CN-121973175-A - Joint module and robot

CN121973175ACN 121973175 ACN121973175 ACN 121973175ACN-121973175-A

Abstract

The invention discloses a joint module and a robot, which solve the problem that the existing joint module cannot be rapidly and reliably switched between a pure rigid transmission mode and a flexible buffer mode; the joint module comprises an output mechanism, a transmission mechanism and a power mechanism; the output mechanism is provided with a rotating shaft, a ring plate, a bolt, an electromagnetic driving assembly, an output flange and a torsion spring; the invention realizes the rapid and active switching of two modes, has compact structure and simple control, ensures high rigidity operation precision while improving the impact resistance and the terrain adaptability of the robot joint, and remarkably enhances the comprehensive performance of the robot in a complex environment.

Inventors

CHEN HAOJIE
XU SHUAIQI
CHEN YAO
PENG ZHIYUAN
ZHAO QI
LI CHANGJIANG
LI CHAOYANG

Assignees

重庆青山工业有限责任公司

Dates

Publication Date: 20260505
Application Date: 20260402

Claims (10)

1. The joint module is characterized by comprising an output mechanism; the output mechanism comprises a rotating shaft, a ring plate, a bolt, a driving piece, an output flange and a torsion elastic connecting element; The two ends of the rotating shaft are respectively an input end and an output end, and the annular plate is fixedly sleeved on the rotating shaft; the bolt penetrates through the annular plate along the axial direction of the rotating shaft and can axially move, and the driving piece is fixedly arranged and used for driving the bolt to axially move; the output flange is positioned at one side of the annular plate far away from the input end, and is provided with a pin hole matched with the bolt; when the bolt is separated from the pin hole, the rotary shaft is in flexible transmission connection with the output flange through the torsional elastic connecting element.
2. The joint module according to claim 1, wherein the torsion elastic connecting member is a torsion spring, and an axial direction of the torsion spring corresponds to an axial direction of the rotation shaft.
3. The joint module according to claim 1, wherein the driving member comprises an electromagnet, a magnetic attraction plate, a first pressure spring and a second pressure spring, wherein the electromagnet is positioned on one side of the annular plate close to the input end and is fixedly arranged, the magnetic attraction plate is axially movably arranged between the annular plate and the electromagnet, and one end of the bolt, which is far away from the output flange, is fixedly connected with the magnetic attraction plate; When the electromagnet is powered off, the magnetic attraction plate is close to the annular plate under the action of the spring force of the second pressure spring, so that the bolt is inserted into the pin hole, and when the electromagnet is powered on, the magnetic attraction plate is far away from the annular plate under the action of the spring force of the first pressure spring and the magnetic force of the electromagnet, so that the bolt is separated from the pin hole.
4. The joint module according to claim 3, wherein the magnetic attraction plate comprises a first push plate and a second push plate which are axially distributed, at least one of the first push plate and the second push plate is made of magnetic materials, the first push plate is close to the annular plate, one end of the bolt, which is far away from the output flange, is fixedly connected with the first push plate, the first pressure spring is in compression abutting joint with the annular plate and the first push plate, the second push plate is close to the electromagnet, the second pressure spring is in compression abutting joint with the second push plate and the electromagnet, and the driving piece further comprises a thrust ball bearing which is sleeved on the rotating shaft in an axially sliding manner and is in abutting joint with the first push plate and the second push plate.
5. A joint module according to claim 3, wherein the output flange is coaxial with the rotating shaft, the magnetic attraction plate is annular and coaxially sleeved on the rotating shaft, and the plurality of bolts and the plurality of torsion elastic connecting elements are respectively and circumferentially distributed.
6. The joint module according to claim 5, wherein the output mechanism further comprises a cylindrical first housing, the rotary shaft is coaxially rotatably disposed in the first housing, the diameter of the annular plate is smaller than the inner diameter of the first housing, the electromagnet is fixedly mounted in the first housing, the outer diameter of the magnetic attraction plate is smaller than the inner diameter of the first housing, and the output flange is coaxially rotatably disposed in the first housing.
7. The joint module according to claim 6, further comprising a transmission mechanism, wherein the transmission mechanism comprises a second shell, an annular gear, a planet carrier, planet gears and a sun gear, the second shell is cylindrical and connected to one end of the first shell, which is far away from the output flange, the annular gear is coaxially fixed in the second shell, the planet carrier is coaxially rotatably arranged in the second shell, an output shaft is formed by protruding one side of the planet carrier, which faces the output mechanism, and protrudes into the first shell and serves as the rotating shaft, the planet gears are circumferentially distributed on the planet carrier, the planet gears are rotatably connected with the planet carrier, the planet gears are meshed with the annular gear, the sun gear is positioned between the planet gears and meshed with the planet gears, an input shaft is formed by protruding one side of the sun gear, which is far away from the output mechanism, and the input shaft rotatably protrudes out of the planet carrier for power input.
8. The joint module of claim 7, further comprising a power mechanism, wherein the power mechanism is positioned in the second shell and comprises a power disc, a rotor and a stator, the power disc is positioned on one side of the planet carrier far away from the output mechanism, the power disc is coaxially and synchronously connected with the input shaft in a rotating way, the rotor is positioned on one side of the power disc close to the planet carrier, the rotor is annular and coaxial with the power disc, the rotor is synchronously connected with the power disc in a rotating way, the second shell is internally provided with an axially extending mounting part, the mounting part is annular and positioned on the inner side of the rotor, the stator is annular and fixedly sleeved on the mounting part, the stator and the rotor are radially spaced, and the stator is provided with windings.
9. The joint module of claim 8, further comprising a detection mechanism, wherein the detection mechanism is positioned in the second shell and comprises a mandrel, a slip ring, a first magnetic ring, a second magnetic ring, a first encoder and a second encoder, the mandrel is coaxial with the planet carrier, one end of the mandrel is connected with the planet carrier in a synchronous rotation mode, the other end of the mandrel penetrates through the sun wheel and the power disc, the slip ring is positioned on one side, far away from the planet carrier, of the power disc, the slip ring is sleeved on the mandrel in a synchronous rotation mode, the first magnetic ring is coaxially fixed on one side, far away from the planet carrier, of the power disc, the second magnetic ring is positioned on the inner side of the first magnetic ring, the second magnetic ring is synchronously sleeved on the mandrel in a rotation mode, the first encoder is fixedly arranged on one side, far away from the power disc, of the first magnetic ring and axially opposite to the first magnetic ring, and the second encoder is fixedly arranged on one side, far away from the power disc, of the second magnetic ring and axially opposite to the second magnetic ring.
10. A robot comprising a joint module according to any one of claims 1-9.

