Dynamic joint and robotic arm having the same

Abstract

The present invention provides a rotary joint and a robotic arm having the same, wherein the rotary joint comprises: a first rotating part and a second rotating part; a driving assembly, wherein the output end is rotatable relative to the fixed end, the fixed end is fixedly arranged in the first rotating part, and the output end is fixedly arranged in the second rotating part; a compensating assembly, which is movably arranged between the first rotating part and the second rotating part, and the compensating assembly is capable of adjusting the radial clearance between the first rotating part and the second rotating part; a rotation-stopping assembly, which is movably arranged between the first rotating part and the second rotating part, wherein a stopper is arranged on the first rotating part, and a limiter is arranged on the second rotating part along the radial direction of the rotary joint, wherein the stopper is located on the rotation stroke of the limiter, and the stopper and the limiter cooperate to limit the rotation angle between the first rotating part and the second rotating part. The technical solution provided by the present invention can solve the problem that the rotary joint in the prior art has a relatively single function and affects the service life of the robotic arm.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a rotary joint and a robotic arm having therein. Background Technology

[0002] A robotic arm is a mechanical device that can simulate the movements of a human arm. It consists of multiple joints and an articulated arm, enabling various movements and operations in three-dimensional space. By controlling the movement of the joints, the articulated arm can achieve specific motion trajectories in space. By controlling the angles and speeds of the joints, the robotic arm can perform various operations such as grasping, handling, crushing, and assembling.

[0003] During the use of a robotic arm, the joints of the robotic arm rotate, driven by a power component. The robotic arm has its own gravity and inertia. After working for a long time, friction gaps or over-rotation may occur between the joints. However, the joints in existing technologies generally only have simple rotation functions. When the above situations occur, there is no way to prevent or compensate for them, making the robotic arm prone to damage and resulting in a short service life. Summary of the Invention

[0004] This invention provides a rotary joint and a robotic arm having the same, to solve the problem that the rotary joints in the prior art have relatively limited functions, which affects the service life of the robotic arm.

[0005] According to one aspect of the present invention, a rotary joint is provided, comprising: a first rotary portion and a second rotary portion rotatably connected; a drive assembly having a fixed end and an output end disposed opposite to each other, the output end being rotatable relative to the fixed end, the fixed end being fixedly disposed within the first rotary portion, and the output end being fixedly disposed within the second rotary portion; a compensation assembly movably disposed between the first rotary portion and the second rotary portion, the compensation assembly being capable of adjusting the radial clearance between the first rotary portion and the second rotary portion; and an anti-rotation assembly movably disposed between the first rotary portion and the second rotary portion, the anti-rotation assembly comprising a stop block and a limiting member, the stop block being disposed on the first rotary portion, the limiting member being disposed radially along the rotary joint on the second rotary portion, the stop block being located on the rotational stroke of the limiting member, and the stop block and the limiting member cooperating to limit the rotation angle between the first rotary portion and the second rotary portion.

[0006] Furthermore, the second rotating part is sleeved on the outer periphery of the first rotating part, and the compensation assembly includes a compensation member. The compensation member has a connecting end and an abutting end that are disposed opposite to each other. The connecting end of the compensation member is movably connected to the second rotating part, and the abutting end abuts against the first rotating part.

[0007] Furthermore, the compensation component also includes a first elastic member. The compensation member includes a driving segment and a compensation segment. The driving segment extends along the moving direction of the compensation component, and the compensation segment extends along the circumferential direction of the first rotating part. The driving segment and the compensation segment are movably connected. The driving segment is connected to the inner wall of the second rotating part through the first elastic member. The compensation segment abuts against the outer wall of the first rotating part. The driving segment has a connecting end, and the compensation segment has an abutting end. The first elastic member passes through the driving segment to make the compensation segment abut against the first rotating part.

[0008] Furthermore, the drive section is capable of radial movement relative to the second rotating part, and there is a check structure between the second rotating part and the drive section, which can prevent the drive section from moving toward the second rotating part.

[0009] Furthermore, a first groove is provided on the side wall of the second rotating part, and the end of the driving section away from the compensation section is movably disposed in the first groove through a first elastic member. A mounting hole is provided on the side wall of the driving section. The check structure includes a first wedge block, a second elastic member, and a second wedge block. The first wedge block and the second elastic member are located in the mounting hole. The first wedge block is movably connected to the mounting hole through the second elastic member so that the first wedge block can retract or extend from the mounting hole. The second wedge block has a pressing surface and a stop surface arranged opposite to each other along the moving direction of the driving section. The first wedge block cooperates with the pressing surface to drive the driving section to move towards the first rotating part, and the first wedge block cooperates with the stop surface to restrict the driving section from moving towards the second rotating part.

[0010] Furthermore, the second rotating part includes a first housing and a second housing. The second housing is sleeved on the outer periphery of the first housing and is fixedly connected to the first housing. The first housing is provided with a first through hole, and the abutting end passes through the first through hole and abuts against the first rotating part. The abutting end can move circumferentially within the first through hole.

[0011] Furthermore, the rotating joint also includes a rotating ring, and a second groove is provided on the inner wall of the second rotating part. The second groove is arranged in a ring around the inner circumference of the second rotating part, and the rotating ring is movably disposed in the second groove in the circumferential direction. The compensation component and the anti-rotation component are both movably connected to the rotating ring.

