Spherical movable joint capable of rotating in super-free direction

Abstract

The spherical movable joint capable of rotating in the super-free direction comprises a shell, a connecting assembly and a driving assembly, and the shell comprises a hemispherical base and a rotating hemispherical shell; the connecting assembly comprises a first fixing frame and a second fixing frame, the first fixing frame is fixedly arranged in an inner cavity of the hemispherical base, the second fixing frame is rotationally connected with the first fixing frame in the direction around a first horizontal straight line, and the rotating hemispherical shell is rotationally connected with the second fixing frame in the direction around a second horizontal straight line; the first horizontal straight line is perpendicular to the second horizontal straight line; the driving assembly is mounted on the second fixing frame; the connecting assembly and the driving assembly are both located in a cavity formed by butt joint of the hemispherical base and the rotating hemispherical shell, the overall size of the spherical joint is effectively reduced, the space occupancy rate is reduced, and the technical effect of joint flexibility is remarkably improved. The problems that in the prior art, a multi-degree-of-freedom motion spherical joint is large in size, large in occupied space and poor in flexibility are effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm movement joints, and particularly relates to a super-free-orientation rotating spherical movable joint. BACKGROUND

[0002] In the current mechanical arm technology, a multi-degree-of-freedom spherical joint is the key to realizing multi-dimensional movement. The spherical joint can provide flexible spatial movement, solve the angle limitation of traditional joints, and enable the mechanical arm to perform various precise movements in three-dimensional space, thereby greatly improving the working flexibility and adaptability of the mechanical arm. Such joints are widely used in automated operations requiring high degrees of freedom and high precision.

[0003] However, the existing multi-degree-of-freedom movement spherical joint usually adopts multiple movement components in series, each component is configured with a driving motor and a transmission structure, and only part of the components are located in the spherical space. This design results in a large overall volume of the joint, occupies a large space, has poor flexibility, and is difficult to meet the requirements of application scenarios that require high space and rapid action response. SUMMARY

[0004] Therefore, it is necessary to provide a super-free-orientation rotating spherical movable joint to solve the problem that the existing multi-degree-of-freedom movement spherical joint usually adopts multiple movement components in series, the joint has a large overall volume, occupies a large space, has poor flexibility, and is difficult to meet the requirements of application scenarios that require high space and rapid action response.

[0005] The present application provides a super-free-orientation rotating spherical movable joint, which comprises an outer shell, a connecting component and a driving component. The outer shell comprises a hemispherical base and a rotating hemispherical shell. The connecting component comprises a first fixed frame and a second fixed frame. The first fixed frame is fixedly arranged in the inner cavity of the hemispherical base. The second fixed frame is rotationally connected with the first fixed frame along a direction around a first horizontal straight line. The rotating hemispherical shell is rotationally connected with the second fixed frame along a direction around a second horizontal straight line. The first horizontal straight line and the second horizontal straight line are arranged perpendicular to each other. The driving component is installed on the second fixed frame to drive the first fixed frame and / or the rotating hemispherical shell to rotate.

[0006] Further, the driving component comprises a first driving member and a second driving member installed on the second fixed frame. The output end of the first driving member is connected with the first fixed frame to drive the second fixed frame to rotate around the first horizontal straight line. The output end of the second driving member is connected with the rotating hemispherical shell to drive the rotating hemispherical shell to rotate around the second horizontal straight line.

[0007] Further, the first driving member comprises a first steering engine, a first gear and a second gear, the first steering engine is fixedly arranged on the second fixed frame, an output end of the first steering engine is connected with the first gear, the second gear is fixedly connected with the first fixed frame, an axis of the second gear is arranged in line with the first horizontal straight line, and the first gear and the second gear are meshingly connected.

[0008] Further, the second driving member comprises a second steering engine, a third gear and a fourth gear, the second driving member is fixedly arranged on the second fixed frame, an output shaft of the second steering engine is connected with the third gear, the fourth gear is connected with the rotating hemispherical shell, an axis of the fourth gear is arranged in line with the second horizontal straight line, and the third gear and the fourth gear are meshingly connected.

[0009] Further, an intersection of the first horizontal straight line and the second horizontal straight line coincides with the center of the hemispherical base and the center of the rotating hemispherical shell.

