present application, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate the azimuth or the positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are only used to facilitate a better description of embodiments of the application and their examples and are not intended to limit the scope of the indicated devices, elements or components to the particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in embodiments of the present application will be understood by those of ordinary skill in the art in view of the specific circumstances.

In addition, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

The term "plurality" means two or more, unless otherwise indicated.

In the embodiment of the application, the character "/" indicates that the front object and the rear object are in an OR relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

The sensor in the embodiment of the application can be an angle sensor, an angular velocity sensor and an angular acceleration sensor. The angle sensor, the angular velocity sensor and the angular acceleration sensor are different in sensitive elements or sensing elements, and the difference of the three sensors does not affect the action and the effect of the position detection assembly provided by the embodiment of the application.

In the embodiment of the application, the position detection component of the rotatable limb of the robot can be installed on the robot, and the condition that the position detection component is installed on the robot is the application condition of the position detection component. The action and effect of the position detection component are generated in the application process.

The position detection assembly of the rotatable limb 210 of the robot is illustrated in connection with fig. 1-4 at the angle of the position detection assembly itself.

In some embodiments, the position sensing assembly of the robotic rotatable limb 210 includes an arcuate bar structure 110, a drive rod 120, and a sensor.

The arc-shaped strip-shaped structure 110 is used for being fixedly connected with the rotatable limb 210 of the robot, and the axis of the arc-shaped strip-shaped structure 110 coincides with the axis of the rotatable limb 210; the surface of the arc-shaped strip structure 110 is provided with a first transmission connection structure 111.

The axis of the arc-shaped bar structure 110 coincides with the axis of the rotatable limb 210, meaning that the coincidence meets the error range in which the deviation between the axis of the arc-shaped bar structure 110 and the axis of the rotatable limb 210 does not substantially affect the drive connection between the first drive connection structure 111 and the second drive connection structure 121.

The higher the requirement for the accuracy of the movement of the rotatable limb 210 of the robot, the smaller the above-mentioned error range; the lower the requirement for the accuracy of the movement of the robot's rotatable limbs 210, the more the above-mentioned error range can be properly enlarged to reduce the machining accuracy and the mounting accuracy of the arc-shaped bar-like structure 110.

The arc-shaped bar-like structure 110 may be fixedly connected to the rotatable limb 210 of the robot by means of bolts or screws.

After the inner surface of the arc-shaped bar structure 110 is fixedly connected with the rotatable limb 210 of the robot, the arc-shaped bar structure 110 can rotate along with the rotation of the rotatable limb 210.

The first end of the transmission rod 120 is provided with a second transmission connection structure 121, and the first transmission connection structure 111 is in transmission connection with the second transmission connection structure 121.

The transmission rod 120 serves to transmit the rotation angle of the arc-shaped bar structure 110. The drive rod 120 may be a rigid drive rod 120, or the drive rod 120 may be a flexible drive rod 120. In the case that the transmission rod 120 is a flexible transmission rod 120, it is necessary to ensure that the first end and the second end of the transmission rod 120 can be relatively stationary in the circumferential direction, so that the transmission rod 120 achieves the function of transmitting the rotation angle of the arc-shaped bar structure 110.

The second transmission connection structure 121 can be integrally formed with the transmission rod 120, or the second transmission connection structure 121 is fixedly disposed at the first end of the transmission rod 120.

The sensor is configured to be mounted within a housing 230 of the robot, and a second end of the drive rod 120 is drivingly coupled to the sensor's angle input 130.

A second end of the drive rod 120 is capable of transmitting rotation to the sensor's angle input 130. For example, the second end of the transmission rod 120 is fixedly connected to the angle input end 130 of the sensor, and the axis of the second end of the transmission rod 120 coincides with the axis of the angle input end 130. Or the second end of the transmission rod 120 is in transmission connection with the angle input end 130 of the sensor through a gear engagement mode.

