Joint structure, robot arm and robot

Abstract

A joint structure, a mechanical arm and a robot, the joint structure comprising a base, a load connecting mechanism and a driving device, the load connecting mechanism comprising a movable piece and a rotating piece, the movable piece being rotationally connected with the rotating piece about a first axis, and the rotating piece being rotationally connected with the base about a second axis. The driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism being connected with a first connecting end of the movable piece, and the second driving mechanism being connected with a second connecting end of the movable piece, so as to drive the movable piece to rotate about the first axis and / or the second axis relative to the base. The first connecting end is rotatable about a third axis and a fourth axis relative to the first driving mechanism. The second connecting end is rotatable about a fifth axis and a sixth axis relative to the second driving mechanism. In a preset state, the first axis, the third axis and the fifth axis are parallel to each other, the second axis, the fourth axis and the sixth axis are parallel to each other, and a plane in which the third axis and the fifth axis are located is closer to a distal end relative to the first axis.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a joint structure, a robotic arm, and a robot. Background Technology

[0002] Joints are a common type of mechanical structure that connects front-end and rear-end mechanical components, enabling controlled relative movement. For example, a robot's wrist joint connects the forearm and hand mechanism. By operating the wrist joint, the hand mechanism can be rotated relative to the forearm in two different directions to change its posture.

[0003] Existing joint structures, to enable the rear-end mechanical component to rotate relative to the front-end mechanical component in both directions, typically include two motors connected in series. The first motor is connected to the rear-end mechanical component and drives its rotation relative to the front-end mechanical component in the first direction. The second motor is connected between the front-end mechanical component and the first motor, driving both the first motor and the rear-end mechanical component to rotate relative to the front-end mechanical component in the second direction. This allows the rear-end mechanical component to rotate in both directions. However, this existing joint structure implementation has a long kinematic chain. If there is an error at the front-end node in the kinematic chain, it will accumulate and be amplified to the rear-end, leading to a decrease in the operating accuracy of the rear-end mechanical component. Furthermore, the second motor needs to drive the rear-end mechanical component and the first motor together, resulting in a large driving load for the second motor. This limits its ability to perform high-speed or high-acceleration driving, thus restricting its performance in high-speed and high-acceleration applications. Summary of the Invention

[0004] In view of this, the present invention proposes a joint structure, a robotic arm, and a robot.

[0005] The joint structure proposed in the first aspect of the present invention includes:

[0006] Base;

[0007] A load connection mechanism includes a movable part and a rotating part. The movable part is rotatably connected to the rotating part about a first axis, and the rotating part is rotatably connected to the base about a second axis. The first axis is perpendicular to the second axis. The movable part includes a first connecting end, a second connecting end, and a distal end. The first connecting end and the second connecting end are arranged opposite to each other in the extension direction of the second axis. The distal end is used to connect a load element.

[0008] The driving device includes a first driving mechanism and a second driving mechanism, which are mounted on the base. The first driving mechanism is connected to the first connecting end, and the second driving mechanism is connected to the second connecting end. The first driving mechanism and the second driving mechanism are respectively used to push the movable member away from the driving device or pull it back towards the driving device, so as to drive the movable member to rotate relative to the base about the first axis and / or about the second axis.

[0009] Wherein, the first connecting end is rotatable about a third axis and a fourth axis relative to the first driving mechanism, the third axis being perpendicular to the fourth axis; the second connecting end is rotatable about a fifth axis and a sixth axis relative to the second driving mechanism, the fifth axis being perpendicular to the sixth axis;

[0010] The movable component has a preset state in which the first axis, the third axis, and the fifth axis are parallel to each other, the second axis, the fourth axis, and the sixth axis are parallel to each other, and the plane containing the third axis and the fifth axis is closer to the far end relative to the first axis.

[0011] As can be seen from the above technical solutions, the joint structure proposed in the first aspect of the present invention, firstly, by setting the first driving mechanism to connect with the first connecting end of the movable part and the second driving mechanism to connect with the second connecting end of the movable part, that is, the first driving mechanism and the second driving mechanism adopt a parallel configuration. Compared with the existing series-connected motor driving method, the kinematic chain between the first driving mechanism and the second driving mechanism and the movable part is shorter, and there is no problem of error accumulation and amplification, thereby improving the running accuracy of the movable part. Secondly, compared with the existing series-connected motor driving method, the parallel driving method of the first driving mechanism and the second driving mechanism results in a smaller driving load, enabling the first driving mechanism and the second driving mechanism to drive the movable part at high speed or high acceleration, that is, the driving device has high-speed and high-acceleration driving performance. Furthermore, by setting the plane containing the third axis and the fifth axis closer to the far end of the movable part relative to the first axis, in this embodiment, with the stroke of the first driving mechanism and the second driving mechanism fixed, the inward setting of the first axis can make the overall length of the driving device and the load connection mechanism shorter, the structure more compact, and conducive to miniaturization.

[0012] The robotic arm according to the second aspect of the present invention comprises:

[0013] Load elements; and

[0014] In the aforementioned joint structure, the load element is connected to the movable component.

[0015] As can be seen from the above technical solutions, the robotic arm proposed in the second aspect of the present invention, due to the adoption of the above-mentioned joint structure, has the technical effects of improving the running accuracy of moving parts, providing high-speed and high-acceleration driving performance of the driving device, and making the overall length of the driving device and load connection mechanism shorter and the structure more compact, which is conducive to achieving miniaturization.

[0016] The robot proposed in the third aspect of the present invention comprises:

[0017] Movable body; and

[0018] The aforementioned robotic arm is mounted on the movable body.

[0019] As can be seen from the above technical solutions, the robot proposed in the third aspect of the present invention, due to the adoption of the aforementioned robotic arm, has the technical effects of improving the running accuracy of moving parts, providing high-speed and high-acceleration driving performance of the driving device, and making the overall length of the driving device and load connection mechanism shorter and the structure more compact, which is conducive to achieving miniaturization. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a joint structure proposed in an embodiment of the present invention;

[0022] Figure 2 This is a partial structural schematic diagram of a joint structure proposed in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the connection between the first connecting rod and the first multi-degree-of-freedom bearing according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the connection between the second connecting rod and the second multi-degree-of-freedom bearing according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the trajectory of the third axis when the first link swings according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the first linkage driving the movable component to rotate according to an embodiment of the present invention. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention.

[0028] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a joint structure 100, which includes a base 10, a load connection mechanism 20, and a drive device 30. The load connection mechanism 20 includes a movable member 21 and a rotating member 22. The movable member 21 is rotatably connected to the rotating member 22 about a first axis L1, and the rotating member 22 is rotatably connected to the base 10 about a second axis L2. The first axis L1 and the second axis L2 are perpendicular. The movable member 21 includes a first connecting end 211, a second connecting end 212, and a distal end 213. The first connecting end 211 and the second connecting end 212 are arranged opposite to each other in the extension direction of the second axis L2, and the distal end 213 is used to connect a load element. The drive device 30 includes a first drive mechanism 31 and a second drive mechanism 32. The first drive mechanism 31 and the second drive mechanism 32 are mounted on the base 10. The first drive mechanism 31 is connected to the first connecting end 211, and the second drive mechanism 32 is connected to the second connecting end 212. The first drive mechanism 31 and the second drive mechanism 32 are respectively used to push the movable member 21 away from the drive device 30 or pull it back towards the drive device 30, so as to drive the movable member 21 to rotate relative to the base 10 about the first axis L1 and / or about the second axis L2.

