Mechanical arm joint, mechanical arm and robot

Abstract

The invention discloses a mechanical arm joint, a mechanical arm and a robot, the mechanical arm joint comprises an execution unit and a driving unit, the execution unit is provided with a first shaft, a second shaft and an output wheel, the output wheel is rotatably connected with one end of the second shaft, and the other end of the second shaft is fixedly connected with the first shaft; the driving units comprise the first driving unit, the second driving unit and the third driving unit, at least parts of the first driving unit, the second driving unit and the third driving unit are matched in a sleeved mode, the first driving unit is used for driving the first shaft to rotate around the axis of the second shaft, and the second driving unit is used for driving the first shaft to rotate around the axis of the second shaft. The third driving unit is used for driving the output wheel to rotate around the axis of the second shaft. According to the mechanical arm joint, the degree of freedom of the three joints can be integrated together, the size of the mechanical arm joint can be small, the weight of the mechanical arm joint is light, and the control agility of the mechanical arm joint can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a mechanical arm joint, a mechanical arm and a robot. Background Art

[0002] With the continuous improvement of human living standards, the application of robots is also expanding. Among them, the performance of robots mainly depends on the mechanical structure of robot joints.

[0003] However, in the prior art, the various joints of the robot are independent of each other, and each joint is driven by a separate servo motor and a precision reducer to achieve the freedom of the joint in one direction. When the robotic arm needs to achieve freedom in multiple directions, multiple joints need to be set up, resulting in a larger size of the robot arm. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the first purpose of the present invention is to provide a mechanical arm joint, which can integrate three degrees of freedom together, thereby reducing the size of the mechanical arm and solving the technical problem that the mechanical arm in the prior art has a large size due to the provision of multiple independent joints.

[0005] A second objective of the present invention is to provide a robotic arm having the above-mentioned robotic arm joint.

[0006] A third objective of the present invention is to provide a robot having the above-mentioned mechanical arm.

[0007] The robotic arm joint according to an embodiment of the present invention includes: an execution unit, the execution unit has a first shaft and a second shaft with different extension directions, the execution unit includes an output wheel, the output wheel is rotatably connected to one end of the second shaft, and the other end of the second shaft is fixedly connected to the first shaft; a driving unit, the driving unit includes a first driving unit, a second driving unit and a third driving unit, the first driving unit, the second driving unit and the third driving unit are at least partially sleeved and matched, the first driving unit is used to drive the first shaft to rotate around the axis of the second shaft, the second driving unit is used to drive the first shaft to rotate around its axis, and the third driving unit is used to drive the output wheel to rotate around the axis of the second shaft.

[0008] According to the mechanical arm joint of the embodiment of the present invention, by setting a drive unit including a first drive unit, a second drive unit and a third drive unit, the first drive unit, the second drive unit and the third drive unit cooperate to facilitate the realization of the freedom of the execution unit in different directions, thereby realizing the integration of multiple degrees of freedom on a mechanical arm joint, which is conducive to reducing the volume of the mechanical arm; at the same time, by at least partially sleeve-coordinating the first drive unit, the second drive unit and the third drive unit, it is convenient to arrange at least part of the first drive unit, the second drive unit and the third drive unit on the same side of the execution unit, avoiding increasing the volume of the execution unit, and reducing the weight of the execution unit, and the sleeve-coordination can also reduce the volume of the drive unit, thereby reducing the volume of the mechanical arm joint, which is conducive to improving the control agility of the mechanical arm joint and reducing the assembly difficulty of the mechanical arm joint. In other words, the mechanical arm joint of the present application can not only realize the integration of multiple degrees of freedom, but also reduce the volume of the execution unit and reduce the weight of the execution unit, and improve the control agility of the mechanical arm joint.

[0009] In some embodiments, the execution unit also includes a first mating wheel and a second mating wheel, the first mating wheel is fixedly connected to one axial end of the first shaft, the second mating wheel is rotatably connected to the other end of the first shaft, one end of the second shaft is arranged between the first mating wheel and the second mating wheel, and the output wheel is transmission-coordinated with the second mating wheel; the first driving unit includes a first input shaft and a transmission member, the extension direction of the first input shaft is consistent with the extension direction of the second shaft, the transmission member is arranged between the first mating wheel and the second mating wheel and is respectively connected to the first input shaft and the first shaft, the first input shaft and the transmission member cooperate to drive the first shaft to rotate around the axis of the second shaft.

[0010] In some embodiments, the transmission member is rotatably connected to the first shaft, so that the first shaft can rotate around its axis relative to the transmission member.

[0011] In some embodiments, the second drive unit is used to drive the first shaft to rotate relative to the transmission member, wherein the second drive unit includes: a second input shaft, the second input shaft is sleeved with the first input shaft; a first transmission wheel, the first transmission wheel is connected to one axial end of the second input shaft and is in transmission cooperation with the first mating wheel, and the first transmission wheel is used to drive the first mating wheel to rotate around the axis of the first shaft.

[0012] In some embodiments, the axis of the first transmission wheel intersects the axis of the first matching wheel at right angles and the first transmission wheel is tangent to the first matching wheel, and the first transmission wheel and the first matching wheel are matched for transmission via a first rope unit.

[0013] In some embodiments, the first rope unit includes: a first rope, the first rope is sequentially wound around the first transmission wheel and the first mating wheel, and two ends of the first rope are respectively fixed on the first transmission wheel and the first mating wheel; a second rope, the second rope is sequentially wound around the first transmission wheel and the first mating wheel, and two ends of the second rope are respectively fixed on the first transmission wheel and the first mating wheel; the first rope and the second rope are relatively arranged in the radial direction of the first transmission wheel and the first mating wheel, so that when the first transmission wheel rotates forward and reverse, the first transmission wheel and the first mating wheel both form a transmission match.

[0014] In some embodiments, the third driving unit is used to drive the second mating wheel to rotate so as to drive the output wheel to rotate around the axis of the second shaft; wherein the third driving unit includes: a third input shaft, the third input shaft is sleeved with the first input shaft; a second transmission wheel, the second transmission wheel is connected to one axial end of the third input shaft and is in transmission cooperation with the second mating wheel, and the second transmission wheel is used to drive the second mating wheel to rotate around the first shaft.

[0015] In some embodiments, the axis of the second mating wheel is perpendicularly intersected with the axis of the second transmission wheel and the axis of the output wheel, respectively, and the second mating wheel is tangent to the second transmission wheel and the output wheel, respectively, and the second mating wheel is transmitted in cooperation with the second transmission wheel and the output wheel through a second rope unit.

[0016] In some embodiments, the second rope unit includes: a third rope, the third rope is sequentially wound around the second transmission wheel, the second matching wheel and the output wheel, and two ends of the third rope are respectively fixed on the second transmission wheel and the output wheel; a fourth rope, the fourth rope is sequentially wound around the second transmission wheel, the second matching wheel and the output wheel, and two ends of the fourth rope are respectively fixed on the second transmission wheel and the output wheel; the third rope and the fourth rope are relatively arranged in the radial direction of the second transmission wheel, the second matching wheel and the output wheel, so that when the second transmission wheel rotates forward or reversely, the second transmission wheel, the second matching wheel and the output wheel all form a transmission match.

[0017] In some embodiments, the robotic arm joint further includes a fixed seat, and the driving unit is rotatably disposed on the fixed seat.

[0018] The robotic arm according to the embodiment of the present invention includes the aforementioned robotic arm joint.

