A robot joint support mechanism

Abstract

The utility model relates to robot technical field, concretely relates to a robot joint support mechanism, including joint one and joint two, support subassembly, support subassembly sets up on joint one and joint two, and support subassembly is used for supporting joint one and joint two, reverse stretch subassembly, reverse stretch subassembly sets up in the middle part of support subassembly, and reverse stretch subassembly is used for the damping and reverse pull of joint two when bending on joint one. Compared with the prior art, the reverse stretch subassembly composed of the second rotating disc, trigger plate, connecting rod, moving block and tension spring is arranged, so that the joint two can obtain continuous variable damping feedback in the bending process, and the flexible control of the bending angle is realized.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot joint support mechanism. Background Technology

[0002] With the rapid development of service robots, collaborative robotic arms, and biomimetic robot technologies, the motion control precision and flexible response characteristics of joint structures have become key factors determining the overall performance of the robot. Existing robot joints are typically composed of servo motors, reducers, and bearings, relying on an electronic feedback system for attitude control.

[0003] In the prior art, Chinese patent document CN218255251U, concerning joint support structures and robots, proposes a design that uses a split joint support structure. Two separate support components are inserted into the connecting gap via an interlocking method, and then the two support components are fixed relative to the inner skeleton. This eliminates the need to disassemble the inner skeleton to install the dome cover, thus achieving the design goal of rapid installation and disassembly. However, in practical applications, under conditions of frequent high-speed bending, complex trajectory movements, and load changes, traditional joint support mechanisms often struggle to balance smooth movement with structural durability. On one hand, the lack of an effective mechanical damping mechanism leads to impacts and resonances during bending and rebound, making the joint prone to fatigue wear. On the other hand, relying solely on electronic control for speed and angle control not only results in response delays and high energy consumption but also fails to provide immediate buffering protection during sudden impacts. Utility Model Content

[0004] In view of this, the purpose of this utility model is to propose a robot joint support mechanism to solve the problem that traditional joint support mechanisms are difficult to balance motion stability, timely response and structural durability under high-speed bending and load changes.

[0005] To achieve the above objectives, this utility model provides a robot joint support mechanism, comprising: joint one and joint two;

[0006] A support assembly is disposed on the first joint and the second joint, and the support assembly is used to support the first joint and the second joint;

[0007] A reverse tensioning assembly is disposed in the middle of the support assembly. The reverse tensioning assembly is used to dampen and pull the second joint in the opposite direction when the second joint bends on the first joint.

[0008] Preferably, the support assembly includes first fixing plates fixedly installed on both sides of the first joint. Two first support straps are shared at the bottom of the two first fixing plates, supporting the first joint. A rotating seat is provided on the side of each of the two first fixing plates closest to the second joint. A first rotating disk is rotatably mounted on each of the two rotating seats. A connecting plate is provided on one side of each of the first rotating disks. A second fixing plate is provided on one side of each of the two connecting plates. The two second fixing plates are fixedly connected to both sides of the second joint. Two second support straps are shared on the two second fixing plates, supporting the second joint. Positioning posts are fixedly installed on the sides of the second fixing plates that are far apart from each other.

[0009] Preferably, both connecting plates are arranged in a Z-shape and are arranged opposite each other. The two connecting plates are used to define the distance between the two second fixing plates and are used to adapt to the second joint.

[0010] Preferably, both the first support strip and the second support strip are configured as arc shapes.

