Joint module and multi-axis mechanical arm

Abstract

The invention belongs to the technical field of robots, and discloses a joint module and a multi-axis mechanical arm, a cable arranged in a mounting base enters the interior of a shell under the action of a first guide part, is output from an outlet and then is connected with a second driving part, the situation that the cable is exposed can be avoided, and the service life of the cable is prolonged. The appearance of the joint module and the multi-axis mechanical arm is improved, the outlet is located above or near the A axis, the cable can be allowed to rotate with the outlet as the center when the shell rotates along with the first driving part, the phenomenon that the cable is wound is avoided, and the multi-axis mechanical arm can be suitable for the complex working environment.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a joint module and a multi-axis robotic arm. Background Technology

[0002] The development of humanoid robots is receiving increasing attention, and their applications are gradually expanding to various scenarios such as industry, commerce, and homes. Current humanoid robots can not only mimic the shape and movement of the human body, but their multi-axis robotic arms, as a key component, also need to balance functional implementation and aesthetic design. Existing multi-axis robotic arms typically consist of multiple joints, which are electrically connected by cables to achieve coordinated motion control. However, current common wiring methods often expose the cables, which not only affects the overall appearance but also easily leads to cable entanglement when dealing with complex multi-degree-of-freedom movements, thus limiting motion reliability and increasing maintenance difficulty.

[0003] Therefore, the above problems urgently need to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a joint module and a multi-axis robotic arm to avoid exposing cables, thereby improving the appearance of the multi-axis robotic arm and preventing cable entanglement when dealing with complex multi-degree-of-freedom movements.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Joint module, comprising:

[0007] Mounting base;

[0008] The first driving unit is disposed inside the mounting base and has a first driving end that drives around the A-axis;

[0009] A housing is disposed at the first driving end, and the housing is provided with a clearance groove extending in the circumferential direction;

[0010] The second drive unit is disposed inside the housing;

[0011] The first guide portion is fixed inside the mounting base and extends through the clearance groove into the interior of the housing. Its end is provided with an outlet, which is located above or near the A-axis.

[0012] One end of the cable is fixed to the first drive unit, and the other end is guided through the first guide unit to the inside of the housing and connected to the second drive unit;

[0013] When the housing rotates, the clearance groove slides relative to the first guide portion, so that the portion of the cable located within the first guide portion remains relatively stationary.

[0014] Preferably, the first guide portion includes:

[0015] The first guide member has one end fixed to the mounting base and the other end capable of being inserted into the interior of the housing through the clearance groove, and has a first guide groove for guiding the cable;

[0016] The second guide has one end that can be connected to the first guide, and the other end that is rotatably disposed in the housing, and has a second guide groove for guiding the cable, the second guide groove being in communication with the first guide groove.

[0017] Preferably, an arc-shaped transition angle is provided between the first guide groove and the second guide groove.

[0018] Preferably, the axis of rotation between the second guide and the housing is coaxial with the A-axis.

[0019] Preferably, the opening of the second guide groove is opposite to the first drive end;

[0020] The first guide portion also includes a cover plate, which covers the opening of the second guide groove and cooperates with the second guide groove to clamp the cable.

[0021] Preferably, the joint module further includes a second guide portion disposed on the inner side wall of the housing, configured to receive the cable output from the outlet and guide it along a preset path to the input end of the second drive portion.

[0022] Preferably, the second guide portion is a wiring groove disposed on the inner side wall of the housing, with one end of the wiring groove flush with the outlet and the other end flush with the input end of the second drive portion.

[0023] Preferably, both the first drive unit and the second drive unit are planetary reducers.

[0024] Preferably, the housing includes:

[0025] The top plate is connected to the first drive end;

[0026] Two opposing cylindrical wall portions extend axially from the edge of the top plate portion, and the two cylindrical wall portions can form a mounting bracket for mounting the second drive unit.

[0027] A multi-axis robotic arm, comprising at least one joint module as described above.

[0028] The beneficial effects of this invention are:

[0029] The joint module and multi-axis robotic arm proposed in this invention have cables located inside the mounting base that enter the housing under the action of the first guide and exit through the outlet to connect with the second drive unit. This avoids exposed cables and improves the appearance of the joint module and multi-axis robotic arm. The outlet is located above or near the A-axis, allowing the cables to rotate around the outlet as the housing rotates with the first drive unit, thus preventing cable tangling and enabling the multi-axis robotic arm to be used in complex working environments. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the joint module in this invention;

[0031] Figure 2 yes Figure 1 One of the diagrams illustrating an explosion;

[0032] Figure 3 yes Figure 2 Enlarged view of a section at point I;

[0033] Figure 4 yes Figure 1 The second diagram of the explosion;

[0034] Figure 5 This is a schematic diagram of the shell structure in this invention.

