Robot and joint device

Abstract

The invention relates to a robot and a joint device. The robot comprises a base, the joint device and a load. The joint device comprises a first joint supporting mechanism connected to the base; the first joint mechanism comprises a first driving assembly and a swing arm assembly, and the swing arm assembly can swing around the first axis relative to the first joint supporting mechanism under the driving of the first driving assembly; the second joint supporting mechanism can synchronously swing along with the swing arm assembly; the second joint mechanism comprises a second driving assembly and a rotating shaft assembly, the rotating shaft assembly is configured to be capable of circumferentially rotating around a second axis under the driving of the second driving assembly, and the second axis is perpendicular to the first axis; the load is connected to the rotating shaft assembly and can synchronously move along with the rotating shaft assembly; the rotating shaft assembly is rotatably arranged on the second joint supporting mechanism and can synchronously swing along with the swing arm assembly. According to the robot and the joint device provided by the embodiment of the invention, the joint device can be rotated and adjusted in a pitching manner, and the structure is compact.

Description

Technical Field

[0001] The present disclosure relates to the technical field of connecting joints, and in particular to a robot and a joint device. Background Art

[0002] In the structural design of electronic or mechanical devices, when two components are configured to move relative to each other, a joint device can be provided at the connection between the two components. The joint device can include a pitch joint device and a rotation joint device. How to integrate a rotation joint component and a pitch joint component into a joint device at the same time, with a relatively simple integrated structure and a high degree of integration, is one of the important issues that need to be solved at present. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present disclosure provides a robot and a joint device.

[0004] According to a first aspect of the present disclosure, the present disclosure provides a robot, the robot comprising a base, a joint device and a load; the joint device comprises:

[0005] A first joint support mechanism connected to the base;

[0006] A first joint mechanism, comprising a first drive assembly and a swing arm assembly, wherein the swing arm assembly is movably connected to the first joint support mechanism and can swing around a first axis relative to the first joint support mechanism under the drive of the first drive assembly;

[0007] A second joint support mechanism is connected to the swing arm assembly and can swing synchronously with the swing arm assembly; and

[0008] The second joint mechanism includes a second drive component and a shaft component, wherein the shaft component is configured to rotate circumferentially around a second axis under the drive of the second drive component, and the second axis is perpendicular to the first axis; the load is connected to the shaft component and can move synchronously with the shaft component; the shaft component is rotatably disposed on the second joint support mechanism, and can swing synchronously with the swing arm component.

[0009] In one embodiment of the present disclosure, the first driving assembly comprises:

[0010] a rack member, the rack member having a concave arc-shaped tooth profile, the rack member being connected to the first joint supporting mechanism;

[0011] a first gear member, the first gear member being meshed with the rack member so that the first gear member can make an arc motion along the concave arc-shaped tooth profile when rotating circumferentially; and

[0012] a first power member, the first power member being configured to drive the first gear member to rotate circumferentially;

[0013] Among them, the middle part of the swing arm assembly is hinged to the first joint support mechanism, one end of the swing arm assembly is connected to the first gear component, and can make circular arc motion synchronously with the first gear component, so that the other end of the swing arm assembly can swing.

[0014] In one embodiment of the present disclosure, the first drive assembly further includes: a first transmission member, which is transmission-connected between the first power member and the first gear member to transmit the rotational torque of the first power member to the first gear member.

[0015] In one embodiment of the present disclosure, the output end of the first power member is configured as a first worm; the first transmission member comprises:

[0016] a transmission shaft arranged parallel to the first axis; and

[0017] The second gear member, the first gear member and the second gear member are both arranged on the transmission shaft and can rotate synchronously with the transmission shaft, the second gear member is configured as a turbine and meshes with the first worm to transmit the rotational torque of the first power member to the first gear member.

[0018] In one embodiment of the present disclosure, the first driving assembly further includes:

[0019] a first connecting member, the first power member being mounted on the first connecting member; and

[0020] At least two bearing seats are axially spaced apart from each other along the transmission shaft, at least two of the bearing seats are mounted on the first connecting member, and the transmission shaft is respectively mounted on the at least two bearing seats through bearings so that the position of the transmission shaft is limited by the at least two bearing seats.

[0021] In one embodiment of the present disclosure, the first connecting member, the bearing seat, the first power member and the transmission shaft can all perform circular motion synchronously with the first gear member, and the first connecting member is hinged to one end of the swing arm assembly to drive the other end of the swing arm assembly to perform circular motion.

[0022] In one embodiment of the present disclosure, the transmission shaft is provided with two axial limiting structures spaced apart along the axial direction thereof; the second gear member is located between the two axial limiting structures, and an elastic member is abutted against at least one of the axial limiting structures.

[0023] In one embodiment of the present disclosure, the swing arm assembly includes at least one connecting rod swing arm unit, each of the connecting rod swing arm units includes:

[0024] a swing plate member disposed perpendicular to the first axis and having one end connected to the first driving assembly; and

[0025] A four-link component, which includes a first link, a second link, a third link and a fourth link hinged in sequence end to end, the first link, the third link, the second link and the fourth link are all arranged parallel to the swing plate component, and the first link and the third link are arranged approximately parallel to the second axis, the middle part of at least one of the second link and the fourth link is hinged to the middle part of the swing plate component, and the first link and the third link are hinged to the second joint support mechanism.

[0026] In one embodiment of the present disclosure, the first joint mechanism further includes:

[0027] A first magnetic member, provided on one of the swing plate member and the four-bar connecting member;

[0028] a first magnetic encoder provided on the other of the swing plate member and the four-bar linkage member;

[0029] Wherein, as the swing arm assembly swings, the first magnetic component and the first magnetic encoder can rotate relative to each other.

[0030] In one embodiment of the present disclosure, the second joint assembly further includes:

[0031] The swing arm assembly includes two connecting rod swing arm units, the two connecting rod swing arm units are arranged spaced apart in the extension direction of the first axis, the two connecting rod swing arm units are connected to each other and can move synchronously; wherein the second joint support mechanism includes two supporting seats spaced apart along the second axis, the rotating shaft assembly includes a rotating spindle, the rotating spindle is rotatably supported on the two supporting seats through bearings, and the two supporting seats are connected between the two connecting rod swing arm units.

[0032] In one embodiment of the present disclosure, the shaft assembly includes a rotating main shaft; the second drive assembly includes:

[0033] A third gear member, the third gear member is coaxially arranged with the rotating main shaft and can rotate relatively thereto, and the third gear member is provided with gear teeth in a circumferential direction;

[0034] a second transmission member meshing with the circumferential gear teeth of the third gear member; and

[0035] a second power component, the second power component being transmission-connected to the third gear component via the second transmission component;

[0036] Wherein, the second power component is connected to the rotating main shaft; when the second power component is configured to output rotational power, it drives itself to perform circular motion along the circumference of the third gear component to drive the rotating main shaft to rotate.

[0037] In one embodiment of the present disclosure, the second power component is further configured to be relatively locked with the third gear component when no rotational power is output.

[0038] In one embodiment of the present disclosure, the output end of the second power component is configured as a second worm; the second transmission component includes a fourth gear component, the first-stage teeth of the fourth gear component are configured as a turbine and mesh with the second worm.

[0039] In one embodiment of the present disclosure, the second joint mechanism also includes a damping assembly for hindering the circumferential rotation of the third gear member, and the damping assembly includes: a first friction plate and a second friction plate arranged on the rotating main shaft; wherein the first friction plate is fixedly connected to the third gear member and can rotate circumferentially relative to the rotating main shaft; the second friction plate is connected to the second joint support mechanism and is circumferentially locked by the second joint support mechanism; the first friction plate and the second friction plate are frictionally matched.

[0040] In one embodiment of the present disclosure, the second friction plate is configured to be axially movable relative to the second joint support mechanism; the damping assembly also includes a damper, one end of which is limited by a stop, and the other end abuts against the second friction plate to apply a thrust directed toward the first friction plate to the second friction plate.