[0012] Furthermore, the rotating ring is provided with an abutting boss, and the side wall of the second rotating part facing the first rotating part is provided with a third groove. The abutting boss is movably disposed in the third groove. The abutting boss has a first straight surface and a first inclined surface arranged sequentially along the axial direction. The driving section is provided with an abutting protrusion. The abutting protrusion has a second inclined surface and a second straight surface arranged sequentially along the moving direction. The first straight surface and the second straight surface cooperate with each other to guide the driving section to move axially. Along the direction closer to the first rotating part, the distance between the first inclined surface and the driving section gradually increases, and the distance between the second inclined surface and the driving section gradually increases.

[0013] Furthermore, the second rotating part is provided with a fourth groove, and the first housing has a second through hole. The limiting member is simultaneously disposed in the fourth groove and the second through hole. The rotating ring can drive the limiting member to move within the fourth groove and the second through hole. The first rotating part also has a fifth groove, which is located at the end of the stop block. The limiting member can abut against the fifth groove. The limiting member has a first locking state and a second locking state that are relatively disposed. When the limiting member is in the first locking state, the limiting member abuts against the stop block. When the limiting member is in the second locking state, the limiting member abuts against the stop block and the end of the limiting member is located within the fifth groove. The limiting member restricts the rotation angle between the first rotating part and the rotating ring through the first locking state, and restricts the rotation angle between the first rotating part and the second rotating part through the second locking state.

[0014] Furthermore, the limiting member includes a limiting rod, a locking block, and a third elastic member. The limiting rod has a sixth groove, and the locking block is movably disposed in the sixth groove via the third elastic member. A locking rod is disposed on the first housing, and the locking rod is disposed circumferentially on the side wall of the second through hole. The locking rod passes through the limiting rod and the locking block. The locking rod has a locking position and a clearance position disposed opposite to each other in the radial direction. When the limiting member is in the first locking state, the locking rod is located in the locking position. When the limiting member is in the second locking state, the first housing drives the locking rod to be pulled out from the limiting rod and the locking block, and the third elastic member drives the locking block to abut against the fifth groove so that the locking rod is in the clearance position.

[0015] Furthermore, the compensation assembly also includes a lubrication section disposed within the abutment end, which is capable of providing lubricating oil between the abutment end and the first rotating part.

[0016] Furthermore, the lubrication part includes: an oil reservoir, disposed within the abutting end; an oil outlet, disposed on the end face of the abutting end facing the first rotating part, the oil outlet communicating with the oil reservoir; and a driving member, disposed on the side of the abutting end facing the side wall of the first through hole, one end of the driving member communicating with the oil reservoir, and when the other end of the driving member abuts against the side wall of the first through hole, the driving member can drive the lubricating oil in the oil reservoir to flow out from the oil outlet.

[0017] Furthermore, an abutting protrusion is provided on the outer side wall of the end of the first rotating part, and an abutting groove is provided on the inner side wall of the end of the second rotating part. The abutting protrusion is located in the abutting groove, and a seventh groove is provided on the outer periphery of the abutting protrusion. The seventh groove is arranged in a ring around the outer periphery of the abutting protrusion, and the stop block is located in the seventh groove. The compensation component abuts against the part of the abutting protrusion located outside the seventh groove.

[0018] Furthermore, the first rotating part is provided with a first limiting protrusion, and the end of the second rotating part is provided with a second limiting protrusion. The first limiting protrusion is on the moving stroke of the second limiting protrusion, and the first limiting protrusion can abut against the second limiting protrusion to limit the rotation angle of the second rotating part relative to the first rotating part.

[0019] According to another aspect of the present invention, a robotic arm is provided, the robotic arm including a rotary joint and a plurality of joint arms, the rotary joint being the aforementioned rotary joint, the rotary joint including a first rotating part and a second rotating part, and two adjacent joint arms being rotatably connected by the rotary joint.

[0020] According to the technical solution of this invention, the rotary joint includes a compensation component and an anti-rotation component. Both the compensation component and the anti-rotation component are movably disposed between the first rotating part and the second rotating part. The compensation component can adjust the radial clearance between the first rotating part and the second rotating part. The anti-rotation component includes a stop block and a limiting member. The stop block is disposed on the first rotating part, and the limiting member is disposed radially on the second rotating part of the rotary joint. The stop block is located on the rotational stroke of the limiting member, and the stop block and the limiting member cooperate to limit the rotation angle between the first rotating part and the second rotating part. Through the above arrangement, the anti-rotation component can reduce excessive relative rotation angle between the first rotating part and the second rotating part, thereby preventing excessive rotation of the rotary joint. When a radial wear clearance occurs between the first rotating part and the second rotating part, the compensation component can compensate for the wear clearance. This avoids increased load on the drive component and reduced movement accuracy of the robotic arm due to wobbling caused by the wear clearance between the first and second rotating parts, ensuring the stability of the rotary joint and the robotic arm, and thus extending the service life of the rotary joint and the robotic arm. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0022] Figure 1 A partial cross-sectional view from a side perspective of a rotary joint provided according to an embodiment of the present invention is shown;

[0023] Figure 2 A partial cross-sectional view from a top perspective is shown of a rotary joint provided according to an embodiment of the present invention;

[0024] Figure 3 Shown Figure 2 A magnified view of a section at point A in the middle;

[0025] Figure 4 Shown Figure 3 A magnified view of a section at point B in the middle;

[0026] Figure 5 Shown Figure 2 A magnified view of a section at point C;

[0027] Figure 6 A schematic diagram of the cooperation between the limiting rod and the locking rod according to an embodiment of the present invention is shown;

[0028] Figure 7 A schematic diagram of the abutment protrusion provided according to an embodiment of the present invention is shown;

[0029] Figure 8 A schematic diagram of the structure of a robotic arm provided according to an embodiment of the present invention is shown;

[0030] Figure 9 Shown Figure 8 A magnified view of a section at point D.