[0011] Preferably, the reverse tensioning assembly includes a mounting plate fixedly installed on one side of the rotating seat. A rotating shaft is rotatably mounted on one side of the mounting plate. The rotating shaft is fixedly connected to the middle of the first rotating disk. A second rotating disk is fixedly sleeved on the rotating shaft. A trigger post is provided on one side of the second rotating disk. A trigger plate is rotatably mounted on the middle of the mounting plate. Trigger grooves are provided at all four corners of the trigger plate. The trigger grooves are circumferentially distributed. When the second rotating disk rotates, it first drives the trigger post to slide into the trigger groove and drives the trigger plate to rotate. A sliding groove is provided on the side of the mounting plate away from the rotating shaft. A moving block is slidably mounted in the sliding groove. A connecting rod is rotatably mounted on one side of the trigger plate. The connecting rod is rotatably mounted on one side of the moving block. A tension spring is connected to one side of the moving block. The other side of the tension spring is connected to a positioning post.

[0012] Preferably, one side of the second rotating disk is provided with a disc, one side of the disc is arc-shaped, and all four sides of the trigger plate are arc-shaped. The disc is used to limit the stroke of the trigger plate.

[0013] Preferably, when the rotating shaft rotates back and forth with the first rotating disk, it drives the second rotating disk to rotate synchronously with the disk, causing the trigger pin to move inside one of the trigger slots, thereby driving the connecting rod to deflect back and forth by an angle to drive the moving block to slide in the slide groove. When the joint bends inward, the moving block slides into the slide groove, thereby pulling the tension spring.

[0014] The beneficial effects of this utility model are:

[0015] 1. This robot joint support mechanism, by setting up a reverse tension assembly consisting of a second rotating disk, a trigger plate, a connecting rod, a moving block, and a tension spring, enables the second joint to obtain continuously variable damping feedback during bending, achieving flexible control of the bending angle. When the second joint bends, the trigger pin slides along the trigger groove to drive the trigger plate to deflect. Through the connecting rod and the moving block in the groove, a mechanical transmission chain is formed, gradually stretching the tension spring to generate a reverse tension force, thereby effectively suppressing the inertial impact and vibration caused by excessively rapid bending. When the joint returns to its original position, the spring releases its stored energy, automatically driving the system to reset, forming a dual function of "damping + energy recovery". This makes the joint movement process smoother, the rebound more gentle, and the positioning more accurate, while significantly reducing the load on the drive motor and improving the service life of the joint and the overall movement stability.

[0016] 2. This robot joint support mechanism, by setting a second rotating disk with an arc-shaped limiting disk on one side and forming matching arc-shaped limiting structures on the four sides of the trigger plate, achieves precise control over the stroke range of the trigger component. When the joint bends at a large angle, the arc surface of the disk smoothly contacts the arc surface of the trigger plate to form a limit, preventing excessive rotation or jamming of the mechanism. At the same time, it disperses the motion impact along the arc surface to the mounting plate, playing a buffering and protective role. This arc-shaped limiting design can not only effectively control the maximum elongation of the tension spring and ensure a smooth transition of the damping curve, but also realize progressive braking in the mechanical structure, making the entire reverse stretching process safer and more reliable, and significantly improving the durability and control accuracy of the robot joint under high-frequency dynamic motion. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a first-view three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a two-dimensional structural diagram of the present invention from a second perspective;

[0020] Figure 3 This is a schematic diagram of the support component structure of this utility model;

[0021] Figure 4 This is a partial structural diagram of the reverse tensioning component of this utility model;

[0022] Figure 5 This is a schematic diagram of the operation of the reverse tensioning component of this utility model.

[0023] The diagram is marked as follows:

[0024] 1. Joint 1; 2. Joint 2; 3. First fixing plate; 4. First support belt; 5. Rotating seat; 6. First rotating disk; 7. Connecting plate; 8. Second fixing plate; 9. Second support belt; 10. Mounting plate; 11. Rotating shaft; 12. Second rotating disk; 13. Trigger plate; 14. Trigger groove; 15. Trigger post; 16. Slide groove; 17. Moving block; 18. Connecting rod; 19. Tension spring; 20. Positioning post. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments.