[0029] Among them, such as Figure 1 As shown, the first drive mechanism 31 pushes the movable member 21 away from the drive device 30, that is, the first drive mechanism 31 pushes the movable member 21 along the pushing direction K1. The first drive mechanism 31 pulls the movable member 21 back towards the drive device 30, that is, the first drive mechanism 31 pulls the movable member 21 along the pulling direction K2. The second drive mechanism 32 pushes the movable member 21 away from the drive device 30, that is, the second drive mechanism 32 pushes the movable member 21 along the pushing direction K1. The second drive mechanism 32 pulls the movable member 21 back towards the drive device 30, that is, the second drive mechanism 32 pulls the movable member 21 along the pulling direction K2. The pushing direction K1 and the pulling direction K2 are opposite directions.

[0030] The phrase "the first driving mechanism 31 and the second driving mechanism 32 are respectively used to push the movable part 21 away from the driving device 30 or pull it back towards the driving device 30" includes the following operating modes: One operating mode is that both the first driving mechanism 31 and the second driving mechanism 32 push the movable part 21 away from the driving device 30. Another operating mode is that both the first driving mechanism 31 and the second driving mechanism 32 pull the movable part 21 back towards the driving device 30. Another operating mode is that the first driving mechanism 31 pushes the movable part 21 away from the driving device 30, and the second driving mechanism 32 pulls the movable part 21 back towards the driving device 30. Another operating mode is that the second driving mechanism 32 pushes the movable part 21 away from the driving device 30, and the first driving mechanism 31 pulls the movable part 21 back towards the driving device 30. Finally, another operating mode is that the first driving mechanism 31 remains stationary, and the second driving mechanism 32 pushes the movable part 21 away from the driving device 30 or pulls it back towards the driving device 30. Another operating mode is that the second drive mechanism 32 remains stationary, while the first drive mechanism 31 pushes the movable part 21 away from the drive device 30 or pulls it back towards the drive device 30.

[0031] The joint structure 100 proposed in this embodiment firstly connects the first drive mechanism 31 to the first connecting end 211 of the movable part 21, and the second drive mechanism 32 connects to the second connecting end 212 of the movable part 21. That is, the first drive mechanism 31 and the second drive mechanism 32 are connected in parallel. Compared with the existing series drive method of motors, the kinematic chain between the first drive mechanism 31 and the second drive mechanism 32 and the movable part 21 is shorter, and there is no problem of error accumulation and amplification, thereby improving the running accuracy of the movable part 21. Secondly, compared with the existing series drive method of motors, the parallel drive method of the first drive mechanism 31 and the second drive mechanism 32 results in a smaller drive load, which allows the first drive mechanism 31 and the second drive mechanism 32 to drive the movable part 32 to move at high speed or high acceleration. That is, the drive device 30 has high-speed and high-acceleration drive performance.

[0032] Optionally, the joint structure 100 proposed in this embodiment is applied to a robotic arm as a wrist joint. The base 10 connects to the forearm, or the base 10 itself is used as a forearm. The distal end 213 of the movable member 21 connects to a load element, which can be, but is not limited to, a hand mechanism. Of course, the joint structure 100 is not limited to robotic arms; it can also be applied to other mechanisms in a robot that require two components to rotate relative to each other. It should be noted that the joint structure 100 is not limited to robots; it can also be applied to other mechanical devices that require joint structures, depending on actual design needs.

[0033] In some embodiments, the first drive mechanism 31 and the second drive mechanism 32 are configured such that when the movable member 21 is driven in the same direction and at the same speed, the movable member 21 can rotate about a second axis L2. The first drive mechanism 31 and the second drive mechanism 32 are configured such that when the movable member 21 is driven in opposite directions at the same speed, the movable member 21 can rotate about a first axis L1. When the first drive mechanism 31 and the second drive mechanism 32 are configured to drive the movable member 21 at different speeds, the movable member 21 can rotate about both the first axis L1 and the second axis L2.

[0034] Please refer to Figure 1 Taking the wrist joint as an example, with the distal end 213 of the movable member 21 connected to the hand mechanism: When the first drive mechanism 31 and the second drive mechanism 32 push the movable member 21 away from the drive device 30 at the same speed, the hand mechanism rotates downward relative to the base 10. When the first drive mechanism 31 and the second drive mechanism 32 pull the movable member 21 back towards the drive device 30 at the same speed, the hand mechanism rotates upward relative to the base 10. When the first drive mechanism 31 pushes the movable member 21 away from the drive device 30 at a first speed, and the second drive mechanism 32 pulls the movable member 21 back towards the drive device 30 at a first speed, the hand mechanism rotates counterclockwise relative to the base 10. When the first drive mechanism 31 pulls the movable member 21 back towards the drive device 30 at a first speed, and the second drive mechanism 32 pushes the movable member 21 away from the drive device 30 at a first speed, the hand mechanism rotates clockwise relative to the base 10. It should be noted that... Figure 1 This description is only for explaining this embodiment. The terms "rotate upward", "rotate downward", "rotate counterclockwise", and "rotate clockwise" are used to explain this embodiment and should not be used to limit the scope of protection of this invention. When the orientation of the joint structure 100 changes, the corresponding rotation direction also changes.

[0035] like Figure 1 , Figure 3 and Figure 4As shown, in some embodiments, the first connecting end 211 is rotatable relative to the first driving mechanism 31 about a third axis L3 and a fourth axis L4, with the third axis L3 perpendicular to the fourth axis L4. The second connecting end 212 is rotatable relative to the second driving mechanism 32 about a fifth axis L5 and a sixth axis L6, with the fifth axis L5 perpendicular to the sixth axis L6. It should be noted that "the first connecting end 211 is rotatable relative to the first driving mechanism 31 about a third axis L3 and a fourth axis L4" does not limit the first connecting end 211 to only rotatable about the third axis L3 and the fourth axis L4. In other embodiments, the first connecting end 211 can rotate about other axes besides the third axis L3 and the fourth axis L4 relative to the first driving mechanism 31. Similarly, the statement that "the second connecting end 212 can rotate about the fifth axis L5 and the sixth axis L6 relative to the second driving mechanism 32" does not limit the second connecting end 212 to only rotating about the fifth axis L5 and the sixth axis L6 relative to the second driving mechanism 32. In some other embodiments, the second connecting end 212 can rotate about other axes in addition to rotating about the fifth axis L5 and the sixth axis L6 relative to the second driving mechanism 32.

[0036] like Figures 1 to 4 As shown, in some embodiments, the movable member 21 has a preset state in which the first axis L1, the third axis L3, and the fifth axis L5 are parallel to each other, the second axis L2, the fourth axis L4, and the sixth axis L6 are parallel to each other, and the plane containing the third axis L3 and the fifth axis L5 is closer to the distal end 213 relative to the first axis L1. The "preset state" can be understood as an "initial state" or a "preset calibration state." In some embodiments, in this state, the movable member 21 does not rotate around the first axis L1 or the second axis L2 relative to the base 10; that is, the movable member 21 is at the calibrated zero-degree position relative to the base 10. In this embodiment, by setting the plane containing the third axis L3 and the fifth axis L5 closer to the distal end of the movable member 21 relative to the first axis L1, and with the strokes of the first drive mechanism 31 and the second drive mechanism 32 fixed, the first axis L1 is recessed, resulting in a shorter overall length of the drive device 30 and the load connection mechanism 20, a more compact structure, and facilitating miniaturization.