[0031] The above figures include the following reference numerals:

[0032] 10. First rotating part;

[0033] 11. Fifth groove; 12. Abutting protrusion; 122. Seventh groove;

[0034] 13. First limiting protrusion;

[0035] 20. Second rotating part; 21. First groove;

[0036] 22. First housing; 220. First through hole; 221. Second through hole; 222. Locking rod;

[0037] 23. Second shell;

[0038] 24. Third groove; 25. Fourth groove;

[0039] 26. Abutment groove; 27. Second limiting protrusion;

[0040] 30. Drive component; 31. Fixed end; 32. Output end;

[0041] 40. Compensation components; 41. Compensation parts;

[0042] 411, drive section; 4111, mounting hole;

[0043] 4112. Contact bump; 4113. Second slope;

[0044] 412. Compensation section;

[0045] 42. First elastic element;

[0046] 50. Anti-rotation component; 51. Stop block; 52. Limiting component;

[0047] 521, Limiting rod; 5211, Sixth groove;

[0048] 522. Locking block; 523. Third elastic element;

[0049] 61. First wedge block; 62. Second elastic element;

[0050] 63. Second wedge block; 631. Extrusion surface; 632. Stop surface;

[0051] 70. Rotating ring;

[0052] 71. Abutting boss; 711. First inclined plane;

[0053] 81. Oil reservoir; 82. Oil outlet; 83. Driving component;

[0054] 100. Jointed arm. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] like Figures 1 to 9As shown, this embodiment of the invention provides a rotary joint, which includes: a first rotating part 10 and a second rotating part 20, a driving assembly 30, a compensation assembly 40, and an anti-rotation assembly 50. The first rotating part 10 and the second rotating part 20 are rotatably connected. The driving assembly 30 has a fixed end 31 and an output end 32 disposed opposite to each other. The output end 32 is rotatable relative to the fixed end 31. The fixed end 31 is fixedly disposed within the first rotating part 10, and the output end 32 is fixedly disposed within the second rotating part 20. The compensation assembly 40 is movably disposed between the first rotating part 10 and the second rotating part 20, and the compensation assembly 40 is capable of adjusting the radial clearance between the first rotating part 10 and the second rotating part 20. An anti-rotation assembly 50 is movably disposed between the first rotating part 10 and the second rotating part 20. The anti-rotation assembly 50 includes a stop block 51 and a limiting member 52. The stop block 51 is disposed on the first rotating part 10, and the limiting member 52 is disposed radially along the rotating joint on the second rotating part 20. The stop block 51 is located within the rotational stroke of the limiting member 52. The stop block 51 and the limiting member 52 cooperate to limit the rotation angle between the first rotating part 10 and the second rotating part 20. The radial direction is the direction in which the diameter of the end face of the second rotating part 20 extends through the center. The axial direction is the direction in which the length of the second rotating part 20 extends. The circumferential direction is the circumferential direction of the end face of the second rotating part 20.

[0057] According to the technical solution of this invention, the rotating joint includes a compensation component 40 and an anti-rotation component 50. Both the compensation component 40 and the anti-rotation component 50 are movably disposed between the first rotating part 10 and the second rotating part 20. The compensation component 40 can adjust the radial clearance between the first rotating part 10 and the second rotating part 20. The anti-rotation component 50 includes a stop block 51 and a limiting member 52. The stop block 51 is disposed on the first rotating part 10, and the limiting member 52 is disposed radially along the rotating joint on the second rotating part 20. The stop block 51 is located within the rotational stroke of the limiting member 52. The stop block 51 and the limiting member 52 cooperate to limit the rotational angle between the first rotating part 10 and the second rotating part 20. Through the above arrangement, the anti-rotation component 50 can reduce excessive relative rotation angle between the first rotating part 10 and the second rotating part 20, thereby preventing excessive rotation of the rotating joint. When a radial wear gap appears between the first rotating part 10 and the second rotating part 20, the compensation component 40 can compensate for the wear gap. This can prevent the first rotating part 10 and the second rotating part 20 from shaking due to the wear gap, which would increase the load on the drive component and reduce the movement accuracy of the robotic arm. This ensures the stability of the rotating joint and the robotic arm, and thus extends the service life of the rotating joint and the robotic arm.

[0058] Specifically, the number of compensation components 40 and anti-rotation components 50 is not limited and can be single or multiple. In this embodiment, one anti-rotation component 50 is provided. Three compensation components 40 are provided and are evenly spaced between the first rotating part 10 and the second rotating part 20 along the circumference. This increases the contact area between the compensation components 40 and the first rotating part 10 and the second rotating part 20, and ensures that radial gaps at different positions in the circumferential direction of the first rotating part 10 and the second rotating part 20 are compensated, thereby improving the compensation effect of the compensation components 40.