[0035] In the picture:

[0036] 1. Mounting base; 2. First drive unit; 3. Housing; 31. Clearance groove;

[0037] 4. Second drive unit; 5. First guide unit; 51. First guide member; 511. First guide groove; 52. Second guide member; 521. Second guide groove; 53. Cover plate; 6. Cable; 7. Second guide unit. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0042] Please see Figures 1 to 5 This embodiment proposes a joint module, which includes a mounting base 1, a first drive unit 2, a housing 3, a second drive unit 4, a first guide unit 5, and a cable 6. The first drive unit 2 is disposed inside the mounting base 1 and has a first drive end that drives around the A-axis. The housing 3 is disposed at the first drive end and has a clearance groove 31 extending circumferentially on the housing 3. The second drive unit 4 is disposed inside the housing 3. The first guide unit 5 is fixed inside the mounting base 1 and extends through the clearance groove 31 into the housing 3. Its end has an outlet located above or near the A-axis. One end of the cable 6 is fixed to the first drive unit 2, and the other end is guided through the first guide unit 5 into the housing 3 and connected to the second drive unit 4. When the housing 3 rotates, the clearance groove 31 slides relative to the first guide unit 5 so that the portion of the cable 6 located inside the first guide unit 5 remains relatively stationary.

[0043] Understandably, the cable 6, located inside the mounting base 1, enters the interior of the housing 3 under the action of the first guide 5, and is output from the outlet and connected to the second drive 4. This avoids the cable 6 from being exposed, improving the appearance of the joint module and the multi-axis robotic arm. The outlet is located above or near the A-axis, allowing a portion of the cable 6 to rotate around the outlet when the housing 3 rotates with the first drive 2, while the portion inside the first guide 5 remains relatively stationary. This prevents the cable 6 from becoming tangled and enables the joint module to be used in complex working environments.

[0044] The first guide section 5 includes a first guide member 51 and a second guide member 52. One end of the first guide member 51 is fixed to the mounting base 1, and the other end can be inserted into the interior of the housing 3 through the clearance groove 31, and has a first guide groove 511 for guiding the cable 6. One end of the second guide member 52 can be connected to the first guide member 51, and the other end is rotatably disposed on the housing 3, and has a second guide groove 521 for guiding the cable 6, which communicates with the first guide groove 511. It can be understood that the first guide section 5 is divided into two parts: the first guide member 51 and the second guide member 52. The first guide member 51 is used to receive the cable 6, and the second guide member 52 is used to output the cable 6. It can remain stationary when the housing 3 rotates, so as to ensure that the cable 6 is output from a fixed point, thereby ensuring that the cable 6 in the first guide section 5 remains stationary, thus avoiding the phenomenon of cable 6 tangling, and enabling the joint module to be used in complex working environments.

[0045] Furthermore, the first guide groove 511 and the second guide groove 521 are connected, together forming a complete and smooth guide channel from the fixed end to the movable end. This channel not only isolates the cable 6 from the rotating parts (such as the first drive end) in the joint module to prevent interference and compression, but more importantly, it ensures that the bending path of the cable 6 is strictly constrained within the guide groove when the joint rotates, avoiding stress concentration, signal attenuation, or short circuit risks caused by sudden changes in the path or excessively sharp bends.

[0046] Furthermore, an arc-shaped transition angle is provided between the first guide groove 511 and the second guide groove 521. This design facilitates the operator to smoothly guide the cable 6 from the first guide groove 511 to the second guide groove 521, avoiding jamming or scratching of the cable 6 end, reducing assembly difficulty, and improving production efficiency and first-time assembly success rate.

[0047] Preferably, the axis of rotation between the second guide 52 and the housing 3 is coaxial with axis A. This arrangement eliminates any additional rotational inertia caused by eccentric mass. This significantly reduces the additional load that needs to be overcome to drive the housing 3 to rotate, thereby improving driving efficiency and reducing energy consumption.

[0048] For example, the housing 3 is provided with a bearing coaxially arranged with the A-axis, and the inner ring of the bearing is connected to the second guide 52. When the housing 3 rotates, the second guide 52 can remain stationary.

[0049] In this embodiment, the opening of the second guide groove 521 faces away from the first drive end; the first guide part 5 also includes a cover plate 53, which covers the opening of the second guide groove 521 and cooperates with the second guide groove 521 to clamp the cable 6. It can be understood that the cover plate 53 and the second guide groove 521 cooperate to form a closed-loop wrapping and clamping of the cable 6, so as to prevent the cable harness from radially jumping, axially moving or partially detaching during high-speed rotation, sudden stop or vibration, thereby enabling the joint module to be suitable for complex working environments.

[0050] The cover plate 53 can be fixed to the opening of the second guide groove 521 by bolts or other fixing structures.

[0051] In this embodiment, the joint module also includes a second guide section 7, which is disposed on the inner sidewall of the housing 3 and configured to receive the cable 6 output from the outlet and guide it along a preset path to the input end of the second drive section 4. It is understood that by guiding the cable 6 along a preset path on the inner sidewall of the housing 3, the undriven corner spaces inside the joint housing 3 can be utilized efficiently and orderly, optimizing the wiring space. This provides more layout space for other core components within the joint module (such as motors, reducers, and sensors), or allows engineers to design the joint to be smaller and more compact, helping to improve the overall power density and motion flexibility of the humanoid robot.