[0037] like Figure 1As shown, in some embodiments, in the preset state, the line connecting the orthographic projections of the first axis L1, the third axis L3, and the fifth axis L5 onto the first plane is an isosceles triangle, and the first plane is perpendicular to the first axis L1. That is, the lever arm of the first driving mechanism 31 driving the movable member 21 to rotate is equal to the lever arm of the second driving mechanism 32 driving the movable member 21 to rotate. In this embodiment, when the first driving mechanism 31 and the second driving mechanism 32 drive the movable member 21 to rotate around the first axis L1 in opposite directions and at the same speed, the resultant force applied by the first driving mechanism 31 and the second driving mechanism 32 to the movable member 21 is zero. The movable member 21 only bears torque and does not bear bending stress, which can avoid uneven wear caused by lateral force when the movable member 21 and the rotating member 22 rotate relative to each other.

[0038] like Figures 1 to 4 As shown, in some embodiments, in the preset state, the first axis L1 and the second axis L2 are in the second plane, and the third axis L3, the fourth axis L4, the fifth axis L5 and the sixth axis L6 are in the third plane. The third plane is parallel to the second plane, and the third plane is closer to the far end 213 relative to the second plane.

[0039] like Figure 1 and Figure 2 As shown, in some embodiments, the first drive mechanism 31 includes a first drive assembly 311 and a first connecting rod 312. The first drive assembly 311 includes a first motor body 3111 and a first shaft 3112. The first motor body 3111 is fixedly connected to the base 10, and the first shaft 3112 is connected to the first motor body 3111. The first motor body 3111 is used to drive the first shaft 3112 to reciprocate along its axial direction. One end of the first connecting rod 312 is rotatably connected to the first shaft 3112, and the other end is rotatably connected to the first connecting end 211.

[0040] Please see Figure 1 The first driving mechanism 31 proposed in this embodiment, taking the first driving mechanism 31 pushing the movable part 21 away from the driving device 30 to drive the movable part 21 to rotate counterclockwise around the first axis L1 as an example, during operation, the first motor body 3111 drives the first shaft 3112 to move towards the first connecting end 211. The first shaft 3112 pushes the first connecting rod 312 to move towards the first connecting end 211. Under the push of the first connecting rod 312, the first connecting end 211 rotates counterclockwise around the first axis L1, so that the movable part 21 rotates counterclockwise around the first axis L1. At the same time, the first connecting rod 312 follows the first connecting end 211 to rotate counterclockwise around the end of the first connecting rod 312 connected to the first shaft 3112. It should be noted that... Figure 1This is only for illustrative purposes. The term "counterclockwise rotation" is used to explain this embodiment and should not be used to limit the scope of protection of this invention. When the orientation of the joint structure 100 changes, the corresponding rotation direction also changes.

[0041] Please see Figure 1 The first driving mechanism 31 proposed in this embodiment, taking the first driving mechanism 31 pushing the movable part 21 away from the driving device 30 to drive the movable part 21 to rotate downward around the second axis L2 as an example, during operation, the first motor body 3111 drives the first shaft 3112 to move towards the first connecting end 211. The first shaft 3112 pushes the first connecting rod 312 to move towards the first connecting end 211. Under the push of the first connecting rod 312, the first connecting end 211 rotates downward around the second axis L2, so that the movable part 21 rotates downward around the second axis L2. At the same time, the first connecting rod 312 follows the first connecting end 211 to rotate downward around the end of the first connecting rod 312 connected to the first shaft 3112. It should be noted that... Figure 1 This is only for illustrative purposes. The term "rotate downwards" is used to explain this embodiment and should not be used to limit the scope of protection of this invention. When the orientation of the joint structure 100 changes, the corresponding rotation direction also changes.

[0042] The first drive mechanism 31 proposed in this embodiment is configured such that the first motor body 3111 is fixedly connected to the base 10, meaning the first motor body 3111 is stationary relative to the base 10. The first shaft 3112, in conjunction with the first connecting rod 312, drives the movable part 21. This implementation has several advantages: First, when the first drive mechanism 31 drives the movable part 21, since the first motor body 3111 is stationary, it does not become a load on the first drive mechanism 31, resulting in less wear and tear. Second, if the first motor body 3111 moves along with the movable part 21, the control algorithm needs to compensate for the inertial force generated when the first motor body 3111 moves, increasing the difficulty of output control. In this embodiment, by setting the first motor body 3111 to be stationary, the control algorithm does not need to compensate for the inertial force generated when the first motor body 3111 moves, thus reducing the difficulty of output control. Thirdly, since the position of the first motor body 3111 relative to the base 10 is fixed, the first motor body 3111 is easy to align during assembly, which can reduce the assembly difficulty of the first motor body 3111.

[0043] In some embodiments, the first drive component 311 is a reverse planetary roller screw linear motor module, which has the advantages of high efficiency, high precision, high reliability, high power density and long service life.

[0044] It should be noted that the first drive mechanism 31 is not limited to the above-described embodiments. For example, in some other embodiments, the first drive mechanism 31 may also be configured to include a first motor body 3111 and a first shaft 3112. The first motor body 3111 is movably connected to the base 10, and the first shaft 3112 is connected to the first motor body 3111. The first motor body 3111 is used to drive the first shaft 3112 to reciprocate along its axial direction, and the end of the first shaft 3112 is rotatably connected to the first connecting end 211.

[0045] Please combine Figure 1 The first drive mechanism 31 proposed in this embodiment, taking the first drive mechanism 31 pushing the movable part 21 away from the drive device 30 to drive the movable part 21 to rotate counterclockwise around the first axis L1 as an example, during operation, the first motor body 3111 drives the first shaft 3112 to move towards the first connecting end 211. The first connecting end 211 rotates counterclockwise around the first axis L1 under the push of the first shaft 3112, so that the movable part 21 rotates counterclockwise around the first axis L1. At the same time, the first drive mechanism 31 follows the first connecting end 211 to rotate counterclockwise around the end of the first motor body 3111 connected to the base 10. That is, compared with the above-mentioned driving method in which the first motor body 3111 is stationary, the first drive mechanism 31 in this embodiment adopts a driving method in which the first motor body 3111 moves.

[0046] like Figure 1 and Figure 2 As shown, in some embodiments, the second drive mechanism 32 includes a second drive assembly 321 and a second connecting rod 322. The second drive assembly 321 includes a second motor body 3211 and a second shaft 3212. The second motor body 3211 is fixedly connected to the base 10, and the second shaft 3212 is connected to the second motor body 3211. The second motor body 3211 is used to drive the second shaft 3212 to reciprocate along its axial direction. One end of the second connecting rod 322 is rotatably connected to the second shaft 3212, and the other end is rotatably connected to the second connecting end 212.