[0059] In this embodiment, the movement of the compensation component 40 and the anti-rotation component 50 is not limited, and they can be made of elastic elements, telescopic elements or hydraulic cylinders.

[0060] The location of the compensation component 40 is not limited; it can be located on the first rotating part 10 or on the second rotating part 20.

[0061] like Figure 1 and Figure 2 As shown, the second rotating part 20 is sleeved on the outer periphery of the first rotating part 10. The compensation assembly 40 includes a compensation member 41, which has a connecting end and an abutting end disposed opposite to each other. The connecting end of the compensation member 41 is movably connected to the second rotating part 20, and the abutting end abuts against the first rotating part 10. By sleeved on the outer periphery of the first rotating part 10, the risk that the compensation member 41 might push the second rotating part 20 away from the first rotating part 10 when compensating for the radial wear gap between the first rotating part 10 and the second rotating part 20, thus increasing the gap between the first rotating part 10 and the second rotating part 20, can be reduced.

[0062] The specific structure of the compensation member 41 is not limited, and can be selected according to the structure of the first rotating part 10 and the second rotating part 20. Preferably, the shape of the compensation member 41 is adapted to the structure of the first rotating part 10 and the second rotating part 20, which can increase the contact area between the compensation member 41 and the first rotating part 10 and the second rotating part 20, thereby improving the compensation effect of the compensation member 41.

[0063] like Figures 1 to 4As shown, the compensation assembly 40 also includes a first elastic member 42, and the compensation member 41 includes a driving section 411 and a compensation section 412, which improves the flexibility of the compensation gap of the compensation member 41. The driving section 411 extends along the moving direction of the compensation assembly 40, and the compensation section 412 extends along the circumferential direction of the first rotating part 10, which increases the contact area between the compensation member 41 and the first rotating part 10 and ensures the stability of the contact between the compensation member 41 and the first rotating part 10. The driving section 411 and the compensation section 412 are movably connected, which further improves the flexibility of the compensation gap of the compensation member 41. The driving section 411 is connected to the inner wall of the second rotating part 20 through the first elastic member 42, and the compensation section 412 abuts against the outer wall of the first rotating part 10. The driving section 411 has a connecting end, and the compensation section 412 has an abutting end. The first elastic member 42 is used to make the compensation section 412 abut against the first rotating part 10 through the driving section 411. The above configuration is simple in structure. When there is no wear gap between the first rotating part 10 and the second rotating part 20, the first elastic element 42 is in a compressed state. When a wear gap appears between the first rotating part 10 and the second rotating part 20, the first elastic element 42 is released, thereby driving the compensation element 41 to compensate for the wear gap. The first elastic element 42 is a spring.

[0064] Specifically, the driving segment 411 can move radially relative to the second rotating part 20. A check structure exists between the second rotating part 20 and the driving segment 411, preventing the driving segment 411 from moving towards the second rotating part 20. This prevents the compensating member 41 from moving away from the second rotating part 20 due to the elastic restoring force of the first elastic member 42 after it moves towards the second rotating part 20. This arrangement ensures that the compensating member 41 can always maintain a state of compensating for the radial gap between the first rotating part 10 and the second rotating part 20, guaranteeing the stability of the gap compensation and improving the compensation effect of the compensating member 41.

[0065] In this embodiment, the specific form of the check valve structure is not limited; it can be set as a one-way hydraulic cylinder or a one-way air cylinder or other one-way telescopic component.

[0066] like Figure 3 and Figure 4As shown, a first groove 21 is provided on the side wall of the second rotating part 20. The end of the driving section 411 away from the compensation section 412 is movably disposed in the first groove 21 through the first elastic member 42. A mounting hole 4111 is provided on the side wall of the driving section 411. The check structure includes a first wedge block 61, a second elastic member 62, and a second wedge block 63. The first wedge block 61 and the second elastic member 62 are located in the mounting hole 4111. The first wedge block 61 is movably connected to the mounting hole 4111 through the second elastic member 62, so that the first wedge block 61 can retract or extend from the mounting hole 4111. The second wedge block 63 has a pressing surface 631 and a stop surface 632 arranged opposite to each other along the moving direction of the driving section 411. The first wedge block 61 cooperates with the pressing surface 631 to drive the driving section 411 to move towards the first rotating part 10. The first wedge block 61 cooperates with the stop surface 632 to restrict the driving section 411 from moving towards the second rotating part 20. The above-described structure is simple and easy to manufacture and install. The cooperation between the first wedge block 61 and the second wedge block 63 not only achieves the anti-return function, but also guides the movement direction of the drive section 411, integrating the anti-return and guiding functions and improving the practicality of the anti-return structure.

[0067] Two first wedge blocks 61 are provided, symmetrically arranged on both sides of the drive section 411 to ensure consistent driving of the drive section 411. Multiple second wedge blocks 63 are provided, corresponding to two first wedge blocks 61, and sequentially arranged on both sides of the first groove 21 along the moving direction of the drive section 411.

[0068] Specifically, when the first elastic element 42 drives the drive segment 411 to move toward the first rotating part 10, and the first wedge block 61 abuts against the pressing surface 631, the second elastic element 62 is continuously compressed, and the pressing surface 631 guides the drive segment 411. When the drive segment 411 continues to move, the first wedge block 61 separates from the pressing surface 631 of the first second wedge block 63, at which point the second elastic element 62 is released, and the drive segment 411 abuts against the pressing surface 631 and the stop surface 632 of the next second wedge block 63, thus realizing the anti-rebound and guiding functions of the anti-rebound structure.