In this way, the connecting rod can transmit the rotation angle of the arc-shaped bar structure 110 to the angle input end 130 of the sensor, so that the sensor can detect the rotation angle, the angular velocity or the angular acceleration of the arc-shaped bar structure 110.

The arc-shaped strip-shaped structure 110 is fixed at a first position P1 of the rotatable limb 210, and in the working process of the robot, the first position P1 is at a position where the possibility of touching with an environmental object exists; the second position P2 of the sensor inside the housing 230 of the robot, the probability of touching the second position P2 with an environmental object during operation of the robot is lower than the probability of touching the first position P1 with an environmental object.

The environmental object is an object other than the robot itself in the working environment of the robot. For example, the environmental object may be a robot table and a tool set on the table, or an obstacle on the ground in the movement range of the robot, or the ground itself may constitute the environmental object in the embodiment of the present application in the case where there is a possibility of the robot falling. The environmental object is only exemplified here, and in practical application, any object that has a possibility of collision with the robot and a possibility of extrusion is an environmental object.

After the position detection assembly is installed, when the arc-shaped strip-shaped structure 110 is touched with an environmental object, the arc-shaped strip-shaped structure 110 is collided or extruded by the environmental object, the sensor arranged at the second position P2 cannot be collided or extruded by the environmental object, the angle input end 130 of the sensor and the sensitive element cannot be irreversibly deformed, and the sensor can continue to work normally.

The sensor includes a sensing element and a sensing device, and the sensing element results in poor impact resistance and extrusion resistance of the sensor, which are obviously stronger than those of the angle input end 130 of the sensor. Therefore, under the condition that the possibility of touching an environmental object cannot be avoided, the arc-shaped strip structure 110 of the position detection assembly is touched with the environmental object, and the transmission rod 120 can enable the sensors installed at other positions to still normally detect the rotation angle of the rotatable limb 210, so that the possibility of touching the sensors with the environmental object is lower than that of touching the arc-shaped strip structure 110 with the environmental object in the normal working process of the robot, the direct touching of the sensors with the environmental object is reduced or even avoided, the protection of the sensors in terms of the installation position is realized, and the reliability of the sensors is improved.

The fixed connection of the arc-shaped strip structure 110 and the rotatable limb 210 can be realized by the way that the inner surface of the arc-shaped strip structure 110 is attached to the outer surface of the rotatable limb 210, as shown in fig. 2; the surface of the arc-shaped strip structure 110 facing the axis is an inner surface.

Or the two ends of the arc-shaped strip structure 110 are respectively provided with a supporting connecting piece, the arc-shaped strip structure 110 is fixedly connected with the rotatable limb 210 through the supporting connecting pieces, and the two supporting connecting pieces can support the arc-shaped strip structure 110, so that a gap (not shown in the figure) exists between the inner surface of the arc-shaped strip structure 110 and the outer surface of the rotatable limb 210.

Or the arc edge of the arc-shaped strip structure 110 is provided with a folded edge, the top end of the folded edge is fixedly connected with the outer surface of the rotatable limb 210, and the folded edge can support the arc-shaped strip structure 110, so that a gap (not shown in the figure) exists between the inner surface of the arc-shaped strip structure 110 and the outer surface of the rotatable limb 210.

The cross-section of the arcuate strip-like structure 110 may be triangular (not shown) or quadrilateral, or more polygonal (not shown). The first transmission connection structure 111 may be disposed on any surface of the arcuate strip structure 110 other than the surface that is attached to the outer surface of the rotatable limb 210.

For example, in the case that the inner surface of the arc-shaped strip structure 110 is attached to the outer surface of the rotatable limb 210, when the cross section of the arc-shaped strip structure 110 is triangular, after the inner surface of the arc-shaped strip structure 110 is attached to the outer surface of the rotatable limb 210, the first transmission connection structure 111 may be disposed on both other surfaces of the arc-shaped strip structure 110; when the cross section of the arc-shaped strip structure 110 is quadrilateral, after the inner surface of the arc-shaped strip structure 110 is attached to the outer surface of the rotatable limb 210, the first transmission connection structure 111 can be disposed on all the other three surfaces of the arc-shaped strip structure 110.