[0047] Please see Figure 1The second driving mechanism 32 proposed in this embodiment, taking the second driving mechanism 32 pushing the movable part 21 away from the driving device 30 to drive the movable part 21 to rotate clockwise around the first axis L1 as an example, during operation, the second motor body 3211 drives the second shaft 3212 to move towards the second connecting end 212. The second shaft 3212 pushes the second connecting rod 322 to move towards the second connecting end 212. Under the push of the second connecting rod 322, the second connecting end 212 rotates clockwise around the first axis L1, so that the movable part 21 rotates clockwise around the first axis L1. At the same time, the second connecting rod 322 follows the second connecting end 212 to rotate clockwise around the end of the second connecting rod 322 connected to the second shaft 3212. It should be noted that... Figure 1 This is only for illustrative purposes. The term "counterclockwise rotation" is used to explain this embodiment and should not be used to limit the scope of protection of this invention. When the orientation of the joint structure 100 changes, the corresponding rotation direction also changes.

[0048] Please see Figure 1 The second driving mechanism 32 proposed in this embodiment, taking the second driving mechanism 32 pushing the movable part 21 away from the driving device 30 to drive the movable part 21 to rotate downward around the second axis L2 as an example, during operation, the second motor body 3211 drives the second shaft 3212 to move towards the second connecting end 212. The second shaft 3212 pushes the second connecting rod 322 to move towards the second connecting end 212. Under the push of the second connecting rod 322, the second connecting end 212 rotates downward around the second axis L2, so that the movable part 21 rotates downward around the second axis L2. At the same time, the second connecting rod 322 follows the second connecting end 212 to rotate downward around the end of the second connecting rod 322 connected to the second shaft 3212. It should be noted that... Figure 1 This is only for illustrative purposes. The term "rotate downwards" is used to explain this embodiment and should not be used to limit the scope of protection of this invention. When the orientation of the joint structure 100 changes, the corresponding rotation direction also changes.

[0049] The second drive mechanism 32 proposed in this embodiment is configured such that the second motor body 3211 is fixedly connected to the base 10, meaning the second motor body 3211 is stationary relative to the base 10. The movable part 21 is driven by the second shaft 3212 in conjunction with the second connecting rod 322. This implementation has several advantages: First, when the second drive mechanism 32 drives the movable part 21, since the second motor body 3211 is stationary, it does not become a load on the second drive mechanism 32, resulting in less wear and tear. Second, if the second motor body 3211 moves along with the movable part 21, the control algorithm needs to compensate for the inertial force generated when the second motor body 3211 moves, increasing the difficulty of output control. In this embodiment, by setting the second motor body 3211 stationary, the control algorithm does not need to compensate for the inertial force generated when the second motor body 3211 moves, thus reducing the difficulty of output control. Thirdly, since the position of the second motor body 3211 relative to the base 10 is fixed, the second motor body 3211 is easy to align during assembly, which can reduce the assembly difficulty of the second motor body 3211.

[0050] In some embodiments, the second drive component 321 is a reverse planetary roller screw linear motor module, which has the advantages of high efficiency, high precision, high reliability, high power density and long service life.

[0051] It should be noted that the second drive mechanism 32 is not limited to the above-described embodiments. For example, in some other embodiments, the second drive mechanism 32 may also be configured to include a second motor body 3211 and a second shaft 3212. The second motor body 3211 is movably connected to the base 10, and the second shaft 3212 is connected to the second motor body 3211. The second motor body 3211 is used to drive the second shaft 3212 to reciprocate along its axial direction, and the end of the second shaft 3212 is rotatably connected to the second connecting end 212.

[0052] Please combine Figure 1The second drive mechanism 32 proposed in this embodiment, taking the second drive mechanism 32 pushing the movable member 21 away from the drive device 30 to drive the movable member 21 to rotate clockwise around the first axis L1 as an example, during operation, the second motor body 3211 drives the second shaft 3212 to move towards the second connecting end 212. The second connecting end 212 rotates clockwise around the first axis L1 under the push of the second shaft 3212, so that the movable member 21 rotates clockwise around the first axis L1. At the same time, the second drive mechanism 32 follows the second connecting end 212 to rotate clockwise around the end of the second motor body 3211 connected to the base 10. That is, compared with the above-mentioned driving method in which the second motor body 3211 is stationary, the second drive mechanism 32 in this embodiment adopts a driving method in which the second motor body 3211 moves.

[0053] It should be noted that when the first drive mechanism 31 drives the movable part 21 to rotate around the first axis L1, it constitutes a crank-slider mechanism. The first shaft 3112 corresponds to the slider in the crank-slider mechanism, and the first connecting rod 312 corresponds to the connecting rod in the crank-slider mechanism. The line connecting the first axis L1 and the third axis L3 in the orthographic projection on the first plane corresponds to the crank in the crank-slider mechanism. The first plane is perpendicular to the first axis L1. Similarly, when the second drive mechanism 32 drives the movable part 21 to rotate around the first axis L1, it constitutes a crank-slider mechanism. The second shaft 3212 corresponds to the slider in the crank-slider mechanism, and the second connecting rod 322 corresponds to the connecting rod in the crank-slider mechanism. The line connecting the first axis L1 and the fifth axis L5 in the orthographic projection on the first plane corresponds to the crank in the crank-slider mechanism.

[0054] In conjunction with the above-described implementation method where "the plane containing the third axis L3 and the fifth axis L5 is closer to the far end 213 relative to the first axis L1", the first drive mechanism 31 and the second drive mechanism 32 proposed in this embodiment can achieve the technical effect of enabling the movable part 21 to rotate around the first axis L1 at a larger angle.

[0055] Taking the first driving mechanism 31 driving the movable part 21 to rotate around the first axis L1 as an example, when the movable part 21 rotates around the first axis L1, the third axis L3 runs around the first axis L1 on the first arc trajectory. The range of the angle of rotation of the movable part 21 around the first axis L1 is positively correlated with the length of the first arc trajectory. That is, the larger the range of the angle of rotation of the movable part 21 around the first axis L1, the longer the length of the first arc trajectory.

[0056] like Figure 5As shown, O represents the first end of the first link 312, A represents the position of the third axis L3 when the first axis L1, the third axis L3, and the fifth axis L5 are in the same plane, and AC is the trajectory of the third axis L3 when the first link 312 rotates by an angle α. A' represents the position of the third axis L3 when the plane containing the third axis L3 and the fifth axis L5 is closer to the far end 213 relative to the first axis L1, and A'C' is the trajectory of the third axis L3 when the first link 312 rotates by an angle α. Figure 5 It can be seen that the length of A'C' is greater than the length of AC. As mentioned above, there is a positive correlation between the length of the first arc trajectory and the range of angles in which the movable part 21 rotates around the first axis L1. Therefore, the range of angles in which the movable part 21 corresponding to A'C' rotates around the first axis L1 is larger. In other words, when the first link 312 rotates at the same angle, the farther the third axis L3 is from the first end of the first link 312, the longer the length of the first arc trajectory, and the larger the range of angles in which the movable part 21 rotates around the first axis L1.