[0069] like Figure 1 and Figure 2As shown, the second rotating part 20 includes a first housing 22 and a second housing 23. The second housing 23 is sleeved on the outer periphery of the first housing 22 and is fixedly connected to the first housing 22. The first housing 22 is provided with a first through hole 220, and the abutting end passes through the first through hole 220 to abut against the first rotating part 10. The abutting end can move circumferentially within the first through hole 220. This arrangement ensures that when there is no wear gap between the first rotating part 10 and the second rotating part 20, the compensating member 41 is located between the first housing 22 and the second housing 23.

[0070] The size of the end of the compensation segment 412 furthest from the first rotating part 10 is adapted to the size of the first through hole 220. With this configuration, when the compensation segment 412 compensates for the gap between the first rotating part 10 and the second rotating part 20, the compensation segment 412 will be located within the first through hole 220. The first through hole 220 can limit the circumferential displacement of the compensation segment 412 to ensure the stability of the compensation segment 412 in compensating for the gap between the first rotating part 10 and the second rotating part 20. This can further improve the compensation effect of the compensation component 40.

[0071] like Figure 2 As shown, the rotating joint also includes a rotating ring 70. A second groove is provided on the inner wall of the second rotating part 20, and the second groove is arranged in a ring around the inner circumference of the second rotating part 20. The rotating ring 70 is movably disposed in the second groove in the circumferential direction. The compensation component 40 and the anti-rotation component 50 are both movably connected to the rotating ring 70. Through the above arrangement, the flexibility of movement of the compensation component 40 and the anti-rotation component 50 is improved. Specifically, the second groove is provided on the second housing 23.

[0072] like Figures 1 to 3As shown, the rotating ring 70 is provided with an abutment boss 71, and the second rotating part 20 is provided with a third groove 24 on the side wall facing the first rotating part 10. The abutment boss 71 is movably disposed in the third groove 24. The abutment boss 71 has a first straight surface and a first inclined surface 711 arranged sequentially along the axial direction. The driving section 411 is provided with an abutment protrusion 4112. The abutment protrusion 4112 has a second inclined surface 4113 and a second straight surface arranged sequentially along the moving direction. The first straight surface and the second straight surface cooperate with each other to guide the driving section 411 to move axially. Along the direction close to the first rotating part 10, the distance between the first inclined surface 711 and the driving section 411 gradually increases, and the distance between the second inclined surface 4113 and the driving section 411 gradually increases. With the above configuration, when there is no radial wear gap between the first rotating part 10 and the second rotating part 20, the first straight surface and the second straight surface abut together. At this time, the rotating ring 70 cannot rotate relative to the second housing 23. The rotating ring 70, the second housing 23, and the first housing 22 can rotate synchronously, and the compensation member 41 cannot move in the circumferential direction. When a radial wear gap appears between the first rotating part 10 and the second rotating part 20, the compensation member 41 will rotate back towards the first rotating part 10, and the first straight surface will slide against the second straight surface. After the first straight surface separates from the second straight surface, the rotating ring 70 can rotate relative to the second housing 23 to ensure that part of the first inclined surface 711 can abut against part of the second inclined surface 4113, thereby guiding the movement direction of the compensation member 41.

[0073] like Figures 1 to 5As shown, the second rotating part 20 is provided with a fourth groove 25, which is disposed on the second housing 23. The first housing 22 has a second through hole 221. The limiting member 52 is disposed through both the fourth groove 25 and the second through hole 221. The rotating ring 70 can drive the limiting member 52 to move within the fourth groove 25 and the second through hole 221. The first rotating part 10 also has a fifth groove 11, which is located at the end of the stop block 51. The limiting member 52 can abut against the fifth groove 11. The limiting member 52 has a first locking state and a second locking state that are arranged opposite to each other. When the limiting member 52 is in the first locking state, there is no radial gap between the first rotating part 10 and the second rotating part 20. Rotating ring 70 will not rotate relative to the second rotating part 20. The limiting member 52 abuts against the stop block 51. When the limiting member 52 is in the second locked state, there is a radial gap between the first rotating part 10 and the second rotating part 20, and rotating ring 70 will rotate relative to the second rotating part 20. The limiting member 52 abuts against the stop block 51, and the end of the limiting member 52 is located within the fifth groove 11. The limiting member 52 restricts the rotation angle between the first rotating part 10 and the rotating ring 70 through the first locked state, and restricts the rotation angle between the first rotating part 10 and the second rotating part 20 through the second locked state. Through the above arrangement, the limiting member 52 can restrict the rotation angle between the first rotating part 10 and the second rotating part 20 when there is no radial gap; and it can still restrict the rotation angle between the first rotating part 10 and the second rotating part 20 when a radial gap exists between them. Regardless of whether there is a radial clearance between the first rotating part 10 and the second rotating part 20, the anti-rotation component 50 can limit the rotation angle between them, ensuring the normal operation of the rotating joint and the robotic arm and preventing damage to the components. This improves the stability and reliability of the anti-rotation component 50.

[0074] Specifically, there are two fifth grooves 11, which are respectively located near the ends of the two sides of the stop block 51 to limit the clockwise and counterclockwise rotation angles of the rotating joint.