[0019] According to the robotic arm of the embodiment of the present invention, by adopting the aforementioned robotic arm joint, the size of the robotic arm can be reduced, and the control agility of the robotic arm can be improved, thereby ensuring the working performance of the robotic arm to a certain extent.

[0020] A robot according to an embodiment of the present invention includes the aforementioned robotic arm.

[0021] The robot according to the embodiment of the present invention can improve the working performance of the robot by adopting the aforementioned mechanical arm.

[0022] Additional aspects and advantages of the invention will become apparent from the following description, or may be learned by practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 Schematic diagram of a robotic arm joint according to some embodiments of the present invention.

[0025] Figure 2 Schematic diagram of another angle of the robotic arm joint of some embodiments of the present invention.

[0026] Figure 3 1 is a top view of a robotic arm joint according to some embodiments of the present invention.

[0027] Figure 4 for Figure 3 Section view along line AA.

[0028] Figure 5 1. A front view of a robotic arm joint according to some embodiments of the present invention.

[0029] Figure 6 for Figure 5 Section view along line BB.

[0030] Figure 7 Schematic diagram of the cooperation between the second driving unit and the first matching wheel in some embodiments of the present invention.

[0031] Figure 8 for Figure 7 Exploded diagram.

[0032] Fig. 9 Schematic diagram of the cooperation among the third driving unit, the second matching wheel and the output wheel in some embodiments of the present invention.

[0033] Fig.10 for Fig. 9 Exploded diagram.

[0034] Reference numerals:

[0035] 1000, Robotic arm joints;

[0036] 100. Execution unit;

[0037] 110, first axis;

[0038] 120, second axis;

[0039] 130. first matching wheel; 131. second ropeway; 132. fourth ropeway;

[0040] 140. second mating wheel; 141. sixth rope path; 142. ninth rope path;

[0041] 150. output wheel; 151. seventh ropeway; 152. tenth ropeway;

[0042] 200, drive unit;

[0043] 210. A first driving unit;

[0044] 211, first input shaft; 2111, wire-passing channel;

[0045] 212, transmission member; 2121, first connection end; 2122, second connection end;

[0046] 220, second driving unit;

[0047] 221, second input shaft;

[0048] 222, first transmission wheel; 2221, first ropeway; 2222, third ropeway;

[0049] 230, a third driving unit;

[0050] 231, third input shaft;

[0051] 232, second transmission wheel; 2321, fifth ropeway; 2322, eighth ropeway;

[0052] 300, first rope unit; 310, first rope; 320, second rope;

[0053] 400, second rope unit; 410, third rope; 420, fourth rope;

[0054] 500, fixed seat;

[0055] 610, first rope tensioning mechanism; 620, second rope tensioning mechanism; 630, fourth rope tensioning mechanism;

[0056] 710, first bearing; 720, second bearing; 730, third bearing;

[0057] 740, fourth bearing; 750, fifth bearing; 760, sixth bearing;

[0058] 770, the seventh bearing; 780, the eighth bearing; 790, the ninth bearing;

[0059] 810, first fixing member; 820, second fixing member; 830, third fixing member; 840, fourth fixing member;

[0060] 900. Fasteners. DETAILED DESCRIPTION

[0061] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0062] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0063] The following describes the robot arm joint 1000 according to an embodiment of the present invention with reference to the accompanying drawings.

[0064] Combination Figure 1 and Figure 2 As shown, a robot arm joint 1000 according to an embodiment of the present invention includes: an execution unit 100 and a driving unit 200 .

[0065] Among them, Figure 1As shown, the execution unit 100 has a first shaft 110 and a second shaft 120 extending in different directions, and the execution unit 100 includes an output wheel 150, the output wheel 150 is rotatably connected to one end of the second shaft 120, and the other end of the second shaft 120 is fixedly connected to the first shaft 110. It can be understood here that the output wheel 150 is not only connected with the second shaft 120, but also cooperates with the first shaft 110 through the second shaft 120, so that the output wheel 150 can not only rotate relative to the second shaft 120, but also can be driven to move by the first shaft 110 to adjust the position of the output wheel 150, so as to facilitate the control of the degree of freedom of the output wheel 150, and to ensure the working performance of the robot arm joint 1000 to a certain extent.

[0066] Combination Figure 1 , Figure 2 and Figure 3 As shown, the drive unit 200 includes a first drive unit 210, a second drive unit 220 and a third drive unit 230. The first drive unit 210, the second drive unit 220 and the third drive unit 230 are at least partially arranged to fit together. The first drive unit 210 is used to drive the first shaft 110 to rotate around the axis of the second shaft 120, the second drive unit 220 is used to drive the first shaft 110 to rotate around its axis, and the third drive unit 230 is used to drive the output wheel 150 to rotate around the axis of the second shaft 120.

[0067] Among them, by setting the first driving unit 210 to drive the first shaft 110 to rotate around the axis of the second shaft 120, since the second shaft 120 is fixedly connected to the first shaft 110 and the output wheel 150 is connected to the second shaft 120, it is possible to drive the first shaft 110, the second shaft 120 and the output wheel 150 to rotate around the axis of the second shaft 120, that is, to achieve the purpose of using the first driving unit 210 to drive the execution unit 100 to rotate around the axis of the second shaft 120, so that the execution unit 100 has the freedom to rotate around the axis of the second shaft 120.

[0068] By setting the second driving unit 220 to drive the first shaft 110 to rotate around its axis, since the second shaft 120 is fixedly connected to the first shaft 110 and the output wheel 150 is connected to the second shaft 120, it is possible to drive the first shaft 110, the second shaft 120 and the output wheel 150 to rotate around the axis of the first shaft 110, that is, to achieve the purpose of using the second driving unit 220 to drive the execution unit 100 to rotate around the axis of the first shaft 110, so that the execution unit 100 has the freedom to rotate around the axis of the first shaft 110.

[0069] By rotatably connecting the output wheel 150 to one end of the second shaft 120 and setting a third drive unit 230 to drive the output wheel 150 to rotate around the axis of the second shaft 120, the output wheel 150 itself has the freedom to rotate around the axis of the second shaft 120, thereby realizing that the output wheel 150 on the robot arm joint 1000 has multiple degrees of freedom, so that multiple degrees of freedom can be integrated into one robot arm joint 1000, which is beneficial to reducing the volume of the robot arm.

[0070] Through the above-mentioned arrangement, in a specific example, during the use of the robotic arm joint 1000, the first driving unit 210 can be firstly used to drive the first shaft 110 to rotate around the axis of the second shaft 120, so that the execution unit 100 can rotate around the axis of the second shaft 120, thereby realizing the rolling of the execution unit 100, and then the second driving unit 220 can be used to drive the first shaft 110 to rotate around its axis, so that the execution unit 100 can rotate around the axis of the first shaft 110, thereby realizing the pitch of the execution unit 100, and finally the third driving unit 230 can be used to drive the output wheel 150 to rotate around the axis of the second shaft 120, thereby realizing the rolling of the output wheel 150 itself relative to the execution unit 100.

[0071] Based on the above rotation sequence, when the robot arm joint 1000 is applied to a robot, the robot arm joint 1000 can be used to adjust the position of the robot arm. For example, the robot arm is connected to the output wheel 150. When the robot grasps an object, the first drive unit 210 is first used to drive the execution unit 100 to rotate around the axis of the second axis 120 to adjust the direction of the arm. Then, the second drive unit 220 is used to drive the execution unit 100 to rotate around the axis of the first axis 110 to adjust the height of the arm. Finally, the third drive unit 230 is used to drive the output wheel 150 to rotate around the axis of the second axis 120 to adjust the direction of the arm again to ensure stable grasping of the arm and to ensure the performance of the robot to a certain extent.