[0057] It should also be noted that when the first drive mechanism 31 drives the movable part 21 to rotate around the second axis L2, it also constitutes a crank-slider mechanism. The first shaft 3112 corresponds to the slider in the crank-slider mechanism, and the first connecting rod 312 corresponds to the connecting rod in the crank-slider mechanism. The orthographic projection on the fourth plane and the line connecting the second axis L2 and the fourth axis L4 correspond to the crank in the crank-slider mechanism. The fourth plane is perpendicular to the second axis L2. When the first shaft 3112 moves to its leftmost and rightmost extreme positions, they correspond to the two dead points of the crank-slider mechanism. Similarly, when the second drive mechanism 32 drives the movable part 21 to rotate around the second axis L2, it also constitutes a crank-slider mechanism. The second shaft 3212 corresponds to the slider in the crank-slider mechanism, and the second connecting rod 322 corresponds to the connecting rod in the crank-slider mechanism. The orthographic projection on the fourth plane and the line connecting the second axis L2 and the sixth axis L6 correspond to the crank in the crank-slider mechanism. When the second shaft 3212 moves to its leftmost and rightmost extreme positions, they correspond to the two dead points of the crank-slider mechanism.

[0058] like Figures 1 to 4 As shown, in some embodiments, in the preset state, the fourth axis L4 and the sixth axis L6 are misaligned with the second axis L2 in the first direction X and the second direction Y. The first direction X is the extension direction of the first axis L1, and the second direction Y is perpendicular to the first axis L1 and the second axis L2. The fourth axis L4 and the sixth axis L6 are closer to the distal end 213 relative to the second axis L2.

[0059] Compared to the implementation where the fourth axis L4 and the sixth axis L6 are only misaligned with the second axis L2 in the first direction X in the preset state, this embodiment sets the fourth axis L4 and the sixth axis L6 to be misaligned with the second axis L2 in the first direction X and the second direction Y in the preset state, so that the first drive mechanism 31 and the second drive mechanism 32 can enable the movable part 21 to obtain a larger rotation angle around the second axis L2 in one of the directions under the same drive conditions.

[0060] like Figure 1 and Figure 6 As shown, taking the downward rotation of the moving part 21 driven by the first drive mechanism 31 as an example, for an embodiment where the fourth axis L4 is only misaligned with the second axis L2 in the first direction X under the preset state, the starting point of the first shaft 3112 (i.e., the position where the first shaft 3112 has not moved to the left or right) corresponds to Figure 6 Point E1 in the diagram corresponds to the first shaft component 3112 moving to its extreme left position. Figure 6 At point E2 (corresponding to the upward rotation of moving part 21), the angle between the first connecting rod 312 and the crank is 180°, and the first shaft 3112 moves to the right to its limit position. Figure 6 At point E3 (corresponding to the downward rotation of moving part 21), the angle between the first connecting rod 312 and the crank is 0°. However, in practice, the first connecting rod 312 cannot swing to an angle of 180° or 0° with the crank, because at these positions, the lever arm will gradually shorten until it becomes zero, and the driving force required to maintain the same torque will gradually increase until it becomes infinite, inevitably exceeding the operating limit of the first motor body 3111. Therefore, in practice, the first connecting rod 312 usually only operates to positions with angles of 20° and 160° with the crank to avoid dead spots.

[0061] like Figure 6 As shown, in the embodiment where the fourth axis L4 is misaligned with the second axis L2 in the first direction X and the second direction Y under a preset state, it is equivalent to giving the first shaft member 3112 a pre-advance amount at the starting point. The starting point of the first shaft member 3112 corresponds to... Figure 6 At point F1, corresponding to point E2, when the first shaft 3112 moves to the left limit position, point E3 moves to point F3, and when the first shaft 3112 moves to the right limit position, point E3 moves to point F3. Since the position corresponding to the dead point changes, the downward rotation angle of the movable part 21 also increases.

[0062] It should be noted that the "rotate downwards," "rotate left," and "rotate right" mentioned above refer to... Figure 1The orientation shown is not intended to limit the scope of protection of this invention. When the orientation of the joint structure 100 changes, the corresponding rotation direction and movement direction also change.

[0063] like Figures 1 to 3 As shown, in some embodiments, the first drive mechanism 31 includes a first drive assembly 311 and a first connecting rod 312. One end of the first connecting rod 312 is connected to the first drive assembly 311. A first multi-degree-of-freedom bearing 33 is provided between the first connecting rod 312 and the first connecting end 211. The first multi-degree-of-freedom bearing 33 is provided with a third axis L3 and a fourth axis L4. It should be noted that the term "multi-degree-of-freedom bearing" refers to a mechanism that can provide two or more rotational degrees of freedom, and this definition will be used in the following text.

[0064] In some embodiments, the first multi-degree-of-freedom bearing 33 is disposed on the side of the first connecting rod 312 facing the second drive mechanism 32. Of course, the first multi-degree-of-freedom bearing 33 is not limited to being disposed on the side of the first connecting rod 312 facing the second drive mechanism 32. For example, in some other embodiments, the first multi-degree-of-freedom bearing 33 may also be disposed at the end of the first connecting rod 312, depending on the actual design requirements.

[0065] In some embodiments, the first multi-degree-of-freedom bearing 33 includes a first bearing 331 and a second bearing 332 connected to the first bearing 331. The other end of the first connecting rod 312 is connected to the first bearing 331, and the first connecting end 211 is connected to the second bearing 332. The axis of the first bearing 331 is the third axis L3, and the axis of the second bearing 332 is the fourth axis L4.

[0066] In some embodiments, there are two first bearings 331, which are coaxially arranged. The first multi-degree-of-freedom bearing 33 further includes a first mounting base 333, which is disposed between the two first bearings 331. Both ends of the first mounting base 333 are connected to the two first bearings 331 respectively, and the second bearing 332 is mounted on the first mounting base 333. In this embodiment, by setting two first bearings 331 and connecting both ends of the first mounting base 333 to the two first bearings 331 respectively, the first mounting base 333 is subjected to balanced forces and can rotate smoothly around the third axis L3, that is, the second bearing 332 can rotate smoothly around the third axis L3.

[0067] In some embodiments, the first link 312 is provided with a first assembly portion 3121 and a second assembly portion 3122, the first assembly portion 3121 and the second assembly portion 3122 are spaced apart in the extension direction of the third axis L3, and one first bearing 331 is mounted on the first assembly portion 3121 and the other first bearing 331 is mounted on the second assembly portion 3122.

[0068] It should be noted that the first multi-degree-of-freedom bearing 33 is not limited to being configured as including a first bearing 331 and a second bearing 332 connected to the first bearing 331. For example, in some other embodiments, the first multi-degree-of-freedom bearing 33 may also be configured as a fisheye bearing or a ten-dimensional bearing, depending on the actual design requirements.

[0069] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the second drive mechanism 32 includes a second drive assembly 321 and a second connecting rod 322. One end of the second connecting rod 322 is connected to the second drive assembly 321. A second multi-degree-of-freedom bearing 34 is provided between the second connecting rod 322 and the second connecting end 212. The second multi-degree-of-freedom bearing 34 is provided with a fifth axis L5 and a sixth axis L6.