[0010] Further, at least two fixed plates are further included, the first steering engine is arranged at the bottom of the second fixed frame and is fixedly connected with the second fixed frame via the at least one fixed plate, and the second steering engine is arranged at the bottom of the second fixed frame and is fixedly connected with the second fixed frame via the at least one fixed plate.

[0011] Further, the first fixed frame is in a Y shape, a bottom end of the first fixed frame is fixedly connected with an inner bottom wall of the hemispherical base, and the second fixed frame is in a disc shape and is rotationally connected with the top of two sides of the first fixed frame.

[0012] Further, two first connecting shafts are further included, the two first connecting shafts are coaxially arranged, one end of each of the two first connecting shafts is fixedly connected with the first fixed frame, and the other end of each of the two first connecting shafts is rotationally connected with the second fixed frame.

[0013] Further, two second connecting shafts are further included, the two second connecting shafts are coaxially arranged, one end of each of the two second connecting shafts is rotationally connected with the second fixed frame, and the other end of each of the two second connecting shafts is fixedly connected with the rotating hemispherical shell.

[0014] Further, the hemispherical base and the rotating hemispherical shell are oppositely arranged in cavities, and a lip of the rotating hemispherical shell is at least partially located in the cavity of the hemispherical base.

[0015] Compared with the prior art, the first fixing frame and the second fixing frame are arranged in the cavity formed by the abutment of the hemispherical base and the rotating hemispherical shell, so that the rotating hemispherical shell can rotate relative to the hemispherical base around the first horizontal straight line and / or the second horizontal straight line, thereby realizing the super-free-orientation rotation of the rotating hemispherical shell relative to the hemispherical base. Meanwhile, the driving assembly is arranged in the cavity formed by the abutment of the hemispherical base and the rotating hemispherical shell, and is used to drive the rotating hemispherical shell to rotate relative to the hemispherical base. The connecting assembly and the driving assembly are both arranged in the cavity formed by the abutment of the hemispherical base and the rotating hemispherical shell, thereby effectively reducing the overall volume of the spherical joint, reducing the space occupancy, and significantly improving the flexibility of the joint. The problems of large volume, high space occupancy and poor flexibility of the multi-degree-of-freedom motion spherical joint in the related art are effectively solved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The overall structure schematic diagram of the super-free-orientation rotating spherical movable joint is provided for the embodiments of the present application. Figure 2 For Figure 1 The schematic diagram of the rotation of the rotating hemispherical shell relative to the hemispherical base is provided for the embodiments of the present application. Figure 3 For Figure 1 The structure schematic diagram of the connection of the first fixing frame and the second fixing frame is provided for the embodiments of the present application. Figure 4 For Figure 1 The structure schematic diagram of the connection of the second fixing frame and the rotating hemispherical shell is provided for the embodiments of the present application. Figure 5 For Figure 1 The structure schematic diagram of the first driving member is provided for the embodiments of the present application. Figure 6 For Figure 1 The structure schematic diagram of the second driving member is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present application will be specifically described below in combination with the accompanying drawings, wherein the drawings constitute a part of the present application, and are used to illustrate the principles of the embodiments of the present application, and are not used to limit the scope of the present application.

[0018] As Figures 1-2As shown, the application provides a spherical movable joint with super-free azimuth rotation, which comprises a shell 100, a connecting assembly 200 and a driving assembly 300. The shell 100 comprises a hemispherical base 110 and a rotating hemispherical shell 120. The connecting assembly 200 comprises a first fixed frame 210 and a second fixed frame 220. The first fixed frame 210 is fixedly arranged in the inner cavity of the hemispherical base 110. The second fixed frame 220 is rotationally connected with the first fixed frame 210 along a direction around a first horizontal straight line. The rotating hemispherical shell 120 is rotationally connected with the second fixed frame 220 along a direction around a second horizontal straight line. The first horizontal straight line and the second horizontal straight line are arranged perpendicularly to each other. The driving assembly 300 is installed on the second fixed frame 220 to drive the first fixed frame 210 and / or the rotating hemispherical shell 120 to rotate.