[0072] In summary, the present application sets up a drive unit 200 including a first drive unit 210, a second drive unit 220 and a third drive unit 230, and rotatably connects the output wheel 150 of the execution unit 100 to one end of the second shaft 120 and fixedly connects the other end of the second shaft 120 to the first shaft 110, thereby integrating the degrees of freedom of multiple robotic arms into a robotic arm joint 1000, which is beneficial to reducing the size of the robotic arm.

[0073] It is worth noting that the present application arranges at least part of the first drive unit 210, the second drive unit 220 and the third drive unit 230 in a sleeve-type manner, which facilitates arranging at least part of the first drive unit 210, the second drive unit 220 and the third drive unit 230 on the same side of the execution unit 100, such as arranging at least part of the first drive unit 210, the second drive unit 220 and the third drive unit 230 to be aligned with the execution unit 100 in one direction ( Figure 1 In the X direction) of the embodiment, the volume of the execution unit 100 is avoided to increase due to the setting of the driving unit 200, and the weight of the execution unit 100 is reduced, so as to avoid the need to drive other driving units 200 (such as the second driving unit 220) to rotate synchronously when one of the driving units 200 (such as the first driving unit 210) drives the execution unit 100 to rotate, thereby reducing the driving difficulty of the execution unit 100, improving the control agility of the execution unit 100, and helping to improve the control agility of the robot arm joint 1000; on the other hand, the sleeve matching can also reduce the volume of the driving unit 200, thereby reducing the overall volume of the robot arm joint 1000, which is beneficial to reducing the assembly difficulty of the robot arm joint 1000.

[0074] It can be seen from the above structure that the robot arm joint 1000 of the embodiment of the present invention, by setting a drive unit 200 including a first drive unit 210, a second drive unit 220 and a third drive unit 230, and rotatably connecting the output wheel 150 of the execution unit 100 to one end of the second shaft 120 and fixedly connecting the other end of the second shaft 120 to the first shaft 110, can integrate the degrees of freedom of multiple robot arms into one robot arm joint 100, which is beneficial to reducing the volume of the robot arm.

[0075] At the same time, by at least partially fitting the first drive unit 210, the second drive unit 220 and the third drive unit 230, not only the driving difficulty of the execution unit 100 can be reduced and the control agility of the execution unit 100 can be improved, but also the volume of the drive unit 200 can be reduced, thereby reducing the overall volume of the robotic arm joint 1000, which is beneficial to reducing the assembly difficulty of the robotic arm joint 1000.

[0076] It can be understood that, compared with the prior art, the present application can not only integrate the degrees of freedom of multiple robotic arms into one robotic arm joint 1000, but also improve the control agility of the execution unit 100 and reduce the volume of the driving unit 200, so as to maximize the reduction of the volume of the robotic arm joint 1000 and reduce the difficulty of assembling the robotic arm joint 1000.

[0077] In some embodiments, in combination Figure 1 , Figure 3 and Figure 4As shown, the robot arm joint 1000 includes a fastener 900, and the other end of the second shaft 120 is fixedly connected to the first shaft 110 through the fastener 900. While reducing the difficulty of fixing the second shaft 120 and the first shaft 110, the connection strength between the second shaft 120 and the first shaft 110 can also be improved, so that the relative position of the second shaft 120 and the first shaft 110 is stable, so that when the first shaft 110 rotates, the second shaft 120 can be effectively driven to rotate synchronously, so as to realize the freedom of the robot arm joint 1000 in multiple directions.

[0078] Optionally, the fastener 900 is a screw or a bolt, etc. While achieving fixed connection between the second shaft 120 and the first shaft 110 , the second shaft 120 and the first shaft 110 can also be detachably matched, reducing the difficulty of assembling and replacing the second shaft 120 and the first shaft 110 .

[0079] In some embodiments, in combination Figure 1 , Figure 3 and Figure 4 As shown, the robot arm joint 1000 also includes a first bearing 710, a second bearing 720 and a first fixing member 810. The first bearing 710 and the second bearing 720 are arranged between the output wheel 150 and the second shaft 120. The first fixing member 810 is used to fix the first bearing 710 and / or the second bearing 720 to achieve the first bearing 710 and the second bearing 720 being stably arranged between the output wheel 150 and the second shaft 120, thereby facilitating the rotational connection of the output wheel 150 to one end of the second shaft 120.

[0080] In some embodiments, in combination Figure 1 , Figure 2 and Figure 3 As shown, the execution unit 100 further includes a first matching wheel 130 and a second matching wheel 140, wherein the first matching wheel 130 is fixedly connected to one axial end of the first shaft 110, the second matching wheel 140 is rotatably connected to the other end of the first shaft 110, one end of the second shaft 120 is disposed between the first matching wheel 130 and the second matching wheel 140, and the output wheel 150 is in transmission cooperation with the second matching wheel 140. The first matching wheel 130 and the second matching wheel 140 are both arranged to be in cooperation with the first shaft 110, so that the first shaft 110 can drive the first matching wheel 130 and the second matching wheel 140 to rotate synchronously when rotating around the axis of the second shaft 120 and around its own axis, so as to achieve the purpose of driving the execution unit 100 to rotate around the axis of the second shaft 120 by the first driving unit 210 and driving the execution unit 100 to rotate around the axis of the first shaft 110 by the second driving unit 220, so that the execution unit 100 has multiple degrees of freedom, and the working performance of the robot arm joint 1000 is guaranteed to a certain extent.

[0081] At the same time, by connecting the first matching wheel 130 to one axial end of the first shaft 110 and connecting the second matching wheel 140 to the other end of the first shaft 110, the first matching wheel 130 and the second matching wheel 140 can be arranged at opposite ends of the first shaft 110. In this way, when the other end of the second shaft 120 is fixedly connected to the first shaft 110, it is convenient to arrange one end of the second shaft 120 between the first matching wheel 130 and the second matching wheel 140, which not only reduces the difficulty of matching and connecting the second shaft 120 with the first shaft 110, but also facilitates the arrangement of the output wheel 150 between the first matching wheel 130 and the second matching wheel. On the one hand, between the mating wheels 140, it is convenient to make full use of the space between the first mating wheel 130 and the second mating wheel 140, avoiding the large space occupied by the execution unit 100 due to the first mating wheel 130, the second mating wheel 140 and the output wheel 150 being arranged in sequence in the same direction (such as: the axial direction of the first shaft 110), thereby further reducing the volume of the execution unit 100, which is beneficial to improving the control agility of the execution unit 100; on the other hand, it is also convenient to realize the transmission coordination between the output wheel 150 and the second mating wheel 140, reducing the difficulty of transmission coordination between the output wheel 150 and the second mating wheel 140.

[0082] Among them, by setting the output wheel 150 to cooperate with the second mating wheel 140 in transmission, the second mating wheel 140 can be used to control the output wheel 150 to rotate around the axis of the second shaft 120, so that the output wheel 150 itself has the freedom to rotate around the axis of the second shaft 120, and the difficulty of controlling the rotation of the output wheel 150 is reduced.

[0083] In some embodiments, the output wheel 150 and the second mating wheel 140 may both be formed as bevel gears, and the two bevel gears are meshed to achieve transmission cooperation between the output wheel 150 and the second mating wheel 140 .