[0070] In some embodiments, the second multi-degree-of-freedom bearing 34 is disposed on the side of the second link 322 facing the first drive mechanism 31. Of course, the second multi-degree-of-freedom bearing 34 is not limited to being disposed on the side of the second link 322 facing the first drive mechanism 31. For example, in some other embodiments, the first multi-degree-of-freedom bearing 33 may also be disposed at the end of the second link 322, depending on the actual design requirements.

[0071] In some embodiments, the second multi-degree-of-freedom bearing 34 includes a third bearing 341 and a fourth bearing 342 connected to the third bearing 341. The other end of the second connecting rod 322 is connected to the third bearing 341, and the second connecting end 212 is connected to the fourth bearing 342. The axis of the third bearing 341 is the fifth axis L5, and the axis of the fourth bearing 342 is the sixth axis L6.

[0072] In some embodiments, there are two third bearings 341, which are coaxially arranged. The second multi-degree-of-freedom bearing 34 further includes a second mounting base 343, which is disposed between the two third bearings 341. Both ends of the second mounting base 343 are connected to the two third bearings 341 respectively, and the fourth bearing 342 is mounted on the second mounting base 343. In this embodiment, by providing two third bearings 341 and connecting both ends of the second mounting base 343 to the two third bearings 341 respectively, the second mounting base 343 is subjected to balanced forces and can rotate smoothly around the fifth axis L5, that is, the fourth bearing 342 can rotate smoothly around the fifth axis L5.

[0073] In some embodiments, the second link 322 is provided with a third assembly portion 3221 and a fourth assembly portion 3222, which are spaced apart in the extension direction of the fifth axis L5. One third bearing 341 is mounted on the third assembly portion 3221 and the other third bearing 341 is mounted on the fourth assembly portion 3222.

[0074] It should be noted that the first multi-degree-of-freedom bearing 33 is not limited to being configured as including a first bearing 331 and a second bearing 332 connected to the first bearing 331. For example, in some other embodiments, the first multi-degree-of-freedom bearing 33 may also be configured as a fisheye bearing or a ten-dimensional bearing, depending on the actual design requirements.

[0075] like Figures 1 to 3 As shown, in some embodiments, the first drive mechanism 31 includes a first drive component 311 and a first connecting rod 312. One end of the first connecting rod 312 is connected to the first connecting end 211. A third multi-degree-of-freedom bearing 35 is provided between the first connecting rod 312 and the first drive component 311. The first connecting rod 312 is rotatably connected to the first drive component 311 through the third multi-degree-of-freedom bearing 35.

[0076] In some embodiments, the third multi-degree-of-freedom bearing 35 includes a first fisheye bearing 351, and the first drive mechanism 31 further includes a first adapter 313, which is fixedly connected to the first drive assembly 311. The first adapter 313 includes a first ear 3131 and a second ear 3132, which are spaced apart in the extension direction of the second axis L2. The first fisheye bearing 351 is located between the first ear 3131 and the second ear 3132. The first ear 3131 is connected to the first fisheye bearing 351 by a first fastener 101, and the second ear 3132 is connected to the first fisheye bearing 351 by a second fastener 102. The end of the first connecting rod 312 is provided with a first receiving hole G1, and the first fisheye bearing 351 is rotatably disposed in the first receiving hole G1.

[0077] In some embodiments, the first drive assembly 311 includes a first motor body 3111 and a first shaft 3112. The first motor body 3111 is fixedly connected to the base 10, the first shaft 3112 is connected to the first motor body 3111, the first motor body 3111 is used to drive the first shaft 3112 to reciprocate along its axial direction, and the first adapter 313 is fixedly connected to the first shaft 3112.

[0078] It should be noted that the third multi-degree-of-freedom bearing 35 is not limited to including the first fisheye bearing 351. For example, in some other embodiments, the third multi-degree-of-freedom bearing 35 can also be configured as a ten-byte bearing or as described above, including the first bearing 331 and the second bearing 332. The specific configuration can be determined according to actual design requirements.

[0079] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the second drive mechanism 32 includes a second drive assembly 321 and a second connecting rod 322. One end of the second connecting rod 322 is connected to the second connecting end 212. A fourth multi-degree-of-freedom bearing 36 is provided between the second connecting rod 322 and the second drive assembly 321. The second connecting rod 322 is rotatably connected to the second drive assembly 321 through the fourth multi-degree-of-freedom bearing 36.

[0080] In some embodiments, the fourth multi-degree-of-freedom bearing 36 includes a second fisheye bearing 361, and the second drive mechanism 32 further includes a second adapter 323, which is fixedly connected to the second drive assembly 321. The second adapter 323 includes a third ear 3231 and a fourth ear 3232, which are spaced apart in the extension direction of the second axis L2. The second fisheye bearing 361 is located between the third ear 3231 and the fourth ear 3232. The third ear 3231 is connected to the second fisheye bearing 361 by a third fastener 103, and the fourth ear 3232 is connected to the second fisheye bearing 361 by a fourth fastener 104. The end of the second connecting rod 322 is provided with a second receiving hole G2, and the second fisheye bearing 361 is rotatably disposed in the second receiving hole G2.

[0081] In some embodiments, the second drive assembly 321 includes a second motor body 3211 and a second shaft 3212. The second motor body 3211 is fixedly connected to the base 10, the second shaft 3212 is connected to the second motor body 3211, the second motor body 3211 is used to drive the second shaft 3212 to reciprocate along its axial direction, and the second adapter 323 is fixedly connected to the second shaft 3212.

[0082] It should be noted that the fourth multi-degree-of-freedom bearing 36 is not limited to including the second fisheye bearing 361. For example, in some other embodiments, the fourth multi-degree-of-freedom bearing 36 can also be configured as a ten-byte bearing or as described above, including the third bearing 341 and the fourth bearing 342. The specific configuration can be determined according to actual design requirements.

[0083] like Figure 1 and Figure 2As shown, in some embodiments, the drive device 30 further includes a fifth bearing 37, which is mounted on the base 10. The rotating member 22 is connected to the fifth bearing 37, and the axis of the fifth bearing 37 is the second axis L2. The rotating member 22 is rotatably connected to the base 10 around the second axis L2 via the fifth bearing 37.

[0084] like Figure 1 As shown, in some embodiments, the base 10 includes a fifth assembly portion 121 and a sixth assembly portion 122, which are spaced apart in the extension direction of the second axis L2. There are two fifth bearings 37, one mounted on the fifth assembly portion 121 and the other on the sixth assembly portion 122. One end of the rotating member 22 is connected to the fifth bearing 37 mounted on the fifth assembly portion 121, and the other end is connected to the fifth bearing 37 mounted on the sixth assembly portion 122. In this embodiment, the rotating member 22 is subjected to balanced forces and can rotate smoothly about the second axis L2.

[0085] like Figure 1 and Figure 2 As shown, in some embodiments, the drive device 30 further includes a sixth bearing 38, which is mounted on the movable member 21. The rotating member 22 is connected to the sixth bearing 38, and the axis of the sixth bearing 38 is the first axis L1. The movable member 21 is rotatably connected to the rotating member 22 around the first axis L1 via the sixth bearing 38. In some embodiments, the position where the rotating member 22 is connected to the sixth bearing 38 is located at the middle of the two ends of the rotating member 22.