[0041] In one embodiment of the present disclosure, the shaft assembly comprises:

[0042] a rotating spindle rotatably connected to the second joint supporting mechanism;

[0043] A second connecting member connected to the load; and

[0044] A third connecting member, the second power member is installed on the third connecting member, the second connecting member and the third connecting member are both fixedly connected to the rotating main shaft to rotate synchronously with the rotating main shaft, and the installation position of the second power member is set away from the axis of the rotating main shaft.

[0045] According to a second aspect of the present disclosure, there is provided a joint device, comprising:

[0046] A first joint support mechanism, used to be connected to the base;

[0047] A first joint mechanism, comprising a first drive assembly and a swing arm assembly, wherein the swing arm assembly is movably connected to the first joint support mechanism and can swing around a first axis relative to the first joint support mechanism under the drive of the first drive assembly;

[0048] A second joint support mechanism is connected to the swing arm assembly and can swing synchronously with the swing arm assembly; and

[0049] The second joint mechanism comprises a second drive assembly and a rotating shaft assembly, wherein the rotating shaft assembly is configured to be rotatable around a second axis under the drive of the second drive assembly, and the second axis is perpendicular to the first axis; wherein,

[0050] The rotating shaft assembly is rotatably disposed on the second joint support mechanism to swing synchronously with the swing arm assembly; the rotating shaft assembly is used to connect a load to drive the load to move synchronously with the rotating shaft assembly.

[0051] A beneficial effect of the present disclosure is that the robot provided by the embodiment of the present disclosure includes a joint device, and the joint device includes a first joint support mechanism, a first joint mechanism, a second joint support mechanism and a second joint mechanism. The first joint mechanism is supported by the first joint support mechanism and fixed to the base, and the swing arm assembly in the first joint mechanism can swing around the first axis relative to the first joint support mechanism under the drive of the first drive assembly; the second joint mechanism is supported by the second joint support mechanism and fixed to the swing arm assembly, and when the swing arm assembly swings, it can drive the second joint support mechanism to swing, and then drive the second joint mechanism as a whole to swing with the swing arm assembly; the rotating shaft assembly on the second joint mechanism can rotate relative to the second joint support mechanism under the drive of the second drive assembly, and the load is connected to the rotating shaft assembly.

[0052] In this way, when the shaft assembly rotates circumferentially around the second axis, it can drive the load to rotate to realize the rotation function of the joint device; when the swing arm assembly swings relative to the first joint support mechanism, it can drive the second joint support mechanism to swing synchronously, and then drive the shaft assembly to swing with the load to realize the pitch function of the joint device, and the first axis and the second axis are perpendicular to each other, thereby realizing a dual-degree-of-freedom design that integrates pitch and rotation functions in the same joint device, thereby improving the movement flexibility of the joint device.

[0053] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0055] Figure 1 is a schematic diagram of the assembly structure of a joint device provided by an embodiment of the present disclosure;

[0056] Figure 2 is a schematic diagram of the exploded structure of a joint device provided by an embodiment of the present disclosure;

[0057] Figure 3 is a schematic diagram of the assembly structure of a first joint mechanism in a joint device provided in an embodiment of the present disclosure;

[0058] Figure 4 is a schematic diagram of the exploded structure of a second joint mechanism in a joint device provided in an embodiment of the present disclosure;

[0059] Figure 5 is a schematic diagram of the assembly structure of a second joint mechanism in a joint device provided in an embodiment of the present disclosure;

[0060] Figure 6 is a schematic cross-sectional structure diagram of a joint device provided by an embodiment of the present disclosure;

[0061] Figure 7 is a schematic structural diagram of a second friction plate in a joint device provided in an embodiment of the present disclosure;

[0062] Figure 8 is a structural schematic diagram of a first transmission component in a joint device provided in an embodiment of the present disclosure;

[0063] Fig. 9 It is a schematic diagram of the exploded structure of the first transmission assembly and the first power assembly in the joint device provided in one embodiment of the present disclosure.

[0064] Figures 1 to 9 The one-to-one correspondence between the component names and the reference numerals is as follows:

[0065] 1. First joint support mechanism; 11. First fixed side plate; 12. Second fixed side plate; 13. First connecting plate; 14. Second connecting plate; 2. First joint mechanism; 3. Second joint support mechanism; 4. Second joint mechanism; 5. Control panel; 21. First drive assembly; 211. Rack member; 212. First gear member; 213. First power member; 214. First transmission member; 214a. Transmission shaft; 214b. Second gear member; 214c, axial limit structure; 214d, retaining spring; 214e, spring; 215, first connecting member; 215a, connecting column; 216, bearing seat; 217, first box member; 22, swing arm assembly; 22A, connecting rod swing arm unit; 221, swing plate member; 222, four-link member; 222a, first connecting rod; 222b, second connecting rod; 222c, third connecting rod; 222d, fourth connecting rod; 22 3. connecting rod connecting plate; 23. first magnetic member; 24. first magnetic encoder; 25. stud; 31. front support seat; 311. embedding groove; 312. mounting column; 32. rear support seat; 33. bearing stopper; 41. second drive assembly; 411. third gear member; 412. second power member; 421. rotating main shaft; 422. first bearing; 423. second bearing; 424. second transmission member; 424a. fourth Gear member; 424b, fifth gear member; 424b', first-stage teeth; 424b", second-stage teeth; 426, second connecting member; 427, third connecting member; 427a, opening; 428, third bearing; 429, second box member; 43, damping assembly; 431, first friction plate; 432, second friction plate; 432a, groove portion; 432b, limiting protrusion; 433, damper; 434, damping spring. DETAILED DESCRIPTION

[0066] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0067] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0068] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0069] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0070] The specific embodiments of the present disclosure are described below in conjunction with the accompanying drawings.

[0071] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0072] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0073] Before describing in detail the robot and joint device provided by the embodiments of the present disclosure, it is necessary to describe the related technologies as follows:

[0074] In robots used in educational, household or commercial fields, the relative movement between two parts is achieved by setting a joint device. For example, a load is connected to the joint device, and the pitch angle or rotation angle of the load is adjusted by the joint device. The joint device generally adopts a gear transmission structure to achieve its rotation or pitch function. The gear transmission structure has high requirements for assembly and installation accuracy, and the overall size is large and the weight is also heavy.

[0075] The embodiments of the present disclosure provide a robot and a joint device, which can reasonably integrate pitch and rotation joint mechanisms in the same joint device, thereby improving the movement flexibility of the joint device.

[0076] The robot provided by the embodiment of the present disclosure includes a base, a joint device and a load. The joint device includes: a first joint support mechanism, a first joint mechanism, a second joint support mechanism and a second joint mechanism, wherein the first joint support mechanism is connected to the base; the first joint mechanism includes a first drive assembly and a swing arm assembly, wherein the swing arm assembly is movably connected to the first joint support mechanism and can swing around a first axis relative to the first joint support mechanism under the drive of the first drive assembly; the second joint support mechanism is connected to the swing arm assembly and can swing synchronously with the swing arm assembly; the second joint mechanism includes a second drive assembly and a rotating shaft assembly, wherein the rotating shaft assembly is configured to rotate circumferentially around a second axis under the drive of the second drive assembly, wherein the second axis is perpendicular to the first axis; the load is connected to the rotating shaft assembly and can move synchronously with the rotating shaft assembly; the rotating shaft assembly is rotatably arranged on the second joint support mechanism and can swing synchronously with the swing arm assembly.

[0077] The joint device of the robot provided in the embodiment of the present disclosure includes a first joint support mechanism, a first joint mechanism, a second joint support mechanism and a second joint mechanism. The first joint mechanism is supported by the first joint support mechanism and fixed on the base. The swing arm assembly in the first joint mechanism can swing around the first axis relative to the first joint support mechanism under the drive of the first drive assembly; the second joint mechanism is supported by the second joint support mechanism and fixed on the swing arm assembly. When the swing arm assembly swings, it can drive the second joint support mechanism to swing, and then drive the second joint mechanism as a whole to swing with the swing arm assembly; the rotating shaft assembly on the second joint mechanism can rotate relative to the second joint support mechanism under the drive of the second drive assembly, and the load is connected to the rotating shaft assembly.