[0019] The first fixed frame 210 and the second fixed frame 220 are arranged in the cavity formed by the abutment of the hemispherical base 110 and the rotating hemispherical shell 120, so that the rotating hemispherical shell 120 can rotate around the first horizontal straight line and / or the second horizontal straight line relative to the hemispherical base 110, thereby realizing the super-free azimuth rotation of the rotating hemispherical shell 120 relative to the hemispherical base 110. Meanwhile, the driving assembly 300 is arranged in the cavity formed by the abutment of the hemispherical base 110 and the rotating hemispherical shell 120, for driving the rotating hemispherical shell 120 to rotate relative to the hemispherical base 110. The connecting assembly 200 and the driving assembly 300 are both located in the cavity formed by the abutment of the hemispherical base 110 and the rotating hemispherical shell 120, which effectively reduces the overall volume of the spherical joint, reduces the space occupancy, and significantly improves the flexibility of the joint. Thus, the problems of large volume, high space occupancy and poor flexibility of the multi-degree-of-freedom motion spherical joint in the related art are effectively solved.

[0020] The shell 100 in the embodiment is the external structure of the spherical movable joint, which comprises the hemispherical base 110 and the rotating hemispherical shell 120.

[0021] The hemispherical base 110 serves as the fixed end of the entire spherical joint. A base is arranged at the lower end of the hemispherical base 110. An installation hole is arranged on the base, which can be fixed on a mechanical arm or other motion equipment through bolts.

[0022] The material of the rotating hemispherical shell 120 is aluminum alloy, and the surface is treated by anodic oxidation, which can reduce the weight and improve the wear resistance.

[0023] It should be noted that the inner cavities of the hemispherical base 110 and the rotating hemispherical shell 120 are arranged relative to each other, and the lip of the rotating hemispherical shell 120 is at least partially located within the inner cavity of the hemispherical base 110. In other words, the inner diameter of the hemispherical base 110 is larger than the outer diameter of the rotating hemispherical shell 120. Moreover, the hemispherical base 110 and the rotating hemispherical shell 120 are not hemispherical structures, but can be two-thirds spheres, three-quarters spheres, etc. This is not limited to this and is determined based on the appearance requirements of the spherical movable joint.

[0024] The connection assembly 200 in this embodiment is a structure connecting the hemispherical base 110 and the rotating hemispherical shell 120, so that the rotating hemispherical shell 120 can rotate around the first horizontal line and / or the second horizontal line relative to the hemispherical base 110.

[0025] In one embodiment, the first fixing frame 210 is Y-shaped, and the bottom end of the first fixing frame 210 is fixedly connected to the inner bottom wall of the hemispherical base 110. The second fixing frame 220 is disc-shaped, and the second fixing frame 220 is rotatably connected to the top of both sides of the first fixing frame 210.

[0026] Of course, in other embodiments, the first fixing frame 210 and the second fixing frame 220 may also adopt other shapes, for example, the first fixing frame 210 adopts a cross structure and the second fixing frame 220 adopts a square structure, which is not limited in this application.

[0027] like Figure 3 As shown, to facilitate the rotational connection between the first fixing frame 210 and the second fixing frame 220, this embodiment further includes two first connecting shafts 230. The two first connecting shafts 230 are coaxially arranged, and one end of each first connecting shaft 230 is fixedly connected to the first fixing frame 210, and the other end of each first connecting shaft 230 is rotationally connected to the second fixing frame 220. Of course, the embodiment can also be implemented by adopting a method in which one end of the first connecting shaft 230 is rotationally connected to the first fixing frame 210 and the other end is fixedly connected to the second fixing frame 220.

[0028] In another embodiment, a groove may be provided on the first fixing frame 210, and a protrusion may be provided on the second fixing frame 220, and the protrusion cooperates with the groove to achieve a rotational connection between the first fixing frame 210 and the second fixing frame 220. Of course, in other embodiments, other connection methods may be used between the first fixing frame 210 and the second fixing frame 220, and this application is not limited thereto.

[0029] like Figure 4As shown, in order to facilitate the rotational connection between the second fixing frame 220 and the rotating hemispherical shell 120, this embodiment also includes two second connecting shafts 240, the two second connecting shafts 240 are coaxially arranged, and one end of the two second connecting shafts 240 is rotationally connected to the second fixing frame 220, and the other end of the two second connecting shafts 240 is fixedly connected to the rotating hemispherical shell 120.

[0030] The driving assembly 300 in this embodiment is installed in a cavity formed by the docking of the hemispherical base 110 and the rotating hemispherical shell 120 , and is used to drive the rotating hemispherical shell 120 to rotate relative to the hemispherical base 110 .