[0086] In some embodiments, there are two sixth bearings 38, which are back-to-back angular contact bearings. Back-to-back angular contact bearings have the advantages of being able to withstand bidirectional axial loads, having high positioning accuracy, and high bending moment stiffness.

[0087] like Figure 1 As shown, in some embodiments, the base 10 includes a main body 11 and a support member 12. The main body 11 has an accommodating space S and one end face is provided with a clearance hole P communicating with the accommodating space S. The support member 12 extends out from the end face of the main body 11 where the clearance hole P is provided. The load connection mechanism 20 is disposed outside the accommodating space S, the rotating member 22 is connected to the support member 12, and the driving device 30 is partially housed in the accommodating space S and partially extends out through the clearance hole P to connect with the movable member 21.

[0088] like Figure 1As shown, in some embodiments, the support member 12 includes a fifth assembly part 121 and a sixth assembly part 122, which are spaced apart in the extension direction of the second axis L2. One end of the rotating member 22 is rotatably connected to the fifth assembly part 121, and the other end of the rotating member 22 is rotatably connected to the sixth assembly part 122.

[0089] like Figure 1 As shown, in some embodiments, the main body 11 includes a first end cap 111, a second end cap 112, and a connector 113. The first end cap 111 and the second end cap 112 are spaced apart, and the connector 113 connects the first end cap 111 and the second end cap 112. The first end cap 111, the second end cap 112, and the connector 113 enclose a receiving space S. The first end cap 111 is provided with the clearance hole P, and the support member 12 extends from the side of the first end cap 111 away from the second end cap 112.

[0090] In some embodiments, the movable member 21 rotates within a range of ±45° about the first axis L1, and within a range of ±90° about the second axis L2. Further, in some embodiments, the movable member 21 rotates within a range of ±30° about the first axis L1, and within a range of ±80° about the second axis L2.

[0091] In some embodiments, when the movable member 21 rotates to any angle around the second axis L2, the movable member 21 can rotate around the first axis L1 within an angle range of ±45°. Further, in some embodiments, when the movable member 21 rotates to any angle around the second axis L2, the movable member 21 can rotate around the first axis L1 within an angle range of ±30°.

[0092] like Figures 1 to 4As shown, an embodiment of the present invention also proposes a joint structure 100, which includes a base 10, a load connection mechanism 20, and a drive device 30. The load connection mechanism 20 includes a movable member 21 and a rotating member 22. The movable member 21 is rotatably connected to the rotating member 22 about a first axis L1, and the rotating member 22 is rotatably connected to the base 10 about a second axis L2. The first axis L1 and the second axis L2 are perpendicular. The movable member 21 includes a first connecting end 211, a second connecting end 212, and a distal end 213. The first connecting end 211 and the second connecting end 212 are arranged opposite to each other in the extension direction of the second axis L2, and the distal end 213 is used to connect a load element. The drive device 30 includes a first drive mechanism 31 and a second drive mechanism 32. The first drive mechanism 31 includes a first drive assembly 311 and a first connecting rod 312. The first drive assembly 311 includes a first motor body 3111 and a first shaft 3112. The first motor body 3111 is fixedly connected to the base 10. The first shaft 3112 is connected to the first motor body 3111. The first motor body 3111 is used to drive the first shaft 3112 to reciprocate along its axial direction. One end of the first connecting rod 312 is rotatably connected to the first shaft 3112, and the other end is rotatably connected to the first connecting end 211. The second drive mechanism 32 includes a second drive assembly 321 and a second connecting rod 322. The second drive assembly 321 includes a second motor body 3211 and a second shaft 3212. The second motor body 3211 is fixedly connected to the base 10, and the second shaft 3212 is connected to the second motor body 3211. The second motor body 3211 is used to drive the second shaft 3212 to reciprocate along its axial direction. One end of the second connecting rod 322 is rotatably connected to the second shaft 3212, and the other end is rotatably connected to the second connecting end 212. The first drive mechanism 31 and the second drive mechanism 32 are respectively used to push the movable member 21 away from the drive device 30 or pull it back towards the drive device 30, so as to drive the movable member 21 to rotate relative to the base 10 about the first axis L1 and / or about the second axis L2.

[0093] The joint structure 100 proposed in this embodiment is fixedly connected to the base 10 by setting the first motor body 3111 and the second motor body 3211. That is, the first motor body 3111 and the second motor body 3211 are stationary relative to the base 10. The moving part 21 is driven by the first shaft 3112 cooperating with the first connecting rod 312 and the second shaft 3212 cooperating with the second connecting rod 322. With this implementation, there are several advantages: First, when the first driving mechanism 31 and the second driving mechanism 32 drive the moving part 21, since the first motor body 3111 and the second motor body 3211 are stationary, the first motor body 3111 does not become the load of the first driving mechanism 31 during operation, and the loss of the first driving mechanism 31 is small. The second motor body 3211 does not become the load of the second driving mechanism 32 during operation, and the loss of the second driving mechanism 32 is also small. Secondly, if the first drive mechanism 31 and the second drive mechanism 32 drive the movable part 21 to run, the first motor body 3111 and the second motor body 3211 will move accordingly. The control algorithm needs to compensate for the inertial force generated when the first motor body 3111 and the second motor body 3211 move accordingly, which increases the difficulty of output control of the first drive mechanism 31 and the second drive mechanism 32. In this embodiment, by setting the first motor body 3111 and the second motor body 3211 to be stationary, the control algorithm does not need to perform the operation of compensating for the inertial force generated when the first motor body 3111 and the second motor body 3211 move accordingly, which can reduce the difficulty of output control. Thirdly, since the positions of the first motor body 3111 and the second motor body 3211 relative to the base 10 are fixed, the first motor body 3111 and the second motor body 3211 are easy to align during assembly, which can reduce the assembly difficulty of the first motor body 3111 and the second motor body 3211.

[0094] The structure, connection relationship, extended description and beneficial effects of other components of the joint structure 100 proposed in this embodiment can be referred to the above description, and will not be repeated here.

[0095] An embodiment of the present invention also proposes a robotic arm, which includes a load element and the aforementioned joint structure 100, with the load element connected to the movable member 21. The robotic arm proposed in this embodiment, due to the use of the aforementioned joint structure 100, achieves improved operating accuracy of the movable member 21, provides the drive device 30 with high-speed and high-acceleration drive performance, and allows for a shorter overall length of the drive device 30 and the load connection mechanism 20, resulting in a more compact structure and facilitating miniaturization.

[0096] The structure, connection relationship, extended description and beneficial effects of other components of the robotic arm proposed in this embodiment can be referred to the above description, and will not be repeated here.

[0097] An embodiment of the present invention also proposes a robot comprising a movable body and the aforementioned robotic arm, the robotic arm being mounted on the movable body. The robot proposed in this embodiment, due to the use of the aforementioned robotic arm, possesses the technical advantages of improved running accuracy of the moving part 21, high-speed and high-acceleration driving performance of the drive device 30, and a shorter overall length of the drive device 30 and load connection mechanism 20, resulting in a more compact structure and facilitating miniaturization.

[0098] The structure, connection relationship, extended description and beneficial effects of other components of the robot proposed in this embodiment can be referred to the above description, and will not be repeated here.

[0099] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions should be covered within the scope of protection of the present invention.