[0078] In this way, when the shaft assembly rotates circumferentially around the second axis, it can drive the load to rotate to realize the rotation function of the joint device; when the swing arm assembly swings relative to the first joint support mechanism, it can drive the second joint support mechanism to swing synchronously, and then drive the shaft assembly to swing with the load to realize the pitch function of the joint device, and the first axis and the second axis are perpendicular to each other, thereby realizing a dual-degree-of-freedom design that integrates pitch and rotation functions in the same joint device, thereby improving the movement flexibility of the joint device.

[0079] For ease of understanding, refer to Figures 1 to 9 , the specific structure and working principle of the robot and joint device disclosed in the present invention are explained in detail in combination with an embodiment.

[0080] The robot provided by the embodiment of the present disclosure includes: a base, a joint device and a load. The base can be used as a basic carrier of the joint device in the robot, and plays a bearing role for other parts of the joint device.

[0081] Please refer to Figure 1 The joint device may include: a first joint supporting mechanism 1 , a first joint mechanism 2 , a second joint supporting mechanism 3 and a second joint mechanism 4 .

[0082] The first joint support mechanism 1 is connected to the base, and the base supports and fixes the first joint support mechanism 1 to limit the movement of the first joint support mechanism 1. In other words, the first joint support mechanism 1 can be relatively stationary with the base, so that the first joint support mechanism 1 serves as the basic carrier of the entire joint device, and plays a role in bearing and protecting the first joint mechanism 2, the second joint support mechanism 3, and the second joint mechanism 4 in the joint device.

[0083] Please combine Figures 1 to 3The first joint mechanism 2 includes a first driving component 21 and a swing arm component 22. The first driving component 21 is used to provide driving force for the swing arm component 22. The swing arm component 22 is movably connected to the first joint support mechanism 1, and driven by the first driving component 21, it can swing around the first axis X relative to the first joint support mechanism 1. In other words, since the first joint support mechanism 1 and the base can be relatively static, the swing arm component 22 can swing around the first axis X relative to the first joint support mechanism 1 under the drive of the first driving component 21, that is, the swing arm component 22 can swing relative to the base, so that a load is connected to the swing arm component 22, and the pitch angle of the load can be adjusted by adjusting the swing angle of the swing arm component 22.

[0084] The second joint support mechanism 3 serves as a carrier of the second joint mechanism 4, and it carries and protects the second joint mechanism 4. The second joint mechanism 4 includes a second drive assembly 41 and a shaft assembly, and the shaft assembly is configured to be rotatable around a second axis Y relative to the second joint support mechanism 3 under the drive of the second drive assembly 41. The second axis Y is the axis of the shaft assembly itself.

[0085] The second joint support mechanism 3 is connected to the swing arm assembly 22, and the shaft assembly is rotatably disposed on the second joint support mechanism 3. Since the second joint support mechanism 3 is connected to the swing arm assembly 22 and can swing synchronously with the swing arm assembly 22, the shaft assembly can swing synchronously with the second joint support mechanism 3 and with the swing arm assembly. In other words, the shaft assembly can rotate circumferentially around the second axis Y, and can also swing synchronously with the swing arm assembly driven by the second joint support mechanism 3. The second axis Y is perpendicular to the first axis X, so that the shaft assembly can realize two degrees of freedom of rotation around the first axis X and swing around the second axis Y. The load is connected to the shaft assembly and can move synchronously with the shaft assembly.

[0086] Thus, when the shaft assembly swings around the first axis X, it can drive the load to swing, that is, realize the pitch function of the joint device; when the shaft assembly rotates around the second axis Y, it can drive the load to rotate, that is, realize the rotation function of the joint device.

[0087] It can be seen that the joint device integrates the first joint mechanism 2 and the second joint mechanism 4 into one joint device, realizing a dual-degree-of-freedom design of swinging around the first axis X and rotating around the second axis Y, thereby improving the movement flexibility of the joint device.

[0088] In this article, "upper", "lower", "front", "back", "left", "right", etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts. For ease of understanding and description, the directions involved in the following are explained as follows:

[0089] In the extension direction of the second axis Y, the two opposite sides of the joint device are respectively recorded as the front side and the rear side, and the front side is the side of the joint device connected to the load. In the extension direction of the first axis X, the two opposite sides of the joint device are respectively recorded as the left side and the right side. In the vertical direction Z perpendicular to the first axis X and the second axis Y, the two opposite sides of the joint device are respectively recorded as the upper side and the lower side.

[0090] In one embodiment of the present disclosure, Figures 1 to 3 As shown, the first joint support mechanism 1 may include a first fixed side plate 11 (i.e., a left fixed plate) and a second fixed side plate 12 (i.e., a right fixed plate) which are respectively arranged opposite to each other in the extension direction of the first axis X, and a first connecting plate 13 (i.e., an upper connecting plate) and a second connecting plate 14 (i.e., a lower connecting plate) connected between the first fixed side plate 11 and the second fixed side plate 12. The first fixed side plate 11 and the second fixed side plate 12 may be fixedly connected to the base, and the first fixed side plate 11, the second fixed side plate 12, the first connecting plate 13 and the second connecting plate 14 may enclose a receiving cavity to form, and components such as the first joint mechanism 2, the second joint mechanism 4 and the second joint support mechanism 3 may be connected to the receiving cavity.

[0091] In this way, the first joint support mechanism 1 can support and protect components such as the first joint mechanism 2, the second joint mechanism 4 and the second joint support mechanism 3, and integrate the first joint mechanism 2 and the second joint mechanism 4 into a whole; at the same time, the first joint mechanism 2 and the second joint mechanism 4 and other components are arranged in the same accommodating cavity, which is conducive to the compact structural design of the joint structure.

[0092] In one embodiment of the present disclosure, Figure 2 As shown, the first driving assembly 21 includes a rack member 211 , a first gear member 212 and a first power member 213 .

[0093] The rack member 211 has a concave arc tooth profile and is connected to the first joint support mechanism 1 . Specifically, the rack member 211 can be fixedly connected to the second fixed side plate 12 , so that the rack member 211 and the first joint support mechanism 1 can be relatively stationary.

[0094] The first power member 213 is configured to drive the first gear member 212 to rotate circumferentially around its own axis. The first gear member 212 has gear teeth circumferentially, and the first gear member 212 is meshed with the rack member 211 through its circumferential gear teeth. Since the rack member 211 and the base remain relatively stationary, when the first gear member rotates circumferentially under the drive of the first power member 213, the first gear member 212 will perform an arc motion along the concave arc-shaped tooth profile.

[0095] The middle part of the swing arm assembly 22 is hinged to the first joint support mechanism 1, and one end of the swing arm assembly 22 is connected to the first gear member 212 and can make circular motion synchronously with the first gear member 212, so that the other end of the swing arm assembly 22 will swing relative to the first joint support mechanism 1.

[0096] The second joint mechanism 4 and the second joint support mechanism 3 are both connected to the swing arm assembly 22. When the swing arm assembly 22 swings, it can drive the second joint mechanism 4 and the second joint support mechanism 3 to swing synchronously to achieve the pitch function of the joint device.

[0097] In the above scheme, the first joint mechanism 2 realizes the swinging action of the swing arm assembly through the meshing transmission between the rack component 211 and the first gear component 212. Compared with other gear transmission methods, the structural dimensions of the rack component 211 and the first gear component 212 can be designed to be as small as possible while meeting functional requirements, which is more conducive to improving the space utilization of the entire joint device and facilitating the compactness of the overall structure of the joint device.

[0098] In addition, the molding process of the rack member 211 is relatively mature, and the parameters such as the curvature and length of the concave circular tooth profile are easy to accurately control, that is, it is easy to obtain the expected concave circular tooth profile. The swing angle of the swing arm assembly depends on the structure of the concave circular tooth profile on the rack member 211. By accurately controlling the concave circular tooth profile structure of the rack member 211, it is easy to obtain the expected swing angle.