[0084] In other embodiments, the same rope (such as the second rope unit 400 described below) may be provided on the output wheel 150 and the second matching wheel 140 , and the transmission matching between the output wheel 150 and the second matching wheel 140 may be achieved by using the second rope unit 400 .

[0085] It should also be noted that the fixed connection between the first mating wheel 130 and one axial end of the first shaft 110 mentioned above can be welding, bonding, clamping or bolting.

[0086] In some embodiments, in combination Figure 1 , Figure 5 and Figure 6As shown, the robot arm joint 1000 also includes a third bearing 730, a fourth bearing 740 and a second fixing member 820. The third bearing 730 and the fourth bearing 740 are arranged between the second mating wheel 140 and the first shaft 110. The second fixing member 820 is used to fix the third bearing 730 and / or the fourth bearing 740 to achieve the third bearing 730 and the fourth bearing 740 being stably arranged between the second mating wheel 140 and the first shaft 110, so that the second mating wheel 140 can rotate relative to the first shaft 110, so as to facilitate the use of the second mating wheel 140 to control the output wheel 150 to rotate around the axis of the second shaft 120.

[0087] Optionally, combined Figure 1 and Figure 3 As shown, the first driving unit 210 includes a first input shaft 211 and a transmission member 212. The extension direction of the first input shaft 211 is consistent with the extension direction of the second shaft 120. The transmission member 212 is disposed between the first matching wheel 130 and the second matching wheel 140 and respectively connects the first input shaft 211 and the first shaft 110. The first input shaft 211 and the transmission member 212 cooperate to drive the first shaft 110 to rotate around the axis of the second shaft 120. So that under the drive of the first driving unit 210, the first shaft 110 can effectively rotate around the axis of the second shaft 120, so that the execution unit 100 can effectively rotate around the axis of the second shaft 120, ensuring that the execution unit 100 has the freedom to rotate around the axis of the second shaft 120.

[0088] It is worth noting that the present application arranges the transmission member 212 between the first mating wheel 130 and the second mating wheel 140 to further facilitate full utilization of the space between the first mating wheel 130 and the second mating wheel 140, thereby avoiding increasing the occupied space of the robot arm joint 1000 due to the arrangement of the transmission member 212, thereby further reducing the volume of the robot arm joint 1000, which is beneficial to improving the control agility of the robot arm joint 1000.

[0089] In summary, the second shaft 120, the output wheel 150 and the transmission member 212 of the present application are all arranged between the first mating wheel 130 and the second mating wheel 140, so as to fully utilize the space between the first mating wheel 130 and the second mating wheel 140 and reduce the volume of the execution unit 100 and the robot arm joint 1000.

[0090] In some embodiments, the first drive unit 210 also has a first drive motor (such as a rotating motor), the output end of the first drive motor is connected to the first input shaft 211, and the first drive motor is used to drive the first input shaft 211 to rotate along its axis. The first input shaft 211 drives the transmission member 212 to rotate synchronously, so as to achieve the purpose of utilizing the first input shaft 211 and the transmission member 212 to cooperate to drive the first shaft 110 to rotate around the axis of the second shaft 120.

[0091] In some embodiments, in combination Figure 1 , Figure 3 and Figure 6 As shown, the transmission member 212 has a first connection end 2121 and a second connection end 2122, which are arranged relatively spaced apart in the extension direction of the first shaft 110 and are respectively connected to the first shaft 110. The connection strength between the transmission member 212 and the first shaft 110 is increased, so that the first shaft 110 can be effectively driven to rotate around the axis of the second shaft 120 by the cooperation of the first input shaft 211 and the transmission member 212, and the stability of the rotation of the first shaft 110 around the axis of the second shaft 120 is ensured.

[0092] In some embodiments, the transmission member 212 is rotatably connected to the first shaft 110, so that the first shaft 110 can rotate around its axis relative to the transmission member 212. Therefore, under the drive of the second drive unit 220, the first shaft 110 can effectively rotate around its axis, so as to achieve the purpose of using the second drive unit 220 to drive the execution unit 100 to rotate around the axis of the first shaft 110, so that the execution unit 100 has the freedom to rotate around the axis of the first shaft 110.

[0093] In some embodiments, in combination Figure 1 , Figure 3 and Figure 6 As shown, the robot arm joint 1000 also includes a fifth bearing 750, a sixth bearing 760, a third fixing member 830 and a fourth fixing member 840. The fifth bearing 750 is arranged between the first connecting end 2121 of the transmission member 212 and the first shaft 110. The third fixing member 830 is used to fix the fifth bearing 750 so as to stably set the fifth bearing 750 between the first connecting end 2121 of the transmission member 212 and the first shaft 110; the sixth bearing 760 is arranged between the second connecting end 2122 of the transmission member 212 and the first shaft 110. The fourth fixing member 840 is used to fix the sixth bearing 760 so as to stably set the sixth bearing 760 between the second connecting end 2122 of the transmission member 212 and the first shaft 110, thereby facilitating the rotational connection between the transmission member 212 and the first shaft 110, so that the first shaft 110 can rotate around its axis relative to the transmission member 212.

[0094] In some embodiments, the second driving unit 220 is used to drive the first shaft 110 to rotate relative to the transmission member 212, so as to achieve the purpose of using the second driving unit 220 to drive the first shaft 110 to rotate around its axis.

[0095] In some embodiments, in combination Figure 1 , Figure 3 and Figure 6As shown, the second driving unit 220 includes a second input shaft 221 and a first transmission wheel 222. The second input shaft 221 is sleeved and matched with the first input shaft 211. The first transmission wheel 222 is connected to one axial end of the second input shaft 221 and is in transmission cooperation with the first matching wheel 130. The first transmission wheel 222 is used to drive the first matching wheel 130 to rotate around the axis of the first shaft 110. Since the first matching wheel 130 is fixedly connected to one axial end of the first shaft 110, when the first transmission wheel 222 drives the first matching wheel 130 to rotate around the axis of the first shaft 110, the purpose of using the first transmission wheel 222 to drive the first shaft 110 to rotate around its axis can be achieved, thereby reducing the difficulty of rotating the first shaft 110 around its axis.

[0096] Among them, by sleeve-fitting the second input shaft 221 with the first input shaft 211, at least a portion of the first drive unit 210 and the second drive unit 220 can be sleeved together, so that the second input shaft 221 and the first input shaft 211 are conveniently arranged on the same side of the execution unit 100 and the volume of the drive unit 200 is reduced.

[0097] In some embodiments, in combination Figure 1 , Figure 4 and Figure 6 As shown, the robot arm joint 1000 also includes a seventh bearing 770, which is arranged between the first drive unit 210 and the second drive unit 220, so that the first drive unit 210 and the second drive unit 220 that are fitted together can rotate relative to each other, thereby facilitating the use of the first drive unit 210 and the second drive unit 220 to respectively control the rotation of the execution unit 100.

[0098] In some embodiments, the second drive unit 220 also has a second drive motor (such as a rotating motor), the output end of the second drive motor is connected to the second input shaft 221, the second drive motor is used to drive the second input shaft 221 to rotate along its axis, and the second input shaft 221 drives the first transmission wheel 222 to rotate synchronously. Because the first transmission wheel 222 is in transmission cooperation with the first mating wheel 130, the first transmission wheel 222 can drive the first mating wheel 130 to rotate around the axis of the first shaft 110, so as to achieve the purpose of using the second drive unit 220 to drive the first shaft 110 to rotate around its axis.

