High-bearing universal joint, mechanical arm joint and flexible mechanical arm

Abstract

The invention relates to the technical field of robots, and provides a high-bearing universal joint, a mechanical arm joint and a flexible mechanical arm. A second slide ball comprises a first cavitywith the inner surface as a spherical surface; a first slide ball is rotationally arranged in the first cavity, and can slide along the inner surface of the first cavity; a ball base comprises a second cavity with the inner surface as a spherical surface; and a second slide ball is rotationally arranged in the second cavity, and can slide along the inner surface of the second cavity, so that the contact area between the first slide ball and the second slide ball and the contact area between the second slide ball and the ball base are guaranteed, and the load capacity is improved. A first limiting structure and a second limiting structure are provided for limiting rotation of the first slide ball along the latitude line and rotation of the second slide ball along the latitude line, so thatthe problem of underactuation of a general ball hinge structure is solved under the precondition of realizing universal rotation through combination of a motion between the first slide ball and the second slide ball and a motion between the second slide ball and the ball base.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a high-load universal joint, a mechanical arm joint and a flexible mechanical arm. Background technique [0002] The flexible manipulator is usually provided with a plurality of joints connected to each other through joints, and the joints are respectively driven to move around the joints by a driving device to realize the mutual movement between the joints, so that the flexible manipulator as a whole realizes free bending. There is a rotatable part between two adjacent joints of the flexible robotic arm. Corresponding joints are set in this part to connect the two adjacent joints. In the prior art, the joints are mainly set in the following three types: The elastic joint that uses the elastic element as the rotatable part, the second is the universal joint that uses the cross universal joint as the rotatable part, and the third is the ball articulated joint that uses the ball art...

AI Technical Summary

Problems solved by technology

In actual use, the bearing capacity of the first and second types of joints is small, making the joints relatively fragile. Although the bearing capacity of the third type of joint is high, the degree of freedom of rotation around the direction of the arm among the three degrees of freedom of the ball joint is limited when driving. It will not be constrained, so there is an underactuation problem, which makes the drive control inaccurate. Therefore, most of the current spherical universal joints cannot be used in practice due to the complex structure design. Therefore, the existing flexible manipulator joints still have insufficient bearing capacity. The problem

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