[0099] In order to improve the stability of the first gear member 212 during the movement along the rack member 211 and avoid the first gear member 212 and the rack member 211 from slipping, the first gear member 212 and the rack member 211 can be tightly meshed. The first gear member 212 can be limited so that the first gear member 212 is always tightly meshed with the rack member 211 during the movement along the concave circular tooth profile of the gear member. Specifically, the gap between the axis of the first gear member 212 and the concave circular tooth profile of the rack member 211 can be slightly smaller than the diameter of the first gear member 212 to ensure that the first gear member 212 can be tightly meshed with the gear member by interference fit.

[0100] In one embodiment of the present disclosure, Figure 2 and Figure 3 As shown, the first driving assembly 21, the rack member 211 and the first gear member 212 can all be connected to the rear side of the swing arm assembly 22. In this way, except for the swing arm assembly, all other components of the first joint mechanism 2 can be arranged at the rear side of the entire joint device, and the load is arranged at the front side of the joint device, which is more reasonable in terms of spatial layout.

[0101] If the first power component 213 is directly connected to the first gear component 212, the output shaft of the first power component 213 must be coaxial with the first gear component 212, and the first power component 213 can only be arranged along the axis extension direction of the first gear component 212 (i.e., parallel to the extension direction of the first axis X), which is not conducive to achieving a compact design, and the transmission ratio of the first power component 213 to the first gear component 212 is limited. Therefore, in one embodiment of the present disclosure, if Figure 2 As shown, the first driving assembly 21 further includes a first transmission member 214, which is transmission-connected between the first power member 213 and the first gear member 212 to transmit the rotational torque of the first power member 213 to the first gear member 212. By providing the first transmission member 214, the positional relationship between the first power member 213 and the first gear member 212 can be more flexible in arrangement, and the transmission ratio between the two can be reasonably adjusted through the first transmission member 214.

[0102] In one embodiment of the present disclosure, Figure 2 , Figure 8 and Fig. 9 As shown, the first power component 213 can be a turbine motor, and its output end is configured as a first worm. The first transmission component 214 includes a transmission shaft 214a and a second gear component 214b, the transmission shaft 214a can be arranged parallel to the extension direction of the first axis X, the second gear component 214b and the second gear component 214b are both arranged on the transmission shaft 214a and can rotate synchronously with the transmission shaft 214a, and the second gear component 214b is configured as a turbine and meshes with the first worm to transmit the rotational torque of the first power component 213 to the first gear component 212.

[0103] In the above scheme, the transmission shaft 214a is arranged parallel to the extension direction of the first axis X, so that the axis of the first gear member 212 can be parallel to the extension direction of the first axis X; the first power member 213 and the second gear member 214b adopt a worm gear transmission matching mode to transmit the rotational torque of the first power member 213 to the transmission shaft 214a, so that the arrangement position of the first power member 213 is more flexible, and the output shaft of the first power member 213 does not have to be parallel to the extension direction of the first axis X. For example, as shown in the figure, the first worm at the output end of the first power member 213 can be arranged perpendicular to the extension direction of the first axis X, so that the spatial layout restrictions of the various components in the joint device can be reduced as much as possible, the number of components arranged in the extension direction of the first axis X can be reduced, and the size of the entire joint device in the extension direction of the first axis X can be reduced as much as possible, which is conducive to the compact design of the structure of the entire joint device.

[0104] The first power component 213 and the first transmission component 214 use a worm gear transmission mode, which has a self-locking performance, that is, the worm gear transmission can only be driven by the worm. In this way, when the first power component 213 outputs rotational power, the transmission shaft 214a is driven to rotate, driving the first gear component 212 to rotate, and then driving the swing arm assembly to swing; when the first power component 213 does not output rotational power, due to the relative locking between the first worm and the second gear component 214b, when the first gear component 212 stops rotating, it can be locked and fixed at any position of the concave circular tooth profile of the rack component 211. In other words, the swing arm assembly can be locked at any swing angle.

[0105] In one embodiment of the present disclosure, please combine Figure 2 , Figure 3 , Figure 8 and Fig. 9 , the first driving assembly 21 further includes a first connecting member 215 and at least two bearing seats 216. The first power member 213 and the at least two bearing seats 216 can be both mounted on the first connecting member 215, and the two bearing seats 216 are axially spaced apart along the transmission shaft 214a, and the transmission shaft 214a is respectively mounted on the at least two bearing seats 216 through bearings. In this way, the at least two bearing seats 216 can limit the position of the transmission shaft 214a while allowing the transmission shaft 214a to rotate, that is, limit the relative position between the first gear member 212 and the rack member 211, and between the second gear member 214b and the output shaft of the first power member 213, so that the first gear member 212 and the rack member 211 are closely meshed, and the second gear member 214b and the first worm of the first power member 213 are closely meshed.

[0106] In one embodiment of the present disclosure, Figure 2 As shown, the first driving assembly 21 further includes a first box member 217, the first power member 213 is installed in the cavity of the first box member 217, and at least one bearing seat 216 is connected to the first box member 217 as an integral structure. In this way, by providing the first box member 217, the first power member 213 and the first transmission member 214 can be protected, and at least one bearing seat 216 can be integrated on the first box member 217, making the overall structure more compact.

[0107] The two bearing seats 216, the first power component 213 and the transmission shaft 214a are all installed on the first connecting member 215. When the transmission shaft 214a is allowed to rotate, the two bearing seats 216, the first power component 213 and the transmission shaft 214a can move synchronously with the first connecting member 215. Therefore, when the transmission shaft 214a moves along the rack member 211 with the first gear component 212, the two bearing seats 216, the first power component 213, the transmission shaft 214a and the first connecting member 215 can all perform circular motion synchronously with the first gear component 212. In one embodiment, the first connecting member 215 is hinged to one end of the swing arm assembly 22 to drive the other end of the swing arm assembly 22 to perform circular motion. Specifically, taking the figure as an example, the left and right sides of the first connecting member 215 can be respectively provided with connecting columns 215a, and the connecting columns 215a can be rotatably connected to the rear side ( Figure 3 In this way, when the first gear member 212 moves along the rack member 211, it drives the rear side of the swing arm assembly 22 to move, so that the front side of the swing arm assembly 22 swings.

[0108] In one embodiment of the present disclosure, Fig. 9 As shown, the transmission shaft 214a is provided with two axial limiting structures 214c spaced along the axial direction thereof, the first gear member 212 can be fixed on the transmission shaft 214a, the second gear member 214b can be located between the two axial limiting structures 214c, and axially limited by the two axial limiting structures 214c, and an elastic member is abutted between the second gear member 214b and at least one axial limiting structure 214c. In this way, the elastic member provides an elastic abutting force for the second gear member 214b, the assembly accuracy between the second gear member 214b and the first power member 213 can be reduced, and it is easier to assemble, and the presence of the elastic member can prevent the gear from being damaged when the joint device is subjected to excessive impact force, so as to ensure the transmission accuracy and the service life of the gear.

[0109] In one embodiment, Figure 2 , Figure 8 and Fig. 9 As shown, the elastic member includes a retaining spring 214d and a spring 214e. The two axial limiting structures 214c can be constructed as structures such as circumferential flanges or circumferential steps provided on the outer periphery of the transmission shaft 214a.

[0110] In one embodiment of the present disclosure, Figure 2 and Figure 3 As shown, the swing arm assembly 22 includes at least one link swing arm unit 22A, and each link swing arm unit 22A includes a swing plate component 221 and a four-link component 222 .

[0111] The swing plate member 221 is arranged perpendicular to the first axis X and parallel to the second axis Y. One end of the swing plate member 221 is connected to the first driving assembly 21. Figure 2 and Figure 3 As shown in the example, the rear side of the swing plate member 221 is rotatably connected to the first connecting member 215 via a bearing.