The two ends of the arc-shaped strip structure 110 are respectively provided with a supporting connecting piece, the arc-shaped strip structure 110 is fixedly connected with the rotatable limb 210 through the supporting connecting pieces, the two supporting connecting pieces can support the arc-shaped strip structure 110, and under the condition that a gap exists between the inner surface of the arc-shaped strip structure 110 and the outer surface of the rotatable limb 210, any surface of the arc-shaped strip structure 110 can be provided with a first transmission connecting structure 111.

The edge of the arc-shaped strip structure 110 is provided with a folded edge, the top end of the folded edge is fixedly connected with the outer surface of the rotatable limb 210, and the folded edge can support the arc-shaped strip structure 110, so that under the condition that a gap exists between the inner surface of the arc-shaped strip structure 110 and the outer surface of the rotatable limb 210, any surface of the arc-shaped strip structure 110 can be provided with the first transmission connection structure 111.

As shown in fig. 1 and 2, the arc-shaped bar structure 110 is an arc-shaped rack, the second transmission connection structure 121 is a gear, and the first transmission connection structure 111 and the second transmission connection structure 121 are engaged for transmission.

The transmission rod 120 needs to be installed on the robot, and the robot can carry the installation structure of the transmission rod 120.

Or the mounting structure may be provided by the position sensing assembly. As shown in fig. 3, the position detecting assembly further includes a first mounting base 140, wherein a first mounting end 141 of the first mounting base 140 is configured to be mounted at a third position P3 of the robot, which is stationary relative to the second position P2, and a distance between the third position P3 and the first end of the transmission rod 120 is smaller than a distance between the third position P3 and the second end of the transmission rod 120. In the case that the first end and the second end of the transmission rod 120 relatively swing with respect to the third position P3, the distance between the third position P3 and the first end of the transmission rod 120 is smaller than the distance between the third position P3 and the second end of the transmission rod 120, so that the swing amplitude of the first end is smaller than the swing amplitude of the second end, which is beneficial to smooth transmission connection of the first transmission connection structure 111 and the second transmission connection structure 121.

The first fixing end 142 of the first mounting base 140 is a first through hole, the first through hole is matched with the diameter of the transmission rod 120, after the transmission rod 120 is arranged in the first through hole, the transmission rod 120 can rotate in the first through hole, and the first transmission connecting structure 111 and the second transmission connecting structure 121 can be meshed due to the matching tolerance of the first through hole and the transmission rod 120.

That is, the tolerance between the first through hole and the transmission rod 120 cannot be too large, otherwise the swing amplitude of the first end of the transmission rod 120 is too large, and the first transmission connecting structure 111 and the second transmission connecting structure 121 cannot be normally meshed; the tolerance between the first through hole and the transmission rod 120 may not be too small, which would affect the rotation of the transmission rod 120 along its axis, and since the first transmission connection structure 111 and the second transmission connection structure 121 are engaged, if the rotation of the transmission rod 120 along its axis is blocked, it would adversely affect the first transmission connection structure 111, the second transmission connection structure 121, the transmission rod 120 itself or the first mounting base 140, one or more of the above structures may be damaged easily, and if the strength of the above structure is sufficient, the rotation of the transmission rod 120 along its axis is blocked, which would result in a blocking effect on the rotatable limb 210, and increase the load of the rotatable limb 210.

Optionally, an included angle between the axis of the driving rod 120 and the axis of the arc-shaped strip structure 110 is adapted to the engagement manner of the first driving connection structure 111 and the second driving connection structure 121.