[0099] In some embodiments, in combination Figure 1 , Figure 3 and Figure 6As shown, the axis of the first transmission wheel 222 intersects the axis of the first matching wheel 130 at right angles and the first transmission wheel 222 is tangent to the first matching wheel 130, and the first transmission wheel 222 and the first matching wheel 130 are matched for transmission through the first rope unit 300. The matched transmission between the first transmission wheel 222 and the first matching wheel 130 is realized, so that the first transmission wheel 222 is used to drive the first matching wheel 130 to rotate around the axis of the first shaft 110, so as to achieve the purpose of using the first transmission wheel 222 to drive the first shaft 110 to rotate around its axis, and reduce the difficulty of rotating the first shaft 110 around its axis.

[0100] In some embodiments, in combination Figure 6 , Figure 7 and Figure 8 As shown, the first rope unit 300 includes a first rope 310 and a second rope 320. The first rope 310 is wound around the first transmission wheel 222 and the first matching wheel 130 in sequence, and the two ends of the first rope 310 are respectively fixed to the first transmission wheel 222 and the first matching wheel 130. The first rope 310 is used to realize the transmission matching of the first transmission wheel 222 and the first matching wheel 130, thereby reducing the transmission matching difficulty of the first transmission wheel 222 and the first matching wheel 130.

[0101] In some embodiments, in combination Figure 6 , Figure 7 and Figure 8 As shown, the first transmission wheel 222 is provided with a first rope path 2221, and the first matching wheel 130 is provided with a second rope path 131, the first rope path 2221 and the second rope path 131 are connected to each other, one end of the first rope 310 is fixedly connected to the first transmission wheel 222 and extends along the first rope path 2221, when the first rope 310 extends to the connecting point between the first rope path 2221 and the second rope path 131, the first rope 310 extends along the second rope path 131, and the other end of the first rope 310 is fixedly connected to the first matching wheel 130, so as to realize the first rope 310 being wound around the first transmission wheel 222 and the first matching wheel 130 in sequence and the two ends of the first rope 310 being fixed on the first transmission wheel 222 and the first matching wheel 130 respectively, so as to facilitate the use of the first rope 310 to realize the matching transmission of the first transmission wheel 222 and the first matching wheel 130.

[0102] In some embodiments, Figure 2As shown, a first rope tensioning mechanism 610 is provided on the first mating wheel 130, and the other end of the first rope 310 is tightened and fixed by the first rope tensioning mechanism 610 to realize the fixed connection of the other end of the first rope 310 to the first mating wheel 130, thereby reducing the fixed connection between the first rope 310 and the first mating wheel 130, and facilitating the tightening of the first rope 310 by the first rope tensioning mechanism 610, so that the first rope 310 can be used to effectively realize the mating transmission between the first transmission wheel 222 and the first mating wheel 130.

[0103] In some embodiments, in combination Figure 6 , Figure 7 and Figure 8 As shown, the second rope 320 is wound around the first transmission wheel 222 and the first matching wheel 130 in sequence, and the two ends of the second rope 320 are respectively fixed on the first transmission wheel 222 and the first matching wheel 130. The second rope 320 is used to realize the matching transmission of the first transmission wheel 222 and the first matching wheel 130, which reduces the difficulty of the matching transmission of the first transmission wheel 222 and the first matching wheel 130.

[0104] In some embodiments, in combination Figure 6 , Figure 7 and Figure 8 As shown, the first transmission wheel 222 is provided with a third rope path 2222, and the first matching wheel 130 is provided with a fourth rope path 132. The third rope path 2222 and the fourth rope path 132 are connected to each other. One end of the second rope 320 is fixedly connected to the first transmission wheel 222 and extends along the third rope path 2222. When the second rope 320 extends to the connecting point of the third rope path 2222 and the fourth rope path 132, the second rope 320 extends along the fourth rope path 132, and the other end of the second rope 320 is fixedly connected to the first matching wheel 130, so as to realize the second rope 320 being wound around the first transmission wheel 222 and the first matching wheel 130 in sequence and the two ends of the second rope 320 being fixed to the first transmission wheel 222 and the first matching wheel 130 respectively, so as to facilitate the use of the first rope 310 to realize the matching transmission of the first transmission wheel 222 and the first matching wheel 130.

[0105] In some embodiments, Figure 2 As shown, a second rope tensioning mechanism 620 is provided on the first mating wheel 130, and the other end of the second rope 320 is tightened and fixed by the second rope tensioning mechanism 620 to realize the fixed connection of the other end of the second rope 320 to the first mating wheel 130, thereby reducing the fixed connection between the second rope 320 and the first mating wheel 130, and facilitating the use of the second rope tensioning mechanism 620 to tighten the second rope 320, so that the second rope 320 can be used to effectively realize the mating transmission between the first transmission wheel 222 and the first mating wheel 130.

[0106] Optionally, combined Figure 7 and Figure 8 As shown, the first rope 310 and the second rope 320 are arranged opposite to each other in the radial direction of the first transmission wheel 222 and the first matching wheel 130, so that when the first transmission wheel 222 rotates forward and reverse, the first transmission wheel 222 and the first matching wheel 130 both form transmission cooperation. It can be understood here that the first rope 310 and the second rope 320 are relatively arranged in the radial direction of the first transmission wheel 222, and the first rope 310 and the second rope 320 are also relatively arranged in the radial direction of the first matching wheel 130, so that when one of the first rope 310 and the second rope 320 is used to control the first transmission wheel 222 to rotate forward, the first transmission wheel 222 and the first matching wheel 130 form a transmission match, and the other of the first rope 310 and the second rope 320 can be used to control the first transmission wheel 222 to reverse, and the first transmission wheel 222 and the first matching wheel 130 form a transmission match, so that when the first transmission wheel 222 rotates forward and reverses, the first transmission wheel 222 and the first matching wheel 130 both form a transmission match, which is convenient for driving the first shaft 110 to rotate forward and reverse around its axis.

[0107] That is to say, the present application utilizes one driving component (second driving unit 220) to realize the forward and reverse rotation of the first axis 110. Compared with setting two independent driving components to drive the forward and reverse rotation of the first axis 110 in the prior art, the structure of the robot arm joint 1000 can be simplified and the size of the robot arm joint 1000 can be further reduced.

[0108] In addition, the present application fixes one end of the first rope 310 and one end of the second rope 320 to the first transmission wheel 222, and controls the rotation of the first mating wheel 130 by driving the first transmission wheel 222 to rotate. Compared with the prior art of directly pulling one end of the first rope 310 and one end of the second rope 320 to control the rotation of the first mating wheel 130, the use length of the first rope 310 and the second rope 320 can be shortened, and the deformation of the first rope 310 and the second rope 320 can be reduced, which is beneficial to improving the rotation accuracy of the first mating wheel 130, and then improving the rotation accuracy of the first shaft 110 when it rotates around its axis.

[0109] In some embodiments, the first rope 310 and the second rope 320 are formed as steel ropes to improve the structural strength of the first rope 310 and the second rope 320, and to a certain extent ensure the working performance of the first rope 310 and the second rope 320, so that the first rope unit 300 can effectively realize the coordinated transmission of the first transmission wheel 222 and the first matching wheel 130.