[0112] like Figure 2 and Figure 3 As shown, the four-link member 222 includes a first link 222a, a second link 222b, a third link 222c and a fourth link 222d which are hinged in sequence end to end. The first link 222a, the third link 222c, the second link 222b and the fourth link 222d are all arranged parallel to the swing plate member 221, and the first link 222a and the third link 222c are arranged substantially parallel to the second axis Y; the middle part of at least one of the second link 222b and the fourth link 222d is hinged to the middle part of the swing plate member 221, and the hinge point position is as shown in FIG. Figure 3 As shown in A; the first link 222a and the third link 222c are hinged to the second joint support mechanism, and the hinge point position is as shown in Figure 3 Here, the first link 222a and the third link 222c are arranged substantially parallel to the second axis Y, which means that when the swing arm assembly swings to a certain angle, the first link 222a and the third link 222c are completely parallel to the second axis Y, or form a certain small angle with the second axis Y.

[0113] Specifically, Figure 3 As shown in the example, the first connecting rod 222a is the upper connecting rod, the third connecting rod 222c is the lower connecting rod, the second connecting rod 222b is the front connecting rod, and the fourth connecting rod 222d is the rear connecting rod. The front sides of the upper connecting rod and the lower connecting rod can be hinged to the first fixed side plate 11, and the middle parts of the front connecting rod and the rear connecting rod can be hinged to the swing plate member 221. In this way, when the rear side of the swing plate assembly swings, the middle part of the swing plate member 221 rotates relative to the front connecting rod and the rear connecting rod, and drives the front connecting rod and the rear connecting rod to be linked, drives the upper connecting rod and the lower connecting rod to rotate relative to the first fixed side plate 11, and the entire four-link member 222 is deformed, allowing the swing plate member 221 to swing. The entire swinging process is achieved through the linkage of the connecting rods, and the swinging action is stable.

[0114] In one embodiment of the present disclosure, Figure 2As shown, the first joint mechanism 2 may further include a first magnetic member 23 and a first magnetic encoder 24. The first magnetic member 23 may be disposed on one of the swing plate member 221 and the four-link member 222; the first magnetic encoder 24 may be disposed on the other of the swing plate member 221 and the four-link member 222. In this way, as the swing arm assembly 22 swings, the first magnetic member 23 and the first magnetic encoder 24 can rotate relative to each other. By detecting the relative rotation angle between the first magnetic member 23 and the first magnetic encoder 24, the pitch angle of the entire joint device can be detected.

[0115] Specifically, in one embodiment of the present disclosure, at least one of the front link and the rear link is at a hinge position with the swing plate member 221 ( Figure 3 A first magnetic member 23 is provided at the middle hinge point A, and a first magnetic encoder 24 is provided at a position corresponding to the first magnetic member 23 on the swing plate member 221. The first magnetic encoder 24 can be fixed to the swing plate member 221 by a stud 25.

[0116] In one embodiment of the present disclosure, the upper connecting rod and the lower connecting rod can be constructed as two parallel straight arm structures; the front connecting rod and the rear connecting rod can be constructed as two parallel triangular skeleton structures. In this way, the front connecting rod and the rear connecting rod can provide better support force and the structure is more stable.

[0117] In one embodiment of the present disclosure, Figure 2 As shown, the swing arm assembly 22 includes two connecting rod swing arm units 22A, and the two connecting rod swing arm units 22A are spaced apart in the extension direction of the first axis X, that is, the two connecting rod swing arm units 22A are respectively a front connecting rod swing arm unit and a rear connecting rod swing arm unit, and the two connecting rod swing arm units 22A are connected to each other and can move synchronously. Specifically, the upper connecting rods of the front connecting rod swing arm unit and the rear connecting rod swing arm unit, the lower connecting rods of the front connecting rod swing arm unit and the rear connecting rod swing arm unit, the front connecting rod swing arm unit and the front connecting rod of the rear connecting rod swing arm unit, and the rear connecting rod of the front connecting rod swing arm unit can be connected respectively through corresponding connecting rod connecting plates 223.

[0118] In one embodiment of the present disclosure, the second joint support mechanism 3 includes two support seats spaced apart from each other along the extension direction of the second axis Y. Figure 2 and Figure 4As shown, one of the two support seats is the front support seat 31, and the other support seat is the front support seat 31. The shaft assembly includes a rotating main shaft 421, the middle part of which is rotatably supported on the front support seat 31 through a first bearing 422, and is rotatably supported on the front support seat 31 through a second bearing 423. The two support seats are connected between two connecting rod swing arm units 22A. In this way, the front connecting rod swing arm unit and the rear connecting rod swing arm unit are respectively connected to the front support seat 31 and the opposite sides of the front support seat 31, and the front support seat 31 and the front support seat 31 can be synchronously driven to swing through the front connecting rod swing arm unit and the rear connecting rod swing arm unit, so that the entire structural design is more compact, and the swinging process of the second joint mechanism 4 is smoother.

[0119] Specifically, if Figure 2 As shown, the swing plate component 221 in the front link arm unit is a left swing plate component, and the swing plate component 221 in the rear link arm unit is a right swing plate component. The left swing plate component, the right swing plate component, the front support seat 31 and the front support seat 31 together form an accommodating cavity, and the second joint mechanism can be installed in the accommodating cavity. In this way, the second joint mechanism can be effectively loaded and the entire joint structure is more compact.

[0120] It should be noted that the swing arm assembly 22 uses a swing plate component 221 and a four-link component 222. This multi-link connection method can minimize the maximum external dimensions of each component while ensuring the transmission requirements and installation method, thereby reducing the weight of the joint device.

[0121] It should also be noted that the first joint mechanism 2 adopts a worm gear driving connecting rod swing arm unit 22A, and the surface accuracy requirements of the connecting rod are low, which can greatly reduce the manufacturing cost; at the same time, the connecting rods can be assembled with bearings and screws, and the assembly is relatively simple.

[0122] In one embodiment of the present disclosure, Figure 4 and Figure 5 As shown, the shaft assembly includes a rotating main shaft 421, the axis of the rotating main shaft 421 is the second axis Y, the rotating main shaft 421 can rotate around its own axis, and the rotating main shaft 421 can be connected to the load to drive the load to rotate synchronously. The second driving assembly 41 includes a third gear component 411, a second transmission component 424 and a second power component 412.

[0123] The third gear member 411 is configured to be relatively stationary with the second joint support mechanism 3 when the second power member 412 outputs the rotational power. The third gear member 411 is coaxially arranged with the rotation main shaft 421, and the two can rotate relative to each other. Figures 4 to 6As shown, the third gear member 411 is mounted on the rotating main shaft 421 through a third bearing 428 so that the two can rotate relative to each other. The third gear member 411 is provided with gear teeth in the circumferential direction.

[0124] The second transmission member 424 meshes with the circumferential gear teeth of the third gear member 411. The second power member 412 is connected to the third gear member 411 through the second transmission member 424, and the second power member 412 is connected to the rotating main shaft 421. When the second power member 412 is configured to output rotational power, it drives itself to perform a circular motion along the circumference of the third gear member 411 to drive the rotating main shaft 421 to rotate.

[0125] In the above scheme, when the second power component 412 outputs rotational power, the second transmission component 424 transmits the rotational torque to the third gear component 411. Since the second power component 412 is connected to the rotating main shaft 421, and the third gear component 411 is rotatably connected to the rotating main shaft 421, the second power component 412 drives itself to move circumferentially around the third gear component 411, thereby driving the rotating main shaft 421 to rotate.

[0126] In one embodiment of the present disclosure, the rotation spindle 421 is rotatably connected to the second joint support mechanism. Figure 4 and Figure 6 As shown, the middle position of the rotating main shaft 421 can be rotatably supported on the front support seat 31 and the front support seat 31 through the first bearing 422 and the second bearing 423 respectively, and the rear end of the rotating main shaft 421 can be axially limited by the bearing limiter 33. Figure 7 As shown, the shaft assembly further includes a second connecting member 426 and a third connecting member 427. The load can be connected to the second connecting member 426, and the second power member 412 can be installed on the third connecting member 427. The second connecting member 426 and the third connecting member 427 are both fixedly connected to the rotating main shaft 421, so that the second connecting member 426 and the third connecting member 427 can rotate synchronously with the rotating main shaft 421.