For example, the axis of the transmission rod 120 is parallel to the axis of the arc-shaped bar structure 110, and the first transmission connection structure 111 and the second transmission connection structure 121 may be cylindrical gears (the arc-shaped bar structure 110 is regarded as a part of the cylindrical gears).

For another example, the axis of the transmission rod 120 is perpendicular to the axis of the arc-shaped strip structure 110, and both the first transmission connection structure 111 and the second transmission connection structure 121 may be conical gears (the arc-shaped adjustment structure is regarded as a part of the conical gears).

For other angles of the axis of the drive rod 120 and the axis of the arcuate bar structure 110, one skilled in the art can achieve engagement of both the first drive connection structure 111 and the second drive connection structure 121 by adjusting the index cone angles of the first drive connection structure 111 and the second drive connection structure 121.

The above-listed specific engagement modes are only used to exemplify the engagement modes of both the first transmission connection structure 111 and the second transmission connection structure 121, and in specific applications, the engagement modes are not limited thereto, and those skilled in the art can implement the engagement transmission of the first transmission connection structure 111 and the second transmission connection structure 121 according to their own experiences.

In some embodiments, the position detection assembly of the robotic rotatable limb 210 further includes a second mounting base 150.

The second mounting end 151 of the second mounting base 150 is configured to be mounted at a fourth position P4 of the robot that is stationary relative to the second position P2, and a distance between the fourth position P4 and the first end of the transmission rod 120 is greater than a distance between the fourth position P4 and the second end of the transmission rod 120. When the first end and the second end of the transmission rod 120 swing relatively to the fourth position P4, the distance between the fourth position P4 and the first end of the transmission rod 120 is greater than the distance between the fourth position P4 and the second end of the transmission rod 120, so that the swing amplitude of the second end is smaller than that of the first end, which is beneficial to smooth transmission connection between the second end of the transmission rod 120 and the angle input end 130 of the sensor.

The second fixed end 152 of the second mounting base 150 is a second through hole, the second through hole is matched with the diameter of the transmission rod 120, after the transmission rod 120 is arranged in the second through hole, the transmission rod 120 can rotate in the second through hole, and the second end of the transmission rod 120 can be in transmission connection with the angle input end 130 of the sensor due to the matching tolerance of the second through hole and the transmission rod 120.

Those skilled in the art can refer to the tolerance of the first through hole and the transmission rod 120, and set the tolerance of the second through hole and the transmission rod 120. And will not be described in detail here.

In some embodiments, the position detection assembly of the robotic rotatable limb 210 further includes a third mounting base 160.

The third mounting end 161 of the third mounting base 160 is for mounting in the second position P2; the third fixed end 162 of the third mounting base 160 is conformal to the housing of the sensor, and the third fixed end 162 is capable of securing the sensor.

The sensor angle input 130 can be in driving connection with the second end of the drive rod 120 after the sensor is secured by the third securing end 162, and the sensor angle input 130 can be rotated relative to the sensor housing 230 after the sensor is secured by the third securing end 162.

Optionally, after the sensor is secured by the third securing end 162, the sensor's angle input 130 is aligned with the second end of the drive rod 120, and the angle input 130 is fixedly connected to the second end of the drive rod 120.

Optionally, after the sensor is secured by the third securing end 162, the sensor angle input 130 is in meshed driving engagement with the second end of the driving rod 120. And, the included angle between the axis of the angle input end 130 and the axis of the second end of the transmission rod 120 is adapted to the engagement between the angle input end 130 and the second end of the transmission rod 120.

For example, the axis of the second end of the transmission rod 120 is parallel to the axis of the angle input end 130, and the second end of the transmission rod 120 and the angle input end 130 can be engaged by a cylindrical gear.

For another example, the axis of the second end of the transmission rod 120 is perpendicular to the axis of the angle input end 130, and the second end of the transmission rod 120 and the angle input end 130 are engaged by a bevel gear.