[0031] In one embodiment, the drive assembly 300 includes a first drive member 310 and a second drive member 320 mounted on the second fixed frame 220, the output end of the first drive member 310 is connected to the first fixed frame 210, and is used to drive the second fixed frame 220 to rotate around the first horizontal straight line, and the output end of the second drive member 320 is connected to the rotating hemispherical shell 120, and is used to drive the rotating hemispherical shell 120 to rotate around the second horizontal straight line.

[0032] like Figure 5 As shown, in this embodiment, the first driving member 310 includes a first servo 311, a first gear 312 and a second gear 313. The first servo 311 is fixedly arranged on the second fixing frame 220. The output end of the first servo 311 is connected to the first gear 312. The second gear 313 is fixedly connected to the first fixing frame 210. The axis of the second gear 313 is arranged collinearly with the first horizontal straight line. The first gear 312 and the second gear 313 are meshed and connected.

[0033] When the first steering gear 311 is working, it can drive the first gear 312 to rotate, and the meshing action between the first gear 312 and the second gear 313 can drive the second bracket to rotate around the first horizontal straight line. like Figure 6 As shown, in this embodiment, the second driving member 320 includes a second servo 321, a third gear 322, and a fourth gear 323. The second driving member 320 is fixedly mounted on the second fixing frame 220. The output shaft of the second servo 321 is connected to the third gear 322. The fourth gear 323 is connected to the rotating hemispherical shell 120. The axis of the fourth gear 323 is collinear with the second horizontal line. The third gear 322 and the fourth gear 323 are meshed and connected. The fourth gear 323 can be mounted on the second connecting shaft 240.

[0034] When the second servo 321 is working, it can drive the third gear 322 to rotate, and the meshing action of the third gear 322 and the fourth gear 323 can drive the second connecting shaft 240 to rotate, so that the rotating hemispherical shell 120 fixedly connected to the second connecting shaft 240 can rotate around the second horizontal line.

[0035] In the embodiment, the super free azimuth rotation of the rotating hemispherical shell 120 in the three-dimensional space can be realized by the cooperation of the first steering engine 311 and the second steering engine 321. Specifically, only when the first steering engine 311 works, the second fixed frame 220 drives the rotating hemispherical shell 120 to rotate around the first horizontal straight line; only when the second steering engine 321 works, the rotating hemispherical shell 120 rotates around the second horizontal straight line; and when the first steering engine 311 and the second steering engine 321 work simultaneously, the rotating hemispherical shell 120 can realize a compound motion, thereby meeting the motion requirements of the mechanical arm under different working conditions.

[0036] It should be noted that the intersection of the first horizontal straight line and the second horizontal straight line coincides with the center of the hemispherical base 110 and the center of the rotating hemispherical shell 120. This is to ensure that a spherical space is formed between the hemispherical base and the rotating hemispherical shell 120.

[0037] In addition, the components in the spherical space are arranged compactly, and the connecting assembly 200 and the driving assembly 300 are both located in the spherical space, which effectively reduces the volume and weight of the entire spherical joint. It has been measured that the diameter of the spherical joint is reduced compared with that of the conventional multi-degree-of-freedom spherical joint, the weight is reduced, the motion flexibility is improved, and the application requirements in the space-limited scene can be better met.

[0038] To facilitate the fixation of the first steering engine 311 and the second steering engine 321, the embodiment further includes at least two fixing plates 330. The first steering engine 311 is arranged at the bottom of the second fixed frame 220 and is fixedly connected with the second fixed frame 220 via the at least one fixing plate 330. The second steering engine 321 is arranged at the bottom of the second fixed frame 220 and is fixedly connected with the second fixed frame 220 via the at least one fixing plate 330. The fixing plate 330 is L-shaped. One straight edge of the fixing plate 330 is connected with the first steering engine 311 or the second steering engine 321 via a screw, and the other straight edge of the fixing plate 330 is connected with the second fixed frame 220 via a screw.

[0039] Compared with the prior art, the first fixing frame 210 and the second fixing frame 220 are arranged in a cavity formed by the abutment of the hemispherical base 110 and the rotating hemispherical shell 120, so that the rotating hemispherical shell 120 can rotate relative to the hemispherical base 110 around the first horizontal straight line and / or the second horizontal straight line, thereby realizing super-free-orientation rotation of the rotating hemispherical shell 120 relative to the hemispherical base 110, and the driving assembly 300 is arranged in the cavity formed by the abutment of the hemispherical base 110 and the rotating hemispherical shell 120, for driving the rotating hemispherical shell 120 to rotate relative to the hemispherical base 110, and the connecting assembly 200 and the driving assembly 300 are both arranged in the cavity formed by the abutment of the hemispherical base 110 and the rotating hemispherical shell 120, thereby effectively reducing the overall volume of the spherical joint, reducing the space occupancy, and significantly improving the flexibility of the joint, and effectively solving the problems of large volume, high space occupancy and poor flexibility of the multi-degree-of-freedom motion spherical joint in the related art.