[0127] In one embodiment of the present disclosure, Figure 4 and Figure 5As shown, the installation position of the second power component 412 is set to deviate from the axis of the rotating main shaft 421. Specifically, the second connecting member 426 can be constructed as a fixing frame with a center hole, and the second connecting member 426 can be constructed as a fixing plate with a center hole. The rotating main shaft 421 can be inserted into the center holes of the fixing frame and the fixing plate, and an opening 427a is provided on one side of the fixing plate offset from the center hole, and the second power component 412 is installed at the opening 427a. In this way, by installing the second power component 412 on the second power component 412 and deviating from the axis of the rotating main shaft 421, compared with the solution of installing the second power component 412 along the extension direction of the second axis Y, the size of the entire joint device in the extension direction of the second axis Y can be reduced as much as possible, so that the overall structure of the joint device is more compact.

[0128] In one embodiment of the present disclosure, the second power component 412 is further configured to be relatively locked with the third gear component 411 when no rotational power is output. In this way, when the second power component 412 does not output rotational power, the second power component 412 and the third gear component 411 can be relatively locked, and at this time, the second power component 412 can be locked and fixed at any position in the circumferential direction of the third gear component 411. In other words, the rotating assembly can be locked at any rotation angle.

[0129] In one embodiment of the present disclosure, Figure 4 As shown, the output end of the second power component 412 is constructed as a second worm; the second transmission component 424 includes a fourth gear component 424a and a fifth gear component 424b, and the fourth gear component 424a and the fifth gear component 424b are both double gears with first-stage teeth and second-stage teeth, and the first-stage teeth of the fourth gear component 424a are constructed as a turbine and mesh with the second worm, the second-stage teeth of the fourth gear component 424a are meshed with the first-stage teeth of the fifth gear component 424b, and the second-stage teeth of the fifth gear component 424b are meshed with the circumferential gear teeth of the third gear component 411. In one embodiment of the present disclosure, in each double gear, the diameter of the first-stage teeth is greater than the diameter of the second-stage teeth. The first-stage teeth 424b' and the second-stage teeth 424b" of the fifth gear component 424b are fixedly connected.

[0130] In the above solution, the second power component 412 and the second transmission component 424 are in a worm gear transmission mode, which has a self-locking property, that is, the worm gear transmission can only be driven by the worm. In this way, the second power component 412 is relatively locked with the third gear component 411 when not outputting rotational power.

[0131] In one embodiment of the present disclosure, Figure 4As shown, the second driving assembly further includes a second box member 429 , and the second power member 412 is installed in the second box member 429 .

[0132] In one embodiment of the present disclosure, Figure 4 As shown, the second joint mechanism 4 further includes a damping assembly 43 for hindering the circumferential rotation of the third gear member 411. By providing the damping assembly 43, the second joint mechanism 4 can realize both manual rotation load and electric rotation load.

[0133] In one embodiment of the present disclosure, Figure 4 and Figure 6 As shown, the damping assembly 43 includes: a first friction plate 431 and a second friction plate 432 disposed on the rotating main shaft 421. The first friction plate 431 is fixedly connected to the third gear member 411 and can rotate circumferentially relative to the rotating main shaft 421, so that the first friction plate 431 and the third gear member 411 can rotate synchronously relative to the rotating main shaft 421. The second friction plate 432 is connected to the second joint support mechanism 3 and is circumferentially locked by the second joint support mechanism 3. Specifically, in one embodiment, Figure 4 and Figure 6 As shown, the inner ring of the first friction plate 431 is installed at the front end position of the rotating main shaft 421 through a bearing, and the front end face of the first friction plate 431 is fixedly connected to the third gear member 411, and the rear end face is frictionally matched with the second friction plate 432. The inner ring of the second friction plate 432 is rotatably connected to the rotating main shaft 421 through a bearing, and the second friction plate 432 can be connected to the front side support seat 31, and cooperates with the structure of the front side support seat 31 to be circumferentially locked by the front side support seat 31.

[0134] When the load is rotated manually, the third connecting member 427 connected to the load is subjected to a deflection torque, the second power member 412 installed on the third connecting member 427 does not output rotational power, the second power member 412 and the third gear member 411 are relatively locked, and the first friction plate 431 and the second friction plate 432 fixedly connected to the third gear member 411 are frictionally matched with each other.

[0135] If the torque applied by the user to the second connecting member 426 and the third connecting member 427 is within the preset threshold, the first friction plate 431 is relatively locked by the second friction plate 432, the third gear member 411 can be kept fixed, and the load will not be forcibly rotated manually. The preset threshold refers to the critical torque value for relative rotation between the first friction plate 431 and the second friction plate 432.

[0136] If the torque applied by the user to the second connecting member 426 and the third connecting member 427 is greater than a preset threshold, the third gear member 411 will drive the first friction plate 431 to rotate relative to the second friction plate 432. Due to the friction between the first friction plate 431 and the second friction plate 432, the torque applied to the second drive assembly 41 will be reduced, effectively protecting the second drive assembly 41 and preventing excessive torque from causing damage to the second drive assembly 41. Due to the existence of friction resistance, the rotation process of the second joint mechanism 4 is more stable during the entire manual rotation process.

[0137] When the load is rotated electrically, the second power component 412 outputs a rotational torque to drive itself to move circumferentially around the third gear component 411. The third gear component 411 is fixedly connected to the first friction plate 431. The deflection torque applied by the third gear component 411 to the first friction plate 431 is less than a preset threshold value, which is insufficient to cause the first friction plate 431 and the second friction plate 432 to rotate relative to each other. Therefore, at this time, the first friction plate 431 and the second friction plate 432 are locked with each other, and the second friction plate 432 is locked circumferentially. Therefore, the third gear component 411 will be locked circumferentially, thereby keeping the third gear component 411 stationary, and the second power component 412 moves circumferentially around the third gear component 411 to drive the rotating main shaft 421 to rotate with the load.

[0138] In one embodiment of the present disclosure, a plurality of limiting bosses are circumferentially distributed on the friction mating surface of one of the first friction plate 431 and the second friction plate 432, and a plurality of limiting grooves are circumferentially distributed on the friction mating surface of the other friction plate. Specifically, the limiting bosses can be configured as trapezoidal limiting bosses with a trapezoidal radial cross section, and the limiting grooves can be configured as trapezoidal limiting grooves with a trapezoidal cross section.

[0139] When the deflection torque on the first friction plate 431 is within a preset threshold, the limiting boss is engaged in the corresponding limiting groove, and the limiting boss cooperates with the limiting groove to lock the first friction plate 431 and the second friction plate 432; when the deflection torque on the first friction plate 431 is greater than or equal to the preset threshold, the inclined surface on the limiting boss slides with the inclined surface of the limiting groove to make the limiting boss disengage from the limiting groove, and the first friction plate 431 and the second friction plate 432 rotate relative to each other.

[0140] Since the limiting boss and the limiting groove are evenly distributed along the circumference of the friction plate, when the limiting boss rotates to the next limiting groove, the limiting boss can be re-engaged in the next limiting groove and there is somatosensory feedback when it is engaged in the limiting groove.

[0141] In one embodiment of the present disclosure, Figure 4 and Figure 6As shown, the second friction plate 432 is configured to be axially movable relative to the second joint support mechanism 3, so that when the first friction plate 431 and the second friction plate 432 rotate relative to each other, the limiting boss will push the second friction plate 432 to produce a slight axial movement relative to the second joint support mechanism 3; the second friction plate 432 is configured to be axially movable relative to the second joint support mechanism 3; the damping assembly 43 also includes a damper 433 and a damping spring 434, wherein one end of the damper 433 is limited and stopped, and the other end abuts against the second friction plate 432 to apply a thrust directed to the first friction plate 431 to the second friction plate 432; the damping spring 434 is sleeved on the telescopic rod of the damper 433 and abuts between the damper 433 and the second friction plate 432.