For other angles of the axis of the second end of the drive rod 120 and the axis of the angle input 130, one skilled in the art can adjust the cone angle of the cone gear to achieve a meshing drive of both the second end of the drive rod 120 and the angle input 130.

The above-listed specific engagement transmission is merely illustrative of engagement transmission of both the second end of the transmission rod 120 and the angle input end 130, and in specific applications, the engagement transmission is not limited thereto, and one skilled in the art may implement engagement transmission of both the second end of the transmission rod 120 and the angle input end 130 according to his own experience.

The second mounting base 150 and the third mounting base 160 in the above embodiment may be integrated as one mounting base or may be provided separately.

In the above embodiment, only the first position P1, the second position P2, the third position P3 and the fourth position P4 are qualitatively described, and the application environments of the position detection assembly of the rotatable limb 210 of the robot are different, and the specific positions referred to by the first position P1, the second position P2, the third position P3 and the fourth position P4 are also different, so that the skilled person can determine the specific positions in the specific application environments according to the qualitative descriptions of the first position P1, the second position P2, the third position P3 and the fourth position P4, only by ensuring the relevant requirements of the first position P1, the second position P2, the third position P3 and the fourth position P4 in the above embodiment.

Robots are of various types, and in the embodiments of the present application, a shoulder joint of a humanoid robot is taken as an example, and a position component is described as an example. It should be understood that, for any other type of robot that acts in the same manner as the shoulder joint of the humanoid robot, the position detection assembly may be applied, and those skilled in the art may choose to directly use the technical solution provided by the embodiment of the present application according to the actual situation, or directly replace the common means of the technical solution provided by the embodiment of the present application, perform the conventional optimization adjustment, and then use the adjusted technical solution.

In a humanoid robot, the rotatable limb 210 may be a limb of the humanoid robot where the shoulder is directly connected to the torso skeleton 220 of the humanoid robot. For example, the rotatable limb 210 may be a limb that swings the joint back and forth.

Correspondingly, the second position P2 is located on the torso skeleton 220 inside the humanoid robot upper body case 230.

Referring again to fig. 4, corresponding to the shoulder position of the humanoid robot, the housing 230 is provided with an arc-shaped edge that is adapted to the shape of the rotatable limb 210 so that the rotatable limb 210 protrudes from the housing 230; a notch 231 is provided along the arcuate edge toward the interior of the housing 230.

The notch 231 is adapted to the transmission rod 120, the notch 231 corresponds to the position of the transmission rod 120, the size of the notch 231 is adapted to the diameter of the transmission rod 120, the transmission rod 120 can penetrate through the housing 230, the rotation of the arc-shaped strip structure 110 at the first position P1 is transmitted to the sensor at the second position P2, and a gap exists between the surface of the transmission rod 120 and the edge of the notch 231 during the rotation of the transmission rod 120.

Optionally, the rotatable limb 210 includes a fixing portion 211 and a rotating portion 212, where the fixing portion 211 and the rotating portion 212 are cylindrical, the fixing portion 211 is fixedly connected with an edge of the torso skeleton 220, an axis of the fixing portion 211 is parallel to a plane of the torso skeleton 220, and a thickness of the torso skeleton 220 is smaller than a diameter of the fixing portion 211, so that the fixing portion 211 protrudes from a surface of the torso skeleton 220;

The transmission rod 120 extends to the rotating part 212 along the surface of the fixed part 211 and is in transmission connection with the arc-shaped strip structure 110 arranged on the surface of the rotating part 212 at the part extending out of the shell 230;

The sensor is disposed on the surface of the torso skeleton 220, and the distance between the angle input end 130 of the sensor and the surface of the torso skeleton 220 is matched with the distance between the rotatable limb 210 protruding from the surface of the torso skeleton 220, so that the second end of the transmission rod 120 is in transmission connection with the angle input end 130 of the sensor.