Claims

1. A joint structure, characterized in that, include: Base; A load connection mechanism includes a movable part and a rotating part. The movable part is rotatably connected to the rotating part about a first axis, and the rotating part is rotatably connected to the base about a second axis. The first axis is perpendicular to the second axis. The movable part includes a first connecting end, a second connecting end, and a distal end. The first connecting end and the second connecting end are arranged opposite to each other in the extension direction of the second axis. The distal end is used to connect a load element. The driving device includes a first driving mechanism and a second driving mechanism, which are mounted on the base. The first driving mechanism is connected to the first connecting end, and the second driving mechanism is connected to the second connecting end. The first driving mechanism and the second driving mechanism are respectively used to push the movable member away from the driving device or pull it back towards the driving device, so as to drive the movable member to rotate relative to the base about the first axis and / or about the second axis. Wherein, the first connecting end is rotatable about a third axis and a fourth axis relative to the first driving mechanism, the third axis being perpendicular to the fourth axis; the second connecting end is rotatable about a fifth axis and a sixth axis relative to the second driving mechanism, the fifth axis being perpendicular to the sixth axis; The movable component has a preset state in which the first axis, the third axis, and the fifth axis are parallel to each other, the second axis, the fourth axis, and the sixth axis are parallel to each other, and the plane containing the third axis and the fifth axis is closer to the far end relative to the first axis.

2. The joint structure as described in claim 1, characterized in that, In the preset state, the line connecting the first axis, the third axis, and the fifth axis on the orthographic projection of the first plane is an isosceles triangle, and the first plane is perpendicular to the first axis.

3. The joint structure as described in claim 1, characterized in that, In the preset state, the fourth axis and the sixth axis are misaligned with the second axis in a first direction and a second direction. The first direction is the extension direction of the first axis, and the second direction is perpendicular to the first axis and the second axis. The fourth axis and the sixth axis are closer to the distal end relative to the second axis.

4. The joint structure as described in claim 1, characterized in that, In the preset state, the first axis and the second axis are in the second plane, and the third axis, the fourth axis, the fifth axis and the sixth axis are in the third plane. The third plane is parallel to the second plane and is closer to the far end relative to the second plane.

5. The joint structure as described in claim 1, characterized in that, The first drive mechanism and the second drive mechanism are configured such that when the movable member is driven in the same direction and at the same speed, the movable member can rotate about the second axis; the first drive mechanism and the second drive mechanism are configured such that when the movable member is driven in opposite directions and at the same speed, the movable member can rotate about the first axis; the first drive mechanism and the second drive mechanism are configured such that when the movable member is driven at a differential speed, the movable member can rotate about the first axis and about the second axis.

6. The joint structure as described in claim 1, characterized in that, The first driving mechanism includes a first driving assembly and a first connecting rod. The first driving assembly includes a first motor body and a first shaft. The first motor body is fixedly connected to the base, and the first shaft is connected to the first motor body. The first motor body drives the first shaft to reciprocate along its axial direction. One end of the first connecting rod is rotatably connected to the first shaft, and the other end is rotatably connected to the first connecting end; and / or, The second drive mechanism includes a second drive assembly and a second connecting rod. The second drive assembly includes a second motor body and a second shaft. The second motor body is fixedly connected to the base, and the second shaft is connected to the second motor body. The second motor body is used to drive the second shaft to reciprocate along its axial direction. One end of the second connecting rod is rotatably connected to the second shaft, and the other end is rotatably connected to the second connecting end.

7. The joint structure as described in claim 1, characterized in that, The movable component rotates within a range of ±45° around the first axis, and the movable component rotates within a range of ±90° around the second axis.

8. The joint structure as described in claim 1, characterized in that, When the movable component rotates to any angle around the second axis, the movable component can rotate around the first axis within an angle range of ±45°.

9. The joint structure as described in claim 1, characterized in that, The first driving mechanism includes a first driving component and a first connecting rod. One end of the first connecting rod is connected to the first driving component. A first multi-degree-of-freedom bearing is provided between the first connecting rod and the first connecting end. The first multi-degree-of-freedom bearing is provided with the third axis and the fourth axis. The second drive mechanism includes a second drive assembly and a second connecting rod. One end of the second connecting rod is connected to the second drive assembly. A second multi-degree-of-freedom bearing is provided between the second connecting rod and the second connecting end. The second multi-degree-of-freedom bearing is provided with the fifth axis and the sixth axis.

10. The joint structure as described in claim 9, characterized in that, The first multi-degree-of-freedom bearing includes a first bearing and a second bearing connected to the first bearing. The other end of the first connecting rod is connected to the first bearing, and the first connecting end is connected to the second bearing. The axis of the first bearing is the third axis, and the axis of the second bearing is the fourth axis. The second multi-degree-of-freedom bearing includes a third bearing and a fourth bearing connected to the third bearing. The other end of the second connecting rod is connected to the third bearing, and the second connecting end is connected to the fourth bearing. The axis of the third bearing is the fifth axis, and the axis of the fourth bearing is the sixth axis.

11. The joint structure as described in claim 1, characterized in that, The first driving mechanism includes a first driving component and a first connecting rod. One end of the first connecting rod is connected to the first connecting end. A third multi-degree-of-freedom bearing is provided between the first connecting rod and the first driving component. The first connecting rod is rotatably connected to the first driving component through the third multi-degree-of-freedom bearing. The second drive mechanism includes a second drive assembly and a second connecting rod. One end of the second connecting rod is connected to the second connecting end. A fourth multi-degree-of-freedom bearing is provided between the second connecting rod and the second drive assembly. The second connecting rod is rotatably connected to the second drive assembly through the fourth multi-degree-of-freedom bearing.

12. The joint structure as described in claim 11, characterized in that, The third multi-degree-of-freedom bearing includes a first fisheye bearing, and the first drive mechanism further includes a first adapter. The first adapter is fixedly connected to the first drive assembly. The first adapter includes a first ear and a second ear. The first fisheye bearing is located between the first ear and the second ear. The first ear is connected to the first fisheye bearing by a first fastener, and the second ear is connected to the first fisheye bearing by a second fastener. The fourth multi-degree-of-freedom bearing includes a second fisheye bearing, and the second drive mechanism further includes a second adapter. The second adapter is fixedly connected to the second drive assembly. The second adapter includes a third ear and a fourth ear. The second fisheye bearing is located between the third ear and the fourth ear. The third ear is connected to the second fisheye bearing by a third fastener, and the fourth ear is connected to the second fisheye bearing by a fourth fastener.

13. The joint structure as described in claim 1, characterized in that, The base includes: The main body has an accommodating space and one end face is provided with a clearance hole communicating with the accommodating space; The support extends from the end face of the main body at the end where the clearance hole is provided; The load connection mechanism is located outside the accommodating space, the rotating member is connected to the supporting member, and the driving device is partially housed within the accommodating space and partially extends out through the clearance hole to connect with the movable member.

14. A robotic arm, characterized in that, include: Load element; as well as The joint structure according to any one of claims 1 to 13, wherein the load element is connected to the movable member.

15. A robot, characterized in that, include: Movable body; as well as The robotic arm of claim 14, wherein the robotic arm is mounted on the movable body.

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