[0040] The above merely describes the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which shall be covered within the protection scope of the present application.

Claims

1. A spherical movable joint with super-free azimuth rotation, characterized in that: include: a housing comprising a hemispherical base and a rotating hemispherical shell; A connecting assembly comprising a first fixing frame and a second fixing frame, wherein the first fixing frame is fixedly disposed in an inner cavity of the hemispherical base, the second fixing frame is rotatably connected to the first fixing frame along a direction around a first horizontal straight line, and the rotating hemispherical shell is rotatably connected to the second fixing frame along a direction around a second horizontal straight line, wherein the first horizontal straight line and the second horizontal straight line are perpendicular to each other; A driving assembly is installed on the second fixing frame and is used to drive the first fixing frame and / or the rotating hemispherical shell to rotate.

2. The super-free azimuthally rotating spherical movable joint according to claim 1, characterized in that: The driving assembly includes a first driving member and a second driving member mounted on the second fixed frame, the output end of the first driving member being connected to the first fixed frame for driving the second fixed frame to rotate around a first horizontal straight line, and the output end of the second driving member being connected to the rotating hemispherical shell for driving the rotating hemispherical shell to rotate around a second horizontal straight line.

3. The super-free azimuthally rotating spherical movable joint according to claim 2, characterized in that: The first driving member includes a first servo, a first gear and a second gear. The first servo is fixedly mounted on the second fixing frame. The output end of the first servo is connected to the first gear. The second gear is fixedly connected to the first fixing frame. The axis of the second gear is collinear with the first horizontal straight line. The first gear and the second gear are meshed with each other.

4. The super-free azimuthally rotating spherical movable joint according to claim 3, characterized in that: The second driving member includes a second servo, a third gear and a fourth gear. The second driving member is fixedly mounted on the second fixed frame. The output shaft of the second servo is connected to the third gear. The fourth gear is connected to the rotating hemispherical shell. The axis of the fourth gear is collinear with the second horizontal straight line. The third gear and the fourth gear are meshed and connected.

5. The super-free azimuthally rotating spherical movable joint according to claim 1, characterized in that: The intersection of the first horizontal straight line and the second horizontal straight line coincides with the center of the hemispherical base and the center of the rotating hemispherical shell.

6. The super-free azimuthally rotating spherical movable joint according to claim 4, characterized in that: It also includes at least two fixing plates, the first servo is arranged at the bottom of the second fixing frame and is fixedly connected to the second fixing frame via at least one of the fixing plates, and the second servo is arranged at the bottom of the second fixing frame and is fixedly connected to the second fixing frame via at least one of the fixing plates.

7. The super-free azimuthally rotating spherical movable joint according to claim 1, characterized in that: The first fixing frame is Y-shaped, and the bottom end of the first fixing frame is fixedly connected to the inner bottom wall of the hemispherical base. The second fixing frame is disc-shaped, and the second fixing frame is rotatably connected to the tops of both sides of the first fixing frame.

8. The super-free azimuthally rotating spherical movable joint according to claim 1, characterized in that: It also includes two first connecting shafts, which are coaxially arranged, and one end of each of the first connecting shafts is fixedly connected to the first fixing frame, and the other end of each of the first connecting shafts is rotatably connected to the second fixing frame.

9. The super-free azimuthally rotating spherical movable joint according to claim 1, characterized in that: It also includes two second connecting shafts, which are coaxially arranged, and one end of each of the second connecting shafts is rotatably connected to the second fixing frame, and the other end of each of the second connecting shafts is fixedly connected to the rotating hemispherical shell.

10. The super-free azimuthally rotating spherical movable joint according to claim 1, characterized in that: The hemispherical base and the inner cavity of the rotating hemispherical shell are arranged opposite to each other, and the lip of the rotating hemispherical shell is at least partially located in the inner cavity of the hemispherical base.

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