The transmission rod 120 extends to the rotating part 212 along the surface of the fixed part 211, and since the axis of the fixed part 211 is parallel to the trunk frame 220, the axis of the transmission rod 120 is also parallel to the plane of the trunk frame 220; the distance that the rotatable limb 210 protrudes from the surface of the torso skeleton 220 is adapted to the distance between the transmission rod 120 and the surface of the torso skeleton 220: the distance between the transmission rod 120 and the surface of the trunk frame 220 is slightly greater than the distance between the rotatable limb 210 and the surface of the trunk frame 220.

The distance between the sensor's angle input 130 and the surface of the torso armature 220 matches the distance the rotatable limb 210 protrudes from the surface of the torso armature 220 so that the second end of the drive rod 120 is in driving connection with the sensor's angle input 130.

Specifically, in the case where the angle input end 130 of the sensor is fixedly coupled to the second end of the driving rod 120, the distance between the angle input end 130 and the surface of the torso skeleton 220 is the same as the distance between the driving rod 120 and the surface of the torso skeleton 220.

In the case where the angle input 130 of the sensor is engaged with the second end of the driving rod 120, the difference between the distance between the angle input 130 and the surface of the torso skeleton 220 and the distance between the second end of the driving rod 120 and the surface of the torso skeleton 220 is the spatial distance required to engage the driven gears.

In an application scenario where the position detection assembly is an independent product, the distance between the sensor and its mounting plane is typically a fixed value.

For any type of robot, the cylindrical fixing portion 211 protrudes from the surface of the torso skeleton 220, and the distance between the position on the cylindrical fixing portion 211 and the plane on which the surface of the torso skeleton 220 is located is continuously variable.

Therefore, in the case where the distance between the sensor of the position detecting assembly and the mounting plane thereof is a fixed value, the position adapted to the fixed value may be selected on the surface of the cylindrical fixing portion 211 first, and then the second position P2 where the sensor is mounted and the first position P1 where the arc-shaped bar structure 110 is mounted may be determined.

In addition, the first mounting base 140 in the foregoing embodiment is used to be fixedly disposed on the surface of the fixing portion 211, and can define the distance between the transmission rod 120 and the surface of the fixing portion 211.

The second and third mounting bases 150, 160 in the foregoing embodiments, or the third mounting base 160, can define the distance between the angular input end 130 of the sensor and the surface of the torso skeleton 220.

In some embodiments, the robot includes a rotatable limb 210, a housing 230, and the position detection assembly provided by the foregoing embodiments; the arc-shaped strip-shaped structure 110 of the position detection assembly is fixedly connected with the rotatable limb 210, and the sensor of the position detection assembly is arranged at a second position P2 inside the shell 230.

Optionally, the robot includes a torso skeleton 220.

The above description and the drawings illustrate embodiments of the application sufficiently to enable those skilled in the art to practice them. Other embodiments may include structural and other modifications. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The embodiment of the present application is not limited to the structure that has been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (10)

1. A position sensing assembly for a rotatable limb of a robot, comprising:

The arc-shaped strip-shaped structure is used for being fixedly connected with a rotatable limb of the robot, and the axis of the arc-shaped strip-shaped structure is coincident with the axis of the rotatable limb; the surface of the arc-shaped strip-shaped structure is provided with a first transmission connection structure;

The first end of the transmission rod is provided with a second transmission connecting structure, and the first transmission connecting structure is in transmission connection with the second transmission connecting structure;

the sensor is used for being installed inside the shell of the robot, and the second end of the transmission rod is in transmission connection with the angle input end of the sensor;

The arc-shaped strip-shaped structure is fixed at a first position of the rotatable limb, and in the working process of the robot, the first position and an environmental object are in a position with touch possibility;

The sensor is arranged at a second position inside the shell of the robot, and the touch possibility of the second position and an environmental object is lower than that of the first position and the environmental object in the working process of the robot.