[0110] Of course, in some other embodiments, the first transmission wheel 222 and the first matching wheel 130 may also be formed as bevel gears, and the two bevel gears are meshed to achieve transmission cooperation between the first transmission wheel 222 and the first matching wheel 130 .

[0111] However, it is worth noting that, compared with using bevel gear meshing to achieve transmission cooperation between the first transmission wheel 222 and the first matching wheel 130, transmission using the first rope 310 and the second rope 320 can be tightened in real time to eliminate transmission clearance and improve transmission accuracy.

[0112] In some embodiments, the third driving unit 230 is used to drive the second mating wheel 140 to rotate so as to drive the output wheel 150 to rotate around the axis of the second shaft 120. This is to achieve the purpose of using the third driving unit 230 to drive the output wheel 150 to rotate around the axis of the second shaft 120, thereby reducing the difficulty of rotating the output wheel 150 around the second shaft 120.

[0113] In some embodiments, in combination Figure 1 , Figure 3 and Figure 6 As shown, the third driving unit 230 includes a third input shaft 231 and a second transmission wheel 232. The third input shaft 231 is sleeved and matched with the first input shaft 211. The second transmission wheel 232 is connected to one axial end of the third input shaft 231 and is transmission-matched with the second matching wheel 140. The second transmission wheel 232 is used to drive the second matching wheel 140 to rotate around the first shaft 110. Since the second matching wheel 140 is transmission-matched with the output wheel 150, when the second transmission wheel 232 drives the second matching wheel 140 to rotate around the first shaft 110, the second transmission wheel 232 can be used to drive the output wheel 150 to rotate, so that the output wheel 150 can rotate around the axis of the second shaft 120, and the difficulty of the output wheel 150 rotating around the axis of the second shaft 120 is reduced.

[0114] Among them, by sleeve-fitting the third input shaft 231 with the first input shaft 211, at least a portion of the first drive unit 210 and the third drive unit 230 can be sleeved together, which facilitates arranging the third input shaft 231 and the first input shaft 211 on the same side of the execution unit 100 and reducing the volume of the drive unit 200.

[0115] In a specific example, combined with Figure 5 and Figure 6 As shown, the third input shaft 231 is sleeved on the outer circumference of the second input shaft 221, and the second input shaft 221 is sleeved on the outer circumference of the first input shaft 211, so as to realize the sleeve matching of the third input shaft 231, the second input shaft 221 and the first input shaft 211, so as to facilitate arranging the third input shaft 231, the second input shaft 221 and the first input shaft 211 on the same side of the execution unit 100 and reduce the volume of the driving unit 200.

[0116] Through the above arrangement, the third input shaft 231 , the second input shaft 221 and the first input shaft 211 can be placed in series in the robot arm to prevent the third input shaft 231 , the second input shaft 221 and the first input shaft 211 from protruding.

[0117] In a specific example, the third input shaft 231, the second input shaft 221 and the first input shaft 211 are placed in series in the robotic arm, and the execution unit 100 is arranged at one end of the third input shaft 231, the second input shaft 221 and the first input shaft 211 to realize the integration of a three-degree-of-freedom integrated robotic arm joint 1000 at the end of the robotic arm, and the three degrees of freedom are coupled and non-differential mechanisms.

[0118] In some embodiments, in combination Figure 1 , Figure 4 and Figure 6 As shown, the robot arm joint 1000 further includes an eighth bearing 780 , which is disposed between the second drive unit 220 and the third drive unit 230 , so that the second drive unit 220 and the third drive unit 230 , which are sleeved together, can rotate relative to each other.

[0119] In some embodiments, the third drive unit 230 also has a third drive motor (such as a rotating motor), the output end of the third drive motor is connected to the third input shaft 231, and the third drive motor is used to drive the third input shaft 231 to rotate along its axis. The third input shaft 231 drives the second transmission wheel 232 to rotate synchronously, so as to achieve the purpose of utilizing the third input shaft 231 and the second transmission wheel 232 to cooperate to drive the second matching wheel 140 to rotate around the first shaft 110, thereby driving the output wheel 150 to rotate around the axis of the second shaft 120, thereby reducing the difficulty of rotating the output wheel 150 around the axis of the second shaft 120.

[0120] In some embodiments, in combination Figure 1 , Figure 3 and Figure 6 As shown, the axis of the second matching wheel 140 is perpendicularly intersected with the axis of the second transmission wheel 232 and the axis of the output wheel 150 respectively, and the second matching wheel 140 is tangent to the second transmission wheel 232 and the output wheel 150 respectively, and the second matching wheel 140 cooperates with the second transmission wheel 232 and the output wheel 150 for transmission through the second rope unit 400. The second matching wheel 140, the second transmission wheel 232 and the output wheel 150 are transmitted in cooperation, so that the second matching wheel 140 and the second transmission wheel 232 are cooperated to drive the output wheel 150 to rotate around the axis of the second shaft 120, so as to achieve the purpose of driving the output wheel 150 to rotate around the axis of the second shaft 120 by the second transmission wheel 232, and reduce the difficulty of rotating the output wheel 150 around the axis of the second shaft 120.

[0121] In some embodiments, in combination Figure 6 , Figure 8 and Fig. 9 As shown, the second rope unit 400 includes a third rope 410 and a fourth rope 420. The third rope 410 is wound around the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 in sequence, and the two ends of the third rope 410 are respectively fixed to the second transmission wheel 232 and the output wheel 150. The third rope 410 is used to realize the transmission matching of the second transmission wheel 232, the second matching wheel 140 and the output wheel 150, thereby reducing the transmission matching difficulty of the second transmission wheel 232, the second matching wheel 140 and the output wheel 150.

[0122] In some embodiments, in combination Figure 6 , Figure 8 and Fig. 9 As shown, the second transmission wheel 232 is provided with a fifth rope path 2321, the second matching wheel 140 is provided with a sixth rope path 141, the output wheel 150 is provided with a seventh rope path 151, the sixth rope path 141 is respectively connected with the fifth rope path 2321 and the seventh rope path 151, one end of the third rope 410 is fixedly connected to the second transmission wheel 232 and extends along the fifth rope path 2321, when the third rope 410 extends to the connecting point of the fifth rope path 2321 and the sixth rope path 141, the third rope 410 extends along the sixth rope path 141, when the third rope 410 When the third rope 410 extends to the connecting point of the sixth rope path 141 and the seventh rope path 151, the third rope 410 extends along the seventh rope path 151 and the other end of the third rope 410 is fixedly connected to the output wheel 150, so as to realize winding the third rope 410 around the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 in sequence, and fixing the two ends of the third rope 410 on the second transmission wheel 232 and the output wheel 150 respectively, so as to realize the transmission matching of the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 by using the third rope 410.

[0123] In some embodiments, a third rope tensioning mechanism is provided on the output wheel 150, and the other end of the third rope 410 is tightened and fixed by the third rope tensioning mechanism to achieve the fixed connection of the other end of the third rope 410 to the output wheel 150, reduce the fixed connection between the third rope 410 and the output wheel 150, and facilitate the use of the third rope tensioning mechanism to tighten the third rope 410, so that the third rope 410 can effectively realize the coordinated transmission of the second transmission wheel 232, the second matching wheel 140 and the output wheel 150.

[0124] In some embodiments, in combination Figure 6 , Figure 8 and Fig. 9As shown, the fourth rope 420 is wound around the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 in sequence, and the two ends of the fourth rope 420 are respectively fixed to the second transmission wheel 232 and the output wheel 150. The fourth rope 420 is used to realize the transmission matching of the second transmission wheel 232, the second matching wheel 140 and the output wheel 150, thereby reducing the transmission matching difficulty of the second transmission wheel 232, the second matching wheel 140 and the output wheel 150.