[0026] It should be noted that, unless otherwise defined, the technical or scientific terms used in this utility model should have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar terms used in this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0027] like Figures 1 to 5 As shown, a robot joint support mechanism includes joint 1 and joint 2; a support assembly disposed on joint 1 and joint 2, the support assembly being used to support joint 1 and joint 2; and a reverse tensioning assembly disposed in the middle of the support assembly, the reverse tensioning assembly being used to dampen and pull in the reverse direction when joint 2 bends on joint 1.

[0028] When the robot performs a motion task, joint 1, as the main load-bearing joint, is fixed to the main structure of the robot (similar to the position of the human thigh), and joint 2, as the follower joint, is connected to the working arm (similar to the position of the human lower leg). The two are connected by a support component to form a stable rotational connection. When the drive system drives joint 2 to bend relative to joint 1, the arc-shaped support belt in the support component first undertakes the guiding and force support role in the initial rotation, keeping the motion path smooth. As the rotation angle increases, the rotating disk and connecting plate 7 in the support component begin to coordinate their movements to prevent lateral swaying between the two joints. At the same time, the reverse tensioning component begins to work. The internal rotating disk and tension spring 19 are driven to generate damping force, applying a reverse pull in the bending direction. This avoids impact at the end of the joint movement and makes the return process smoother and more precise. When the joint returns to the initial position, the tension spring 19 releases energy to reset the system, realizing a complete closed-loop cycle of support-bending-damping-rebound, so that the joint as a whole maintains mechanical balance and structural stability during movement.

[0029] Furthermore, the support assembly includes first fixing plates 3 fixedly installed on both sides of joint 1. Two first support belts 4 are provided at the bottom of the two first fixing plates 3. The two first support belts 4 are used to support joint 1. Rotating seats 5 are provided on the side of the two first fixing plates 3 near joint 2. First rotating disks 6 are rotatably installed on the two rotating seats 5. Connecting plates 7 are provided on one side of the first rotating disks 6. Second fixing plates 8 are provided on one side of the two connecting plates 7. The two second fixing plates 8 are fixedly connected to both sides of joint 2. Two second support belts 9 are provided on the two second fixing plates 8. The second support belts 9 are used to support joint 2. Positioning posts 20 are fixedly installed on the side of the second fixing plates 8 that are far apart from each other. The two connecting plates 7 are Z-shaped and facing each other. The two connecting plates 7 are used to limit the distance between the two second fixing plates 8 for fitting joint 2. The first support belts 4 and the second support belts 9 are both arc-shaped.

[0030] When the robot begins to move, the drive unit causes joint 2 to rotate relative to joint 1. Firstly, the first fixing plates 3, fixed to both sides of joint 1, provide basic support for the joint via two first support straps 4. Simultaneously, the second fixing plate 8 and the second support strap 9 adhere to the lower part of joint 2, forming a following support. During joint rotation, the rotating seats 5 at both ends drive the first rotating disk 6 to rotate. The rotation of the disk is transmitted to the second fixing plate 8 through the Z-shaped connecting plate 7, causing the curvature of the second support strap 9 to change accordingly, thus always adhering to the outer wall of joint 2. This Z-shaped force transmission path absorbs lateral displacement during joint movement, forming a support effect similar to a flexible hinge, making bending movements smooth and the force evenly distributed. This support assembly, through the combination of the first and second fixing plates 8, support straps, and the Z-shaped connecting plate 7, constitutes a variable stiffness, directional flexible support structure. The first support strap 4 stabilizes joint 1, and the second support strap 9 supports joint 2; both are arc-shaped structures, enabling smooth wrapping support during joint rotation and avoiding hard contact.