2. The position sensing assembly of a rotatable limb of a robot of claim 1, wherein the arcuate bar-like structure is an arcuate rack, the second drive connection structure is a gear, and both the first drive connection structure and the second drive connection structure are in meshed drive;

The position detection assembly further comprises a first mounting base, a first mounting end of the first mounting base is used for being mounted at a third position of the robot, which is static relative to the second position, and the distance between the third position and the first end of the transmission rod is smaller than the distance between the third position and the second end of the transmission rod;

The first fixed end of the first mounting base is a first through hole, the first through hole is matched with the diameter of the transmission rod, the transmission rod can rotate in the first through hole after being arranged in the first through hole, and the first through hole and the transmission rod are matched with each other in tolerance, so that the first transmission connecting structure and the second transmission connecting structure are meshed.

3. The position sensing assembly of a rotatable limb of a robot of claim 2, wherein an included angle between an axis of the drive rod and an axis of the arcuate strip is adapted to engage both the first drive connection and the second drive connection.

4. The robotic rotatable limb position detection assembly of claim 1, further comprising:

The second mounting base is used for being mounted at a fourth position of the robot, which is static relative to the second position, and the distance between the fourth position and the first end of the transmission rod is larger than the distance between the fourth position and the second end of the transmission rod;

The second fixed end of the second mounting base is a second through hole, the second through hole is matched with the diameter of the transmission rod, the transmission rod can rotate in the second through hole after being arranged in the second through hole, and the second end of the transmission rod can be in transmission connection with the angle input end of the sensor due to the fit tolerance of the second through hole and the transmission rod.

5. The robotic rotatable limb position detection assembly of claim 1, further comprising:

A third mounting base, a third mounting end of which is configured to be mounted in the second position;

The third fixed end of the third mounting base is matched with the shell of the sensor in a conformal mode, and the sensor can be fixed by the third fixed end.

6. The robotic rotatable limb position detection assembly of any one of claims 1-5, wherein the rotatable limb is a limb of a humanoid robot with a shoulder directly connected to a torso skeleton of the humanoid robot;

The second position is located on a trunk skeleton inside an upper body shell of the humanoid robot.

7. The robotic rotatable limb position sensing assembly of claim 6, wherein,

Corresponding to the shoulder position of the humanoid robot, the shell is provided with an arc edge, and a notch is formed along the arc edge towards the inside of the shell;

The notch corresponds to the position of the transmission rod, the size of the notch is matched with the diameter of the transmission rod, the transmission rod can penetrate through the shell, the rotation of the arc-shaped strip-shaped structure at the first position is transmitted to the sensor at the second position, and in the rotation process of the transmission rod, a gap exists between the surface of the transmission rod and the edge of the notch.

8. The position detection assembly of a rotatable limb of a robot according to claim 6, wherein the rotatable limb comprises a fixed part and a rotating part, the fixed part and the rotating part are both cylindrical, the fixed part is fixedly connected with the edge of the trunk frame, the axis of the fixed part is parallel to the plane of the trunk frame, the thickness of the trunk frame is smaller than the diameter of the fixed part, and the fixed part protrudes out of the surface of the trunk frame;

The transmission rod extends out of the shell, extends to the rotating part along the surface of the fixed part and is in transmission connection with an arc-shaped strip structure arranged on the surface of the rotating part;

The sensor is arranged on the surface of the trunk framework, and the distance between the angle input end of the sensor and the surface of the trunk framework is matched with the distance between the rotatable limb protruding from the surface of the trunk framework, so that the second end of the transmission rod is in transmission connection with the angle input end of the sensor.

9. The robotic rotatable limb position detection assembly of any one of claims 1-5, wherein the sensor is an angle sensor, an angular velocity sensor, or an angular acceleration sensor.

10. A robot, comprising:

a rotatable limb;

A housing;

and a position detection assembly as claimed in any one of claims 1 to 9;

The arc-shaped strip-shaped structure of the position detection assembly is fixedly connected with the rotatable limb, and the sensor of the position detection assembly is arranged at a second position inside the shell.