[0142] In the above scheme, by setting the damping component 43, the rotation process can be made smoother when the second joint mechanism 4 is forced to rotate by external force. When the user forcibly rotates the installation load and it is large enough, the first friction plate 431 and the second friction plate 432 can be driven to slide relative to each other through the third gear member 411. At this time, the second friction plate 432 undergoes axial displacement, causing the telescopic rod and the damping spring 434 of the damper 433 to be contracted. The damper 433 will provide a reaction force to the second friction plate 432, and the damping spring 434 will slow down the speed of the axial displacement of the second friction plate 432, preventing the second friction plate 432 from being quickly compressed when subjected to external force, thereby causing the contact surfaces of the two friction plates to be completely separated, causing the load to rotate faster.

[0143] In one embodiment of the present disclosure, please combine Figure 4 , Figure 6 and Figure 7The second friction plate 432 is mounted on the front support seat 31, and the front support seat 31 is provided with an embedding groove 311 on the front end surface facing the first friction plate 431, and a mounting column 312 is provided on the rear end surface facing away from the first friction plate 431. The damping assembly 43 further includes a damping spring 434. A groove portion 432a is provided on the rear end surface of the second friction plate 432 facing away from the first friction plate 431, wherein the second friction plate 432 is mounted in the embedding groove 311 and can slide axially in the embedding groove 311, the damper 433 is fixedly mounted in the mounting column 312, and the telescopic rod of the damper 433 abuts against the groove portion 432a, and the damping spring 434 is sleeved on the telescopic rod of the damper 433 and abuts between the damper 433 and the groove portion 432a. In this way, when the first friction plate 431 rotates relative to the second friction plate 432, the second friction plate 432 is axially pushed away from the first friction plate 431 and circumferentially displaced, thereby compressing the damping spring 434 and the output end of the damper 433, so that the first friction plate 431 and the second friction plate 432 can be closely matched, and the rotation process is smoother; when the first friction plate 431 rotates until the limiting groove enters the next limiting boss, the limiting groove can be engaged with the next limiting boss under the action of the damping spring 434 and the damper 433 to achieve somatosensory feedback. Specifically, in one embodiment, the damper 433 is screwed into the mounting column 312 through the outer ring thread and is tightened and fixed by a nut.

[0144] In addition, a circumferential limiting structure is provided between the embedding groove 311 and the second friction plate 432 to circumferentially lock the second friction plate 432. Figure 7 As shown, the circumferential limiting structure may include a limiting protrusion 432b circumferentially provided on one of the second friction plate 432 and the embedding groove 311, and a limiting groove circumferentially provided on the other, wherein the limiting protrusion 432b is engaged in the limiting groove.

[0145] In one embodiment of the present disclosure, Figure 4 As shown, the joint device may further include a control board 5, which may be mounted on the rear support seat 32 by screws. The control board 5 is electrically connected to the first power component 213, and the control board 5 is used to apply an electrical signal to the first power component 213.

[0146] In summary, the robot provided by an embodiment of the present disclosure has a joint device that can integrate the first joint mechanism 2 and the second joint mechanism 4, while satisfying the rotation and pitch functions of the joints, and can also integrate a damping component 43, and has a simple structure, light weight, and high integration.

[0147] According to a second aspect of the present disclosure, there is provided a joint device, comprising:

[0148] A first joint support mechanism 1, used to be connected to the base;

[0149] The first joint mechanism 2 includes a first driving assembly 21 and a swing arm assembly 22. The swing arm assembly 22 is movably connected to the first joint support mechanism 1 and can swing around the first axis X relative to the first joint support mechanism 1 under the drive of the first driving assembly 21.

[0150] The second joint support mechanism 3 is connected to the swing arm assembly 22 and can swing synchronously with the swing arm assembly 22; and

[0151] The second joint mechanism 4 includes a second drive assembly 41 and a shaft assembly. The shaft assembly is configured to rotate around a second axis Y under the drive of the second drive assembly 41. The second axis Y is perpendicular to the first axis X.

[0152] The rotating shaft assembly is rotatably disposed on the second joint support mechanism 3 to swing synchronously with the swing arm assembly 22; the rotating shaft assembly is used to connect the load to drive the load to move synchronously with the rotating shaft assembly.

[0153] The joint device of the robot provided in the embodiment of the present disclosure includes a first joint support mechanism 1, a first joint mechanism 2, a second joint support mechanism 3 and a second joint mechanism 4. The first joint mechanism 2 is supported by the first joint support mechanism 1 and fixed on the base. The swing arm assembly 22 in the first joint mechanism 2 can swing around the first axis X relative to the first joint support mechanism 1 under the drive of the first drive assembly 21; the second joint mechanism 4 is supported by the second joint support mechanism 3 and fixed on the swing arm assembly 22. When the swing arm assembly 22 swings, it can drive the second joint support mechanism 3 to swing, and then drive the second joint mechanism 4 as a whole to swing with the swing arm assembly 22; the rotating shaft assembly on the second joint mechanism 4 can rotate relative to the second joint support mechanism 3 under the drive of the second drive assembly 41, and the load is connected to the rotating shaft assembly.

[0154] In this way, when the shaft assembly rotates circumferentially around the second axis Y, it can drive the load to rotate to realize the rotation function of the joint device; when the swing arm assembly 22 swings relative to the first joint support mechanism 1, it can drive the second joint support mechanism 3 to swing synchronously, and then drive the shaft assembly to swing with the load to realize the pitch function of the joint device, and the first axis X and the second axis Y are perpendicular to each other, thereby realizing a dual-degree-of-freedom design that integrates pitch and rotation functions in the same joint device, thereby improving the movement flexibility of the joint device.

[0155] The technical solution provided in the embodiments of the present application is described below in conjunction with specific application scenarios.

[0156] Application Scenario

[0157] Please refer to Figure 1The robot provided by the embodiment of the present disclosure includes: a base, a joint device and a load, the joint device includes: a first joint support mechanism 1, a first joint mechanism 2, a second joint support mechanism 3 and a second joint mechanism 4, the first joint support mechanism 1 is connected to the base; the first joint mechanism 2 includes a first drive component 21 and a swing arm component 22, the swing arm component 22 is movably connected to the first joint support mechanism 1, and under the drive of the first drive component 21, it can swing around the first axis X relative to the first joint support mechanism 1; the second joint support mechanism 3 is connected to the swing arm component 22, and can swing synchronously with the swing arm component 22; the second joint mechanism 4 includes a second drive component 41 and a rotating shaft component, the rotating shaft component is configured to rotate circumferentially around the second axis Y under the drive of the second drive component 41, and the second axis Y is perpendicular to the first axis X; the load is connected to the rotating shaft component, and can move synchronously with the rotating shaft component; the rotating shaft component is rotatably arranged on the second joint support mechanism 3, and can swing synchronously with the swing arm component 22. When the shaft assembly swings around the first axis X, it can drive the load to swing, that is, realize the pitch function of the joint device; when the shaft assembly rotates around the second axis Y, it can drive the load to rotate, that is, realize the rotation function of the joint device.

[0158] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A robot comprising a base, a joint device and a load; characterized in that: The joint device comprises: A first joint support mechanism (1), connected to the base; A first joint mechanism (2), comprising a first drive component (21) and a swing arm component (22), wherein the swing arm component (22) is movably connected to the first joint support mechanism (1) and, under the drive of the first drive component (21), can swing around a first axis (X) relative to the first joint support mechanism (1); A second joint support mechanism (3) is connected to the swing arm assembly (22) and can swing synchronously with the swing arm assembly (22); and The second joint mechanism (4) comprises a second drive assembly (41) and a rotating shaft assembly, wherein the rotating shaft assembly is configured to be rotatable around a second axis (Y) under the drive of the second drive assembly (41), and the second axis (Y) is perpendicular to the first axis (X); the load is connected to the rotating shaft assembly and can move synchronously with the rotating shaft assembly; the rotating shaft assembly is rotatably arranged on the second joint support mechanism (3) and can swing synchronously with the swing arm assembly (22).