[0052] Preferably, the second guide 7 is a wiring groove provided on the inner side wall of the housing 3. This configuration eliminates the need for additional independent parts (such as additional conduits or clips). This significantly simplifies the number of parts, reduces mold complexity and assembly processes, and achieves lightweight and low cost.

[0053] Furthermore, one end of the cable tray is flush with the outlet, and the other end is flush with the input end of the second drive unit 4. This arrangement can prevent the cable 6 from dangling or shaking after entering the housing 3, thereby fundamentally eliminating the risk of the cable 6 dangling, shaking, or getting caught on internal moving parts (such as rotating shafts or screws) during its final journey, achieving a clean and orderly internal wiring environment.

[0054] Preferably, both the first drive unit 2 and the second drive unit 4 are planetary reducers. This configuration improves the impact resistance of the joint module and meets the requirements of complex and diverse motion scenarios.

[0055] In this embodiment, the housing 3 includes a top plate portion connected to the first drive end; and two opposing cylindrical wall portions extending axially from the edges of the top plate portion, which together form a mounting bracket for mounting the second drive unit 4. It is understood that the two opposing cylindrical wall portions form a robust frame structure, which efficiently transmits the output torque of the first drive end to the housing 3 and provides the second drive unit 4 with a highly rigid and deformation-resistant mounting base.

[0056] It should be noted that the second drive unit 4 has a second drive end that rotates around the B axis. The B axis is staggered with the A axis, which enables the joint module to adapt to more complex environments. Furthermore, other joint modules or end effectors such as grippers can be connected to the second drive end.

[0057] Based on the above, this embodiment also proposes a multi-axis robotic arm, which includes at least one joint module as described above. This arrangement allows all the cables 6 to be housed inside the multi-axis robotic arm, improving its appearance. Furthermore, the joint module enables the multi-axis robotic arm to meet the demands of more complex working environments.

[0058] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A joint module, characterized in that, include: Mounting base (1); The first drive unit (2) is disposed inside the mounting base (1) and has a first drive end that drives around the A-axis; A housing (3) is disposed at the first drive end, and a clearance groove (31) extending in the circumferential direction is provided on the housing (3); The second drive unit (4) is disposed inside the housing (3); The first guide part (5) is fixed inside the mounting base (1) and extends through the clearance groove (31) to the inside of the housing (3). Its end is provided with an outlet, which is located above or near the A-axis. The cable (6) is fixed at one end to the first drive unit (2) and the other end is guided through the first guide unit (5) to the inside of the housing (3) and connected to the second drive unit (4); When the housing (3) rotates, the clearance groove (31) slides relative to the first guide (5) so that the portion of the cable (6) located within the first guide (5) remains relatively stationary.

2. The joint module according to claim 1, characterized in that, The first guide section (5) includes: The first guide (51) is fixed at one end to the mounting base (1) and the other end can be inserted into the interior of the housing (3) through the clearance groove (31), and has a first guide groove (511) for guiding the cable (6); The second guide (52) has one end connected to the first guide (51) and the other end rotatably disposed in the housing (3), and has a second guide groove (521) for guiding the cable (6), the second guide groove (521) being connected to the first guide groove (511).

3. The joint module according to claim 2, characterized in that, An arc-shaped transition angle is provided between the first guide groove (511) and the second guide groove (521).

4. The joint module according to claim 3, characterized in that, The axis of rotation between the second guide (52) and the housing (3) is coaxial with the A-axis.

5. The joint module according to claim 2, characterized in that, The opening of the second guide groove (521) is opposite to the first drive end; The first guide part (5) also includes a cover plate (53), which covers the opening of the second guide groove (521) and cooperates with the second guide groove (521) to clamp the cable (6).

6. The joint module according to claim 1, characterized in that, The joint module also includes a second guide (7), which is disposed on the inner side wall of the housing (3) and configured to receive the cable (6) output from the outlet and guide it along a preset path to the input end of the second drive unit (4).

7. The joint module according to claim 6, characterized in that, The second guide part (7) is a wiring groove provided on the inner side wall of the housing (3). One end of the wiring groove is flush with the outlet, and the other end is flush with the input end of the second drive part (4).

8. The joint module according to claim 1, characterized in that, Both the first drive unit (2) and the second drive unit (4) are planetary reducers.

9. The joint module according to claim 1, characterized in that, The housing (3) includes: The top plate is connected to the first drive end; Two opposing cylindrical wall portions extend axially from the edge of the top plate portion, and the two cylindrical wall portions can form a mounting bracket for mounting the second drive unit (4).

10. A multi-axis robotic arm, characterized in that, It includes at least one joint module as described in any one of claims 1-9.

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