[0075] The limiting member 52 includes a limiting rod 521, a locking block 522, and a third elastic member 523. The limiting rod 521 has a sixth groove 5211. The locking block 522 is movably disposed in the sixth groove 5211 through the third elastic member 523. A locking rod 222 is disposed on the first housing 22. The locking rod 222 is disposed circumferentially on the side wall of the second through hole 221. The locking rod 222 passes through the limiting rod 521 and the locking block 522. The locking rod 222 has a locking position and a clearance position disposed opposite to each other in the radial direction. When the limiting member 52 is in the first locking state, the locking rod 222 is located in the locking position. The locking rod 222 passes through the limiting rod 521 and the locking block 522. When the limiting rod 521 abuts against the stop block 51, the first rotating part 10 and the second rotating part 20 cannot rotate. When the limiting member 52 is in the second locking state, when the limiting rod 521 abuts against the stop block 51, the first housing 22 can rotate relative to the rotating ring 70. At this time, the first housing 22 can drive the locking rod 222 to be pulled out from the limiting rod 521 and the locking block 522. The third elastic member 523 drives the locking block 522 to abut against the fifth groove 11 so that the locking rod 222 is in the avoidance position, and the first rotating part 10 and the second rotating part 20 cannot rotate.

[0076] In this application, two locking blocks 522, two sixth grooves 5211, and two locking rods 222 are respectively provided along the axial direction, with the two locking rods 222 respectively located on both sides of the limiting rod 521. This arrangement ensures that when one locking rod 222 is pulled out from the limiting rod 521 and the locking block 522, the other locking rod 222 will also prevent both locking blocks 522 from simultaneously entering the fifth groove 11 within the limiting rod 521 and the locking block 522.

[0077] Specifically, the anti-rotation assembly 50 can still achieve clockwise or counterclockwise anti-rotation function even when there is a radial gap between the first rotating part 10 and the second rotating part 20. The third elastic element 523 is set as a spring, which is simple in structure and saves costs.

[0078] The compensation component 40 also includes a lubrication section disposed within the abutment end, which provides lubricating oil between the abutment end and the first rotating part 10. When rust appears on the abutment end of the compensation component 40, it increases the friction between the compensation component 40 and the first rotating part 10, affecting the smoothness of rotation between the first rotating part 10 and the second rotating part 20, and consequently impacting the normal operation of the robotic arm. This application addresses this issue by providing a lubrication section, which provides lubricating oil to the compensation component 40 and the first rotating part 10, reducing the friction between them and allowing the compensation component 40 to rotate normally with the second rotating part 20, thereby ensuring the normal operation of the rotating joint and the robotic arm.

[0079] like Figure 3As shown, the lubrication unit includes an oil reservoir 81, an oil outlet 82, and a driving member 83. The oil reservoir 81 is located within the abutment end. The oil outlet 82 is located on the end face of the abutment end facing the first rotating part 10, and communicates with the oil reservoir 81. The driving member 83 is located on the side of the abutment end facing the sidewall of the first through hole 220. One end of the driving member 83 communicates with the oil reservoir, and when the other end of the driving member 83 abuts against the sidewall of the first through hole 220, the driving member 83 drives the lubricating oil in the oil reservoir 81 to flow out from the oil outlet 82. This configuration is simple in structure, placing the lubrication unit inside the compensation section 412, avoiding the lubrication unit occupying extra space, improving space utilization, and enhancing the rationality and compactness of the component design.

[0080] The oil storage chamber 81 and the driving component 83 are both present in pairs, respectively located on both sides of the compensation section 412. This ensures that whether the second rotating part 20 moves clockwise or counterclockwise relative to the compensation section 412, the corresponding driving component 83 can drive the lubricating oil to flow out. A flow channel exists between the oil outlet 82 and the oil storage chamber 81. In this embodiment, the specific structure of the driving component 83 is not limited; it can be composed of components such as a cylinder, piston rod, and pump head, as long as it can drive the lubricating oil in the oil storage chamber 81 to be discharged from the oil outlet 82 when the driving component 83 is compressed. This is prior art and will not be elaborated further here.

[0081] The first rotating part 10 has an abutment protrusion 12 on its outer side wall, and the second rotating part 20 has an abutment groove 26 on its inner side wall. The abutment protrusion 12 is located within the abutment groove 26. A seventh groove 122 is provided around the outer periphery of the abutment protrusion 12. The seventh groove 122 is circumferentially arranged around the outer periphery of the abutment protrusion 12. A stop block 51 is located within the seventh groove 122. The compensation component 40 abuts against the portion of the abutment protrusion 12 outside the seventh groove 122. Through the above arrangement, the abutment protrusion 12 and the abutment groove 26 can limit the axial relative position of the first rotating part 10 and the second rotating part 20, thereby ensuring the stability of the rotation between the first rotating part 10 and the second rotating part 20.

[0082] Specifically, the abutment groove 26 is provided on the second housing 23. The first through hole 220 and the second through hole 221 are both provided on the abutment groove 26.