2. The robot according to claim 1, characterized in that: The first driving assembly (21) comprises: a rack member (211), the rack member (211) having a concave arc-shaped tooth profile, the rack member (211) being connected to the first joint support mechanism (1); a first gear member (212), the first gear member (212) being meshed with the rack member (211), so that the first gear member (212) can make an arc motion along the concave arc-shaped tooth profile when rotating circumferentially; and A first power component (213), wherein the first power component (213) is configured to drive the first gear component (212) to rotate in a circumferential direction; The middle part of the swing arm assembly (22) is hinged to the first joint support mechanism (1), one end of the swing arm assembly (22) is connected to the first gear member (212), and can perform circular arc motion synchronously with the first gear member (212), so that the other end of the swing arm assembly (22) can swing.

3. The robot according to claim 2, characterized in that: The first driving assembly (21) further comprises: a first transmission member (214), the first transmission member (214) being transmission-connected between the first power member (213) and the first gear member (212) so as to transmit the rotational torque of the first power member (213) to the first gear member (212).

4. The robot according to claim 3, characterized in that: The output end of the first power component (213) is configured as a first worm gear; the first transmission component (214) comprises: a transmission shaft (214a), arranged parallel to the first axis (X); and A second gear member (214b), wherein the first gear member (212) and the second gear member (214b) are both arranged on the transmission shaft (214a) and can rotate synchronously with the transmission shaft (214a), and the second gear member (214b) is constructed as a turbine and meshes with the first worm to transmit the rotational torque of the first power member (213) to the first gear member (212).

5. The robot according to claim 4, characterized in that: The first driving assembly (21) further comprises: a first connecting member (215), the first power member (213) being mounted on the first connecting member (215); and At least two bearing seats (216) are arranged axially spaced apart from each other along the transmission shaft (214a); at least two of the bearing seats (216) are mounted on the first connecting member (215); and the transmission shaft (214a) is respectively mounted on the at least two bearing seats (216) via bearings, so that the position of the transmission shaft (214a) is limited by the at least two bearing seats (216).

6. The robot according to claim 5, characterized in that: The first connecting member (215), the bearing seat (216), the first power member (213) and the transmission shaft (214a) can all perform circular motion synchronously with the first gear member (212), and the first connecting member (215) is hinged to one end of the swing arm assembly (22) to drive the other end of the swing arm assembly (22) to perform circular motion.

7. The robot according to claim 4, characterized in that: The transmission shaft (214a) is provided with two axial limiting structures (214c) spaced apart along its axial direction; the second gear member (214b) is located between the two axial limiting structures (214c), and an elastic member is abutted against at least one of the axial limiting structures (214c).

8. The robot according to claim 1, characterized in that: The swing arm assembly (22) includes at least one connecting rod swing arm unit (22A), and each connecting rod swing arm unit (22A) includes: a swing plate member (221) arranged perpendicular to the first axis (X) and having one end connected to the first driving assembly (21); and A four-link member (222) comprises a first link (222a), a second link (222b), a third link (222c) and a fourth link (222d) which are hinged in sequence end to end; the first link (222a), the second link (222b), the third link (222c) and the fourth link (222d) are all arranged parallel to the swing plate member (221), and the first link (222a) and the third link (222c) are arranged roughly parallel to the second axis (Y); the middle part of at least one of the second link (222b) and the fourth link (222d) is hinged to the middle part of the swing plate member (221), and the first link (222a) and the third link (222c) are hinged to the second joint support mechanism (3).

9. The robot according to claim 8, characterized in that: The first joint mechanism (2) further comprises: A first magnetic member (23) provided on one of the swing plate member (221) and the four-bar connecting member (222); a first magnetic encoder (24) provided on the other of the swing plate member (221) and the four-bar linkage member (222); Wherein, as the swing arm assembly (22) swings, the first magnetic component (23) and the first magnetic encoder (24) can rotate relative to each other.

10. The robot according to claim 1, characterized in that: The swing arm assembly (22) includes two connecting rod swing arm units (22A), and the two connecting rod swing arm units (22A) are spaced apart in the extension direction of the first axis (X), and the two connecting rod swing arm units (22A) are connected to each other and can move synchronously; wherein, the second joint support mechanism (3) includes two supporting seats spaced apart along the second axis (Y), and the rotating shaft assembly includes a rotating main shaft (421), and the rotating main shaft (421) is rotatably supported on the two supporting seats through bearings, and the two supporting seats are connected between the two connecting rod swing arm units (22A).

11. The robot according to claim 1, characterized in that: The rotating shaft assembly comprises a rotating main shaft (421); the second driving assembly (41) comprises: a third gear member (411), the third gear member (411) being coaxially arranged with the rotating main shaft (421) and being relatively rotatable, and the third gear member (411) being provided with gear teeth in the circumferential direction; a second transmission member (424), the second transmission member (424) meshing with the circumferential gear teeth of the third gear member (411); and a second power component (412), the second power component (412) being transmission-connected to the third gear component (411) via the second transmission component (424); The second power component (412) is connected to the rotating main shaft (421); when the second power component (412) outputs rotational power, it is configured to drive itself to perform circular motion along the circumference of the third gear component (411) to drive the rotating main shaft (421) to rotate.

12. The robot according to claim 11, characterized in that: The second power component (412) is also configured to be relatively locked with the third gear component (411) when no rotational power is output, wherein the output end of the second power component (412) is constructed as a second worm gear; the second transmission component (424) includes a fourth gear component (424a), and the first-stage teeth of the fourth gear component (424a) are constructed as a turbine and mesh with the second worm gear.

13. The robot according to claim 11, characterized in that: The second joint mechanism (4) also includes a damping component (43) for hindering the circumferential rotation of the third gear member, and the damping component (43) includes: a first friction plate (431) and a second friction plate (432) arranged on the rotating main shaft; wherein the first friction plate (431) is fixedly connected to the third gear member (411) and can rotate circumferentially relative to the rotating main shaft (421); the second friction plate (432) is connected to the second joint support mechanism (3) and is circumferentially locked by the second joint support mechanism (3); the first friction plate (431) and the second friction plate (432) are frictionally matched.

14. The robot according to claim 13, characterized in that: The second friction plate (432) is configured to be axially movable relative to the second joint support mechanism (3); the damping assembly (43) further includes a damper (433) and a damping spring (434), wherein one end of the damper (433) is limited and stopped, and the other end abuts against the second friction plate (432) to apply a thrust directed toward the first friction plate (431) to the second friction plate (432); the damping spring (434) is sleeved on the telescopic rod of the damper (433) and abuts between the damper (433) and the second friction plate (432).

15. The robot according to claim 11, characterized in that: The rotating shaft assembly comprises: A rotating spindle (421) rotatably connected to the second joint support mechanism (3); a second connecting member (426) connected to the load; and A third connecting member (427), the second power member (412) is installed on the third connecting member (427), the second connecting member (426) and the third connecting member (427) are both fixedly connected to the rotating main shaft (421) to rotate synchronously with the rotating main shaft (421), and the installation position of the second power member (412) is set to deviate from the axis of the rotating main shaft (421).

16. A joint device, characterized in that: include: A first joint support mechanism (1), used for connecting to a base; A first joint mechanism (2), comprising a first drive assembly (21) and a swing arm assembly (22), wherein the swing arm assembly (22) is movably connected to the first joint support mechanism and, under the drive of the first drive assembly (21), can swing around a first axis (X) relative to the first joint support mechanism (1); A second joint support mechanism (3) is connected to the swing arm assembly (22) and can swing synchronously with the swing arm assembly (22); and The second joint mechanism (4) comprises a second drive assembly (41) and a rotating shaft assembly, wherein the rotating shaft assembly is configured to be rotatable around a second axis (Y) under the drive of the second drive assembly (41), and the second axis (Y) is perpendicular to the first axis (X); wherein: The rotating shaft assembly is rotatably arranged on the second joint support mechanism (3) so as to swing synchronously with the swing arm assembly (22); the rotating shaft assembly is used to connect a load so as to drive the load to move synchronously with the rotating shaft assembly.

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