[0125] In some embodiments, in combination Figure 6 , Figure 8 and Fig. 9 As shown, the second transmission wheel 232 is provided with an eighth rope path 2322, the second matching wheel 140 is provided with a ninth rope path 142, the output wheel 150 is provided with a tenth rope path 152, the ninth rope path 142 is respectively connected with the eighth rope path 2322 and the tenth rope path 152, one end of the fourth rope 420 is fixedly connected to the second transmission wheel 232 and extends along the eighth rope path 2322, when the fourth rope 420 extends to the connecting point of the eighth rope path 2322 and the ninth rope path 142, the fourth rope 420 extends along the ninth rope path 142, when the fourth rope 420 When the fourth rope 420 extends to the connecting point of the ninth rope path 142 and the tenth rope path 152, the fourth rope 420 extends along the tenth rope path 152 and the other end of the fourth rope 420 is fixedly connected to the output wheel 150, so as to realize winding the fourth rope 420 around the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 in sequence, and fixing the two ends of the fourth rope 420 on the second transmission wheel 232 and the output wheel 150 respectively, so as to facilitate the transmission matching of the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 by using the fourth rope 420.

[0126] In the description of the present invention, features limited to "first", "second", "third", "fourth", "fifth", "sixth", "seventh", "eighth", "ninth" and "tenth" may explicitly or implicitly include one or more of the features, which are used to distinguish and describe the features, without any order or importance.

[0127] In some embodiments, Figure 6 As shown, a fourth rope tensioning mechanism 630 is provided on the output wheel 150, and the other end of the fourth rope 420 is tightened and fixed by the fourth rope tensioning mechanism 630, so as to realize that the other end of the fourth rope 420 is fixedly connected to the output wheel 150, reduce the fixed connection between the fourth rope 420 and the output wheel 150, and facilitate to tighten the fourth rope 420 by the fourth rope tensioning mechanism 630, so that the fourth rope 420 can be used to effectively realize the coordinated transmission of the second transmission wheel 232, the second matching wheel 140 and the output wheel 150.

[0128] Optionally, combined Fig. 9 and Fig.10 As shown, the third rope 410 and the fourth rope 420 are arranged opposite to each other in the radial direction of the second transmission wheel 232, the second matching wheel 140 and the output wheel 150, so that when the second transmission wheel 232 rotates forward and reverse, the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 all form a transmission fit. It can be understood here that the third rope 410 and the fourth rope 420 are relatively arranged in the radial direction of the second transmission wheel 232, the third rope 410 and the fourth rope 420 are relatively arranged in the radial direction of the second matching wheel 140, and the third rope 410 and the fourth rope 420 are relatively arranged in the radial direction of the output wheel 150. In this way, when one of the third rope 410 and the fourth rope 420 is used to control the second transmission wheel 232 to rotate forward, the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 form a transmission match, and the other of the third rope 410 and the fourth rope 420 can be used to control the first transmission wheel 222 to reverse, the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 form a transmission match, so that when the second transmission wheel 232 rotates forward and reverses, the second transmission wheel 232, the second matching wheel 140 and the output wheel 150 all form a transmission match, which is convenient for driving the output wheel 150 to rotate forward and reverse around the axis of the second shaft 120.

[0129] That is to say, the present application utilizes one driving component (the third driving unit 230) to realize the forward and reverse rotation of the output wheel 150. Compared with the prior art of setting two independent driving components to drive the forward and reverse rotation of the output wheel 150, the structure of the robot arm joint 1000 can be simplified and the size of the robot arm joint 1000 can be further reduced.

[0130] In addition, the present application fixes one end of the third rope 410 and one end of the fourth rope 420 to the second transmission wheel 232, and controls the rotation of the second matching wheel 140 and the output wheel 150 by driving the second transmission wheel 232 to rotate. Compared with the prior art of directly pulling one end of the third rope 410 and one end of the fourth rope 420 to control the rotation of the second matching wheel 140 and the output wheel 150, the use length of the third rope 410 and the fourth rope 420 can be shortened, and the deformation of the third rope 410 and the fourth rope 420 can be reduced, which is beneficial to improving the rotation accuracy of the second matching wheel 140 and the output wheel 150, and thereby improving the rotation accuracy of the output wheel 150 when it rotates around the axis of the second shaft 120.

[0131] In some embodiments, the third rope 410 and the fourth rope 420 are formed as steel wire ropes to improve the structural strength of the third rope 410 and the fourth rope 420, and to a certain extent ensure the working performance of the third rope 410 and the fourth rope 420, so that the second rope unit 400 can effectively realize the coordinated transmission of the second mating wheel 140 with the second transmission wheel 232 and the output wheel 150.

[0132] Of course, in some other embodiments, the second mating wheel 140, the second transmission wheel 232 and the output wheel 150 can also be formed as bevel gears, and the second mating wheel 140 is respectively meshed with the second transmission wheel 232 and the output wheel 150, and the mating transmission between the second mating wheel 140 and the second transmission wheel 232 and the output wheel 150 can also be realized.

[0133] However, it is worth noting that, compared with using bevel gear meshing to achieve transmission coordination between the second mating wheel 140 and the second transmission wheel 232 and the output wheel 150, transmission using the third rope 410 and the fourth rope 420 can be tightened in real time to eliminate transmission clearance and improve transmission accuracy.

[0134] In some embodiments, Figure 1 , Figure 2 and Figure 3 As shown, the robot arm joint 1000 further includes a fixing seat 500, and the driving unit 200 is rotatably disposed on the fixing seat 500. While preventing the fixing seat 500 from hindering the movement of the driving unit 200, the fixing seat 500 can also be used to support the driving unit 200, thereby improving the position stability of the driving unit 200 and ensuring the working performance of the driving unit 200 to a certain extent.

[0135] In some embodiments, the robot arm joint 1000 is mounted on the robot via a fixing base 500. That is, the fixing base 500 is not only used to support the driving unit 200, but also serves as a mounting fixture for the robot arm joint 1000.

[0136] In some embodiments, in combination Figure 1 , Figure 4 and Figure 6 As shown, the robot arm joint 1000 further includes a ninth bearing 790 , which is disposed between the driving unit 200 and the fixing seat 500 to achieve rotational cooperation between the driving unit 200 and the fixing seat 500 .

[0137] In some embodiments, the robot arm joint 1000 also includes an encoder (not shown in the figure), and the interior of the first input shaft 211 is hollow to form a wire passing channel 2111. The wiring of the encoder is passed through the wire passing channel 2111. While realizing the transmission of the wiring of the encoder, it can also avoid the wiring of the encoder occupying space, further reducing the volume of the robot arm joint 1000. At the same time, the first input shaft 211 can also be used to protect the wiring of the encoder, thereby extending the service life of the encoder and improving the safety of the encoder.