[0031] Furthermore, the reverse tensioning assembly includes a mounting plate 10 fixedly installed on one side of the rotating seat 5. A rotating shaft 11 is rotatably mounted on one side of the mounting plate 10. The rotating shaft 11 is fixedly connected to the middle of the first rotating disk 6. A second rotating disk 12 is fixedly sleeved on the rotating shaft 11. A trigger post 15 is provided on one side of the second rotating disk 12. A trigger plate 13 is rotatably mounted on the middle of the mounting plate 10. Trigger grooves 14 are provided at each of the four corners of the trigger plate 13. The trigger grooves 14 are circumferentially distributed. When the second rotating disk 12 rotates, it first drives the trigger post 15 to slide into the trigger groove 14 and drives the trigger plate 13 to rotate. A sliding groove is provided on the side of the mounting plate 10 away from the rotating shaft 11. 16. A movable block 17 is slidably installed inside the slide groove 16. A connecting rod 18 is rotatably installed on one side of the trigger plate 13. The connecting rod 18 is rotatably installed on one side of the movable block 17. A tension spring 19 is connected to one side of the movable block 17. The other side of the tension spring 19 is connected to the positioning post 20. When the rotating shaft 11 rotates back and forth with the first rotating disk 6, it drives the second rotating disk 12 to rotate synchronously with the disk, causing the trigger post 15 to move inside one of the trigger slots 14. This drives the connecting rod 18 to deflect back and forth, driving the movable block 17 to slide in the slide groove 16. When the joint 2 bends inward, the movable block 17 slides into the slide groove 16, thereby pulling the tension spring 19.

[0032] In the initial state of the joint, the rotating shaft 11 is coaxial and stationary with the first rotating disk 6, the trigger post 15 is in the initial slot of the trigger plate 13, and the tension spring 19 is in its natural state. When the robot drives the second joint 2 to bend, the first rotating disk 6 drives the rotating shaft 11 to rotate, and the rotating shaft 11 synchronously drives the second rotating disk 12 to rotate. The trigger post 15, which is set on the side of the disk, slides along the arc-shaped trigger groove 14 on the trigger plate 13, causing the trigger plate 13 to deflect. The trigger plate 13 pulls the moving block 17 in the slide groove 16 through the connecting rod 18. The moving block 17 slides inward along the slide groove 16 and gradually stretches the tension spring 19. 9; At this time, the tension spring 19 generates a reverse tension force, which dampens the bending of joint 2, preventing excessive speed or overshoot. When the robot stops bending or begins to return to its original position, the tension spring 19 releases its stored energy, pushing the moving block 17, the connecting rod 18, and the trigger plate 13 back to their original positions, driving the second rotating disk 12 to rotate synchronously in the opposite direction to the first rotating disk 6, completing a closed-loop process of energy feedback and motion damping. Throughout the process, the elastic element and the sliding linkage mechanism provide continuously variable force feedback, making the joint movement smooth and stable, and structurally realizing the dual functions of "mechanical damping + energy recovery". Through the linkage relationship between the rotating disk, the trigger plate 13, the connecting rod 18, the slider, and the tension spring 19, when joint 2 bends, the tension spring 19 is gradually stretched and stores energy, thereby damping and limiting the joint movement, avoiding impact and vibration caused by excessive inertia. When the joint returns to its original position, the spring releases energy to drive the system to automatically rebound, making the joint return smooth and fast, reducing the motor load. The cooperation between the trigger plate 13, the slide 16, and the trigger post 15 realizes nonlinear mechanical characteristics, so that different bending angles correspond to different damping curves, thereby achieving flexible control.

[0033] The second rotating disk 12 has a disc on one side, and one side of the disc is arc-shaped. All four sides of the trigger plate 13 are arc-shaped. The disc is used to limit the travel of the trigger plate 13.

[0034] The second rotating disk 12 rotates synchronously with the rotating shaft 11. The relative movement between the disk and the trigger plate 13 creates a sliding contact limiting relationship. When the trigger pin 15 slides to the limit position in the trigger groove 14, the arc surface of the disk first contacts the arc surface of the trigger plate 13 to form a limit, thereby preventing the rotating disk from continuing to rotate and avoiding excessive twisting of the trigger plate 13. At this time, the contact is a smooth sliding contact, which can disperse the instantaneous impact force along the arc to the mounting plate 10, thereby achieving buffer protection for the entire mechanism.