Description

Joint module and robot Technical Field The invention relates to the technical field of manipulator joints in execution operation, in particular to a joint module and a robot. Background Along with the deep application of the robot technology in the fields of industry, service, special operation and the like, the joint module is used as a core component for realizing accurate motion and force interaction of a robot, the performance of the joint module directly influences the overall capability of the robot, the traditional joint module generally adopts a transmission mode of directly and rigidly connecting a motor, a speed reducer and an output component, and the traditional joint module can realize high-precision and high-rigidity position control, but lacks necessary flexibility and buffer capability when dynamically interacting with an unknown environment, bearing impact load or adapting to complex terrain, and is easy to cause equipment damage, motion instability or interaction danger, so that the joint module is suitable for high-precision rigid transmission and impact-resistant flexibility, and becomes a key problem for improving the reliability, the safety and the environmental adaptability of the robot. The existing partial schemes realize overload protection by introducing elastic elements or flexible links, such as elastic connecting pieces are adopted to deform when the load exceeds a threshold value so as to buffer impact, such as the Chinese patent CN119610201A, but the effect is limited to passive protection, the output rigidity of the joint cannot be actively regulated, and the capability of rapidly switching between a rigid mode and a flexible mode is not provided, the other partial schemes aim at realizing continuous adjustment of the joint rigidity, such as adopting flexible elements with nonlinear deformation characteristics, such as the Chinese patent CN114800602B, or utilizing intelligent materials such as magnetorheological fluid to adjust transmission damping in real time, such as the Chinese patent CN119036508B, and the schemes can simulate the variable rigidity characteristics of biological joints to a certain extent, but the output rigidity is always dependent on the deformation of the materials or the continuous effect of an external magnetic field, so that the completely locked rigid transmission state cannot be realized, the continuous energy consumption is required when the higher rigidity is maintained, and the system reliability is influenced by factors such as material fatigue, control response and the like. In summary, the existing scheme has only a single rigidity or overload protection function, or can continuously adjust rigidity, but lacks pure and stable rigidity output capability, and generally has the problems of higher energy consumption, complex structure, dependence on continuous active control and the like, so that a joint module which has a compact structure, is simple to control, and can reliably switch between two modes of complete rigid transmission and flexible buffering is needed to dynamically adapt to the dual requirements of different tasks and working conditions of a robot on high-precision positioning and impact resistance flexibility. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to solve the technical problem that the rigid-flexible switching of the joint module is difficult to realize, and provides the joint module and the robot, which can obtain the effect that the rigid-flexible switching of the joint module is simple and reliable. In order to solve the technical problems, the technical scheme adopted by the invention is as follows: A joint module comprises an output mechanism; the output mechanism comprises a rotating shaft, a ring plate, a bolt, a driving piece, an output flange and a torsion elastic connecting element; The two ends of the rotating shaft are respectively an input end and an output end, and the annular plate is fixedly sleeved on the rotating shaft; the bolt penetrates through the annular plate along the axial direction of the rotating shaft and can axially move, and the driving piece is fixedly arranged and used for driving the bolt to axially move; the output flange is positioned at one side of the annular plate far away from the input end, and is provided with a pin hole matched with the bolt; when the bolt is separated from the pin hole, the rotary shaft is in flexible transmission connection with the output flange through the torsional elastic connecting element. Further, the torsion elastic connecting element is a torsion spring, and the axial direction of the torsion spring corresponds to the axial direction of the rotating shaft. The driving piece comprises an electromagnet, a magnetic suction plate, a first pressure spring and a second pressure spring, wherein the electromagnet is positioned on one side of the annular plate close to the input end and is fixedly arranged; When the elect