[0138] Through the above arrangement, in a specific example, when it is necessary to drive the robot arm joint 1000 to move, the first input shaft 211 is first controlled to rotate. When the first input shaft 211 rotates, the first shaft 110 is driven to rotate around the second shaft 120 through the transmission member 212. The first shaft 110 simultaneously drives the first matching wheel 130, the second matching wheel 140, the second shaft 120 and the output wheel 150 to rotate around the axis of the second shaft 120, thereby realizing the tumbling of the execution unit 100; then the second input shaft 221 is controlled to rotate. The rotation of the second input shaft 221 drives the first transmission wheel 222 to rotate. The rotation of the first transmission wheel 222 will drive the first matching wheel 130 to rotate through the first rope 310 or the second rope 320. Since the first matching wheel 130 is fixedly connected to the first shaft 110, the rotation of the first matching wheel 130 will drive the first shaft 110 to rotate around its own axis. Rotate, because the second shaft 120 is fixedly connected to the first shaft 110, the output wheel 150 is connected to the second shaft 120, and the first shaft 110 rotates around its own axis, which will eventually drive the output wheel 150 to swing, thereby realizing the pitch of the execution unit 100; finally, the third input shaft 231 is controlled to rotate, and the rotation of the third input shaft 231 drives the second transmission wheel 232 to rotate, and the rotation of the second transmission wheel 232 drives the second matching wheel 140 to rotate around the first shaft 110 through the third rope 410 or the fourth rope 420, and the second matching wheel 140 rotates around the first shaft 110 through the third rope 410 or the fourth rope 420 to drive the output wheel 150 to rotate, so that the output wheel 150 and the third input shaft 231 rotate synchronously, thereby realizing the rolling of the output wheel 150 itself relative to the execution unit 100, thereby realizing the movement of the last degree of freedom of the robot arm joint 1000.

[0139] In summary, the robotic arm joint 1000 of the present application is a coupled, non-differential three-degree-of-freedom joint.

[0140] The following describes a robot arm according to an embodiment of the present invention.

[0141] A robotic arm according to an embodiment of the present invention includes: a robotic arm joint 1000 .

[0142] Among them, the robotic arm joint 1000 is the aforementioned robotic arm joint 1000, and the specific structure of the robotic arm joint 1000 is not described here.

[0143] It can be seen from the above structure that the robotic arm of the embodiment of the present invention, by adopting the aforementioned robotic arm joint 1000, can reduce the size of the robotic arm and improve the control agility of the robotic arm, thereby ensuring the working performance of the robotic arm to a certain extent.

[0144] The following describes a robot according to an embodiment of the present invention.

[0145] A robot according to an embodiment of the present invention includes: a robotic arm.

[0146] Among them, the robotic arm is the aforementioned robotic arm, and the specific structure of the robotic arm will not be described here.

[0147] It can be seen from the above structure that the robot of the embodiment of the present invention can improve the working performance of the robot by adopting the aforementioned mechanical arm.

[0148] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0149] The robot joint 1000, the robot arm and other components of the robot according to the embodiment of the present invention are well known to those skilled in the art and will not be described in detail here.

[0150] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0151] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robotic arm joint, characterized in that: include: An execution unit, the execution unit having a first shaft and a second shaft extending in different directions, the execution unit comprising an output wheel, the output wheel being rotatably connected to one end of the second shaft, and the other end of the second shaft being fixedly connected to the first shaft; The driving unit comprises a first driving unit, a second driving unit and a third driving unit, wherein the first driving unit, the second driving unit and the third driving unit are at least partially sleeved together, the first driving unit is used to drive the first shaft to rotate around the axis of the second shaft, the second driving unit is used to drive the first shaft to rotate around its axis, and the third driving unit is used to drive the output wheel to rotate around the axis of the second shaft.

2. The mechanical arm joint according to claim 1, characterized in that: The execution unit further includes a first mating wheel and a second mating wheel, wherein the first mating wheel is fixedly connected to one axial end of the first shaft, the second mating wheel is rotatably connected to the other end of the first shaft, one end of the second shaft is arranged between the first mating wheel and the second mating wheel, and the output wheel is in transmission cooperation with the second mating wheel; The first driving unit includes a first input shaft and a transmission member. The extension direction of the first input shaft is consistent with the extension direction of the second shaft. The transmission member is arranged between the first mating wheel and the second mating wheel and connects the first input shaft and the first shaft respectively. The first input shaft and the transmission member cooperate to drive the first shaft to rotate around the axis of the second shaft.

3. The mechanical arm joint according to claim 2, characterized in that: The transmission member is rotatably connected to the first shaft so that the first shaft can rotate around its axis relative to the transmission member.

4. The mechanical arm joint according to claim 3, characterized in that: The second driving unit is used to drive the first shaft to rotate relative to the transmission member; Wherein, the second driving unit comprises: a second input shaft, the second input shaft being sleeve-matched with the first input shaft; A first transmission wheel is connected to one axial end of the second input shaft and is in transmission cooperation with the first matching wheel. The first transmission wheel is used to drive the first matching wheel to rotate around the axis of the first shaft.

5. The mechanical arm joint according to claim 4, characterized in that: The axis of the first transmission wheel intersects the axis of the first matching wheel at right angles, and the first transmission wheel is tangent to the first matching wheel. The first transmission wheel and the first matching wheel are matched for transmission via a first rope unit.

6. The mechanical arm joint according to claim 5, characterized in that: The first rope unit comprises: a first rope, wherein the first rope is sequentially wound around the first transmission wheel and the first matching wheel, and two ends of the first rope are respectively fixed to the first transmission wheel and the first matching wheel; a second rope, wherein the second rope is wound around the first transmission wheel and the first matching wheel in sequence, and two ends of the second rope are respectively fixed to the first transmission wheel and the first matching wheel; The first rope and the second rope are arranged opposite to each other in the radial direction of the first transmission wheel and the first matching wheel, so that when the first transmission wheel rotates forwardly and reversely, the first transmission wheel and the first matching wheel form a transmission match.

7. The mechanical arm joint according to claim 2, characterized in that: The third driving unit is used to drive the second matching wheel to rotate so as to drive the output wheel to rotate around the axis of the second shaft; Wherein, the third driving unit comprises: a third input shaft, the third input shaft being sleeve-matched with the first input shaft; A second transmission wheel, wherein the second transmission wheel is connected to one axial end of the third input shaft and is in transmission cooperation with the second mating wheel, and the second transmission wheel is used for driving the second mating wheel to rotate around the first shaft.

8. The mechanical arm joint according to claim 7, characterized in that: The axes of the second matching wheel are respectively perpendicularly intersected with the axes of the second transmission wheel and the output wheel, and the second matching wheel is respectively tangent to the second transmission wheel and the output wheel. The second matching wheel cooperates with the second transmission wheel and the output wheel for transmission through the second rope unit.

9. The mechanical arm joint according to claim 8, characterized in that: The second rope unit comprises: a third rope, the third rope being wound around the second transmission wheel, the second matching wheel and the output wheel in sequence, and two ends of the third rope being fixed to the second transmission wheel and the output wheel respectively; a fourth rope, wherein the fourth rope is wound around the second transmission wheel, the second matching wheel and the output wheel in sequence, and two ends of the fourth rope are respectively fixed to the second transmission wheel and the output wheel; The third rope and the fourth rope are arranged opposite to each other in the radial direction of the second transmission wheel, the second matching wheel and the output wheel, so that when the second transmission wheel rotates forward and reverse, the second transmission wheel, the second matching wheel and the output wheel all form transmission cooperation.

10. The mechanical arm joint according to any one of claims 1 to 9, characterized in that: It also includes a fixing seat, and the driving unit is rotatably arranged on the fixing seat.

11. A robotic arm, characterized in that: Comprising a robotic arm joint according to any one of claims 1-10.

12. A robot, characterized in that: Comprising a robotic arm according to claim 11.

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