[0083] like Figure 1 , Figure 2 and Figure 9As shown, in another embodiment of this application, a first limiting protrusion 13 is provided on the first rotating part 10, and a second limiting protrusion 27 is provided at the end of the second rotating part 20. The first limiting protrusion 13 abuts against the second limiting protrusion 27 during the movement stroke of the second limiting protrusion 27, thereby limiting the rotation angle of the second rotating part 20 relative to the first rotating part 10. Through the above arrangement, the rotation angle of the second rotating part 20 relative to the first rotating part 10 can be limited. Combined with the anti-rotation component 50, the anti-rotation effect of the rotating joint can be further improved, enhancing the stability and reliability of the rotating joint's operation.

[0084] In this application, the anti-rotation angle of the rotary joint is not limited; it can be selected according to the actual working conditions. The rotation angle that the first limiting protrusion 13 and the second limiting protrusion 27 can limit can be the same as the anti-rotation angle of the anti-rotation component 50. If one component is damaged, the other component can stop the rotation of the rotary joint, ensuring the anti-rotation effect and stability of the rotary joint.

[0085] According to yet another embodiment of the present invention, in combination with Figure 1 , Figure 2 and Figure 8 As shown, a robotic arm is provided, comprising a rotary joint and multiple articulated arms 100. The rotary joint is the one provided in the above embodiment, comprising a first rotating part 10 and a second rotating part 20. Adjacent articulated arms 100 are rotatably connected via the rotary joint. Specifically, one articulated arm 100 is connected to the first rotating part 10, and the other adjacent articulated arm 100 is connected to the second rotating part 20. The above-mentioned rotary joint effectively addresses the problem of the limited functionality of existing rotary joints, which affects the service life of the robotic arm. By setting a compensation component 40 and an anti-rotation component 50, excessive rotation of the rotary joint can be avoided, and radial clearance between the rotary joint components can be compensated, ensuring the stability of the rotary joint rotation and thus extending its service life. The robotic arm with the rotary joint provided in the above embodiment also has the above advantages.

[0086] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0087] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0088] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0089] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0090] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0091] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rotary joint, characterized in that, The rotary joint includes: A first rotating part (10) and a second rotating part (20) are rotatably connected; The drive assembly (30) has a fixed end (31) and an output end (32) disposed opposite to each other. The output end (32) is rotatable relative to the fixed end (31). The fixed end (31) is fixedly disposed in the first rotating part (10), and the output end (32) is fixedly disposed in the second rotating part (20). A compensation component (40) is movably disposed between the first rotating part (10) and the second rotating part (20), and the compensation component (40) is capable of adjusting the radial clearance between the first rotating part (10) and the second rotating part (20); An anti-rotation assembly (50) is movably disposed between the first rotating part (10) and the second rotating part (20). The anti-rotation assembly (50) includes a stop (51) and a limiting member (52). The stop (51) is disposed on the first rotating part (10), and the limiting member (52) is disposed on the second rotating part (20) radially along the rotating joint. The stop (51) is located on the rotation stroke of the limiting member (52). The stop (51) and the limiting member (52) cooperate to limit the rotation angle between the first rotating part (10) and the second rotating part (20). The second rotating part (20) is sleeved on the outer periphery of the first rotating part (10). The compensation component (40) includes a compensation member (41). The compensation member (41) has a connecting end and an abutting end that are disposed opposite to each other. The connecting end of the compensation member (41) is movably connected to the second rotating part (20), and the abutting end abuts against the first rotating part (10). The compensation component (40) further includes a first elastic element (42). The compensation component (41) includes a driving segment (411) and a compensation segment (412). The driving segment (411) extends along the moving direction of the compensation component (40), and the compensation segment (412) extends along the circumferential direction of the first rotating part (10). The driving segment (411) and the compensation segment (412) are movably connected. The driving segment (411) is connected to the inner wall of the second rotating part (20) through the first elastic element (42). The compensation segment (412) abuts against the outer wall of the first rotating part (10). The driving segment (411) has the connecting end, and the compensation segment (412) has the abutting end. The first elastic element (42) uses the driving segment (411) to make the compensation segment (412) abut against the first rotating part (10). The drive section (411) is capable of radial movement relative to the second rotating part (20), and there is a check structure between the second rotating part (20) and the drive section (411), which can prevent the drive section (411) from moving toward the second rotating part (20).

2. The rotary joint according to claim 1, characterized in that, A first groove (21) is provided on the side wall of the second rotating part (20). One end of the driving section (411) away from the compensation section (412) is movably disposed in the first groove (21) through the first elastic member (42). A mounting hole (4111) is provided on the side wall of the driving section (411). The check structure includes a first wedge (61), a second elastic member (62), and a second wedge (63). The first wedge (61) and the second elastic member (62) are located in the mounting hole (4111). The first wedge (61) is disposed in the second elastic member (43). 62) It is movably connected to the mounting hole (4111) so that the first wedge block (61) can retract or extend from the mounting hole (4111). The second wedge block (63) has a pressing surface (631) and a stop surface (632) arranged opposite to each other along the moving direction of the drive section (411). The first wedge block (61) cooperates with the pressing surface (631) to drive the drive section (411) to move toward the first rotating part (10). The first wedge block (61) cooperates with the stop surface (632) to restrict the drive section (411) from moving toward the second rotating part (20).

3. The rotary joint according to claim 1, characterized in that, The second rotating part (20) includes a first housing (22) and a second housing (23). The second housing (23) is sleeved on the outer periphery of the first housing (22). The second housing (23) is fixedly connected to the first housing (22). The first housing (22) is provided with a first through hole (220). The abutting end passes through the first through hole (220) and abuts against the first rotating part (10). The abutting end can move circumferentially within the first through hole (220).