[0035] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; within the framework of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in the details for the sake of brevity.

[0036] This utility model is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robot joint support mechanism, characterized in that, include: Joint 1 (1) and Joint 2 (2); A support assembly is disposed on the first joint (1) and the second joint (2), and the support assembly is used to support the first joint (1) and the second joint (2); A reverse tensioning assembly is disposed in the middle of the support assembly. The reverse tensioning assembly is used to dampen and pull the second joint (2) in the opposite direction when the second joint (2) bends on the first joint (1).

2. The robot joint support mechanism according to claim 1, characterized in that, The support assembly includes first fixing plates (3) fixedly installed on both sides of the first joint (1). Two first support belts (4) are provided at the bottom of the two first fixing plates (3). The two first support belts (4) are used to support the first joint (1). Rotating seats (5) are provided on the side of the two first fixing plates (3) near the second joint (2). First rotating disks (6) are rotatably installed on the two rotating seats (5). Connecting plates (7) are provided on one side of the first rotating disks (6). Second fixing plates (8) are provided on one side of the two connecting plates (7). The two second fixing plates (8) are fixedly connected to both sides of the second joint (2). Two second support belts (9) are provided on the two second fixing plates (8). The second support belts (9) are used to support the second joint (2). Positioning columns (20) are fixedly installed on the side of the second fixing plates (8) that are far apart from each other.

3. A robot joint support mechanism according to claim 2, characterized in that, Both connecting plates (7) are arranged in a Z-shape and are arranged opposite each other. The two connecting plates (7) are used to limit the distance between the two second fixing plates (8) and are used to adapt to the joint two (2).

4. A robot joint support mechanism according to claim 3, characterized in that, Both the first support strip (4) and the second support strip (9) are set to be arc-shaped.

5. A robot joint support mechanism according to claim 2, characterized in that, The reverse tensioning assembly includes a mounting plate (10) fixedly installed on one side of the rotating seat (5). A rotating shaft (11) is rotatably mounted on one side of the mounting plate (10). The rotating shaft (11) is fixedly connected to the middle of the first rotating disk (6). A second rotating disk (12) is fixedly sleeved on the rotating shaft (11). A trigger post (15) is provided on one side of the second rotating disk (12). A trigger plate (13) is rotatably mounted on the middle of the mounting plate (10). A trigger groove (14) is provided at each of the four corners of the trigger plate (13). The trigger grooves (14) are circumferentially distributed. When the second rotating disk (6) rotates... When the disc (12) rotates, it first drives the trigger pin (15) to slide inside the trigger groove (14) and drives the trigger plate (13) to rotate. The mounting plate (10) has a sliding groove (16) on the side away from the rotating shaft (11). A moving block (17) is slidably installed inside the sliding groove (16). A connecting rod (18) is rotatably installed on one side of the trigger plate (13). The connecting rod (18) is rotatably installed on one side of the moving block (17). A tension spring (19) is connected to one side of the moving block (17). The other side of the tension spring (19) is connected to the positioning pin (20).

6. A robot joint support mechanism according to claim 5, characterized in that, The second rotating disk (12) has a disc on one side, and one side of the disc is arc-shaped. All four sides of the trigger plate (13) are arc-shaped. The disc is used to limit the travel of the trigger plate (13).

7. A robot joint support mechanism according to claim 6, characterized in that, When the rotating shaft (11) rotates back and forth with the first rotating disk (6), it drives the second rotating disk (12) to rotate synchronously with the disk, causing the trigger pin (15) to move inside one of the trigger slots (14), thereby driving the connecting rod (18) to deflect back and forth to drive the moving block (17) to slide in the slide groove (16). When the joint (2) bends inward, the moving block (17) slides into the slide groove (16), thereby pulling the tension spring (19).

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