4. The rotary joint according to claim 3, characterized in that, The rotating joint also includes a rotating ring (70). A second groove is provided on the inner wall of the second rotating part (20). The second groove is arranged in a ring around the inner circumference of the second rotating part (20). The rotating ring (70) is movably arranged in the second groove in the circumferential direction. The compensation component (40) and the anti-rotation component (50) are both movably connected to the rotating ring (70).

5. The rotary joint according to claim 4, characterized in that, The rotating ring (70) is provided with an abutment boss (71), and the second rotating part (20) is provided with a third groove (24) on the side wall facing the first rotating part (10). The abutment boss (71) is movably disposed in the third groove (24). The abutment boss (71) has a first straight surface and a first inclined surface (711) arranged sequentially along the axial direction. The driving section (411) is provided with an abutment protrusion (4112). The abutment protrusion (4112) has a second inclined surface (4113) and a second straight surface arranged sequentially along the moving direction. The first straight surface and the second straight surface cooperate with each other to guide the driving section (411) to move axially. Along the direction close to the first rotating part (10), the distance between the first inclined surface (711) and the driving section (411) gradually increases, and the distance between the second inclined surface (4113) and the driving section (411) gradually increases.

6. The rotary joint according to claim 4, characterized in that, The second rotating part (20) is provided with a fourth groove (25), and the first housing (22) has a second through hole (221). The limiting member (52) is provided through both the fourth groove (25) and the second through hole (221). The rotating ring (70) can drive the limiting member (52) to move within the fourth groove (25) and the second through hole (221). The first rotating part (10) also has a fifth groove (11). The fifth groove (11) is located at the end of the stop block (51). The limiting member (52) can abut against the fifth groove (11). The limiting member (52) has a first groove that is relatively disposed on the first groove. In the first locking state and the second locking state, when the limiting member (52) is in the first locking state, the limiting member (52) abuts against the stop (51). When the limiting member (52) is in the second locking state, the limiting member (52) abuts against the stop (51) and the end of the limiting member (52) is located in the fifth groove (11). The limiting member (52) restricts the rotation angle between the first rotating part (10) and the rotating ring (70) through the first locking state. The limiting member (52) restricts the rotation angle between the first rotating part (10) and the second rotating part (20) through the second locking state.

7. The rotary joint according to claim 6, characterized in that, The limiting member (52) includes a limiting rod (521), a locking block (522), and a third elastic member (523). The limiting rod (521) has a sixth groove (5211). The locking block (522) is movably disposed in the sixth groove (5211) by means of the third elastic member (523). A locking rod (222) is disposed on the first housing (22). The locking rod (222) is disposed circumferentially on the side wall of the second through hole (221). The locking rod (222) passes through the limiting rod (521) and the locking block (522). The locking lever (222) is configured to have a locking position and a clearance position arranged opposite to each other in the radial direction. When the limiting member (52) is in the first locking state, the locking lever (222) is in the locking position. When the limiting member (52) is in the second locking state, the first housing (22) drives the locking lever (222) to be pulled out from the limiting lever (521) and the locking block (522). The third elastic member (523) drives the locking block (522) to abut against the fifth groove (11) so that the locking lever (222) is in the clearance position.

8. The rotary joint according to claim 3, characterized in that, The compensation component (40) further includes a lubrication part disposed within the abutment end, the lubrication part being capable of providing lubricating oil between the abutment end and the first rotating part (10).

9. The rotary joint according to claim 8, characterized in that, The lubrication part includes: The oil storage chamber (81) is located inside the abutting end; An oil outlet (82) is provided on the end face of the abutment end facing the first rotating part (10), and the oil outlet (82) is connected to the oil storage cavity (81); A drive member (83) is disposed on the side of the abutting end facing the sidewall of the first through hole (220). One end of the drive member (83) is connected to the oil cavity. When the other end of the drive member (83) abuts against the sidewall of the first through hole (220), the drive member (83) can drive the lubricating oil in the oil storage cavity (81) to flow out from the oil outlet (82).

10. The rotary joint according to claim 1, characterized in that, An abutting protrusion (12) is provided on the outer side wall of the end of the first rotating part (10), and an abutting groove (26) is provided on the inner side wall of the end of the second rotating part (20). The abutting protrusion (12) is located in the abutting groove (26). A seventh groove (122) is provided on the outer periphery of the abutting protrusion (12). The seventh groove (122) is arranged in a ring around the outer periphery of the abutting protrusion (12). The stop block (51) is located in the seventh groove (122). The compensation component (40) abuts against the part of the abutting protrusion (12) located outside the seventh groove (122).

11. The rotary joint according to claim 1, characterized in that, The first rotating part (10) is provided with a first limiting protrusion (13), and the end of the second rotating part (20) is provided with a second limiting protrusion (27). The first limiting protrusion (13) can abut against the second limiting protrusion (27) during the movement stroke of the second limiting protrusion (27) to limit the rotation angle of the second rotating part (20) relative to the first rotating part (10).

12. A robotic arm, characterized in that, The robotic arm includes a rotary joint and a plurality of joint arms (100). The rotary joint is any one of the rotary joints in claims 1 to 11 above. The rotary joint includes a first rotating part (10) and a second rotating part (20). Two adjacent joint arms (100) are rotatably connected through the rotary joint.

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