Rotary joint assembly and mechanical arm

Abstract

The utility model provides a rotary joint assembly and a mechanical arm, and relates to the field of mechanical arms, the rotary joint assembly comprises a chassis and a base rotatably arranged on the chassis, a large arm and a small arm are rotatably arranged on the side wall of the base, and the large arm and the small arm are directionally controlled through a first driving mechanism and a second driving mechanism respectively. The first driving mechanism and the second driving mechanism control the large arm and the small arm to rotate on the base correspondingly, the large arm and the small arm can adjust the state of the adjusting mechanism, so that the adjusting mechanism adjusts the direction of the clamping jaw assembly, the clamping jaw assembly is supported through cooperation of a connecting rod mechanism on one side, and therefore the clamping jaw assembly is supported. According to the rotary joint assembly, the first driving mechanism, the second driving mechanism, the large arm, the small arm, the adjusting mechanism and the connecting rod mechanism are matched with one another to operate, all the parts are in relatively independent modular design, when one part or structure is damaged, only the part needs to be independently replaced, and the maintenance cost is reduced.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, in particular to a rotary joint component and a mechanical arm. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Its unique operational flexibility has been widely used in industrial assembly, safety and explosion protection, and other fields. In a robotic arm, the rotary joint assembly plays a key role, which is essential for the robotic arm to perform rotational motion in three-dimensional space.

[0003] The rotary joint assembly in a traditional robotic arm generally includes a clamping assembly, a rotating shaft, a rotary joint and a transmission mechanism. The transmission mechanism transfers power from a motor or other driving source to the rotary joint to drive it to rotate, thereby driving the rotary shaft to rotate, and the rotary shaft is subjected to the torque generated when clamping objects. The integrated design makes the various components of the rotary joint assembly tightly connected, but when the rotary shaft or rotary joint is damaged due to long-term exposure to torque or pressure, the entire assembly needs to be replaced, and the maintenance cost is high.

[0004] Therefore, it is necessary to provide a new rotary joint assembly and a robotic arm to solve the above technical problems. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a rotary joint assembly and a mechanical arm.

[0006] The rotary joint assembly provided by the utility model comprises: a chassis, a base rotatably arranged on the chassis, a large arm and a small arm rotatably arranged on the side wall of the base, the large arm and the small arm are directionally controlled by a first driving mechanism and a second driving mechanism respectively, one side of the large arm and the small arm is rotatably connected with an adjusting mechanism, a connecting rod mechanism is rotatably connected on the side wall of the base, one side of the connecting rod mechanism is rotatably connected with one side of the large arm, one end of the adjusting mechanism and the connecting rod mechanism are rotatably connected with a clamping jaw assembly, and the orientation of the clamping jaw assembly is adjusted by the mutual cooperation of the adjusting mechanism and the connecting rod mechanism.

[0007] Preferably, the adjusting mechanism includes a first rotating rod and a second rotating rod, the side wall of one end of the first rotating rod is rotatably connected to the side wall of one end of the forearm, the side wall of the opposite end of the first rotating rod is rotatably connected to the side wall of one end of the second rotating rod, the outer side wall of the second rotating rod is rotatably connected to the inner wall of the first rotating groove opened in the upper arm, and the end of the second rotating rod away from the first rotating rod is rotatably connected to one side of the clamping assembly.

[0008] Preferably, the connecting rod mechanism includes a first connecting rod, a rotating block and a second connecting rod, the side wall of one end of the first connecting rod is rotatably connected to the side wall of the base, the opposite end of the first connecting rod is rotatably connected to one side of the rotating block, the bottom side of the rotating block is rotatably connected to the inner wall of the second rotating groove opened on the upper arm, the side wall of one end of the second connecting rod is rotatably connected to the side wall of the rotating block, and the end of the second connecting rod away from the rotating block is rotatably connected to one side of the clamping assembly.

[0009] Preferably, the clamping assembly includes a rotating mechanism, a second servo, an active clamp and a driven clamp, one end of the second rotating rod and the second connecting rod are fixedly connected to one side of the rotating mechanism for adjusting the angles of the active clamp and the driven clamp, the second servo is fixedly connected to one side of the rotating mechanism, the output end of the second servo is fixedly connected to a second swing arm, the second swing arm is fixedly arranged in a groove defined by the active clamp, one end of the active clamp is fixedly provided with a plurality of first teeth along its circular arc edge array, the driven clamp is arranged opposite to the active clamp and one end of the driven clamp is fixedly provided with a plurality of second teeth along its circular arc edge array, the gaps formed between the first teeth are matched with the second teeth, and the upper side of the driven clamp is rotatably connected to the bottom side of the rotating mechanism.

[0010] Preferably, the rotating mechanism includes a connecting frame, a first steering gear and a rotating member, the upper end of the connecting frame is fixedly provided with a first connecting block and a second connecting block, both sides of one end of the second rotating rod are rotatably connected to two adjacent side walls of the first connecting block and the second connecting block, the side wall of one end of the second connecting rod is rotatably connected to one side of the second connecting block, the first steering gear is fixedly connected to a fixing groove on the bottom side of the connecting frame, the output end of the first steering gear is fixedly connected to a first swing arm, the first swing arm is fixedly connected to a clamping groove opened in one side of the rotating member, the through groove opened on the other side of the rotating member is rotatably connected to a rotating shaft fixedly arranged on the side wall of the connecting frame, the second steering gear is fixedly connected to a mounting groove opened on the rotating member, and the upper side of one end of the driven clamp is rotatably connected to the bottom side of the rotating member.

[0011] Preferably, the inner side walls of the driven clamp and the active clamp are provided with a plurality of toothed strips along the arc surface thereof.

[0012] A second aspect of the utility model provides a mechanical arm, comprising the above-mentioned rotary joint assembly.

[0013] Compared with the related art, the rotary joint assembly and the mechanical arm provided by the utility model have the following beneficial effects:

[0014] The utility model provides a rotary joint assembly, wherein a first driving mechanism and a second driving mechanism respectively control an upper arm and a lower arm to rotate on a base, and the upper arm and the lower arm can adjust the state of an adjusting mechanism, so that the adjusting mechanism adjusts the orientation of a clamping jaw assembly, and supports the clamping jaw assembly through the cooperation of a connecting rod mechanism on one side. The rotary joint assembly operates through the cooperation among the first driving mechanism, the second driving mechanism, the upper arm, the lower arm, the adjusting mechanism and the connecting rod mechanism, and each component is of relatively independent modular design. When a component or structure is damaged, only the component needs to be replaced separately, thereby reducing the maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the overall structure of the rotary joint assembly provided by the utility model;

[0016] Figure 2 A schematic diagram of the structural disassembly of the rotary joint assembly provided by the utility model;

[0017] Figure 3 A schematic diagram of the partial structure of the rotary joint assembly provided by the utility model;

[0018] Figure 4 A schematic diagram of the partial structural disassembly of the rotary joint assembly provided by the utility model;

[0019] Figure 5 A schematic diagram of the connecting rod mechanism structure provided by the utility model;

[0020] Figure 6 A schematic diagram of the structure of the adjustment mechanism provided by the utility model;

[0021] Figure 7 This is a schematic diagram of the split structure of the rotating mechanism provided by the utility model;

[0022] Figure 8 This is a schematic diagram of the partial structure disassembly of the clamping assembly provided by the utility model.

[0023] Numbers in the figure: 1, chassis; 2, base; 21, upper arm; 211, first rotating groove; 212, second rotating groove; 22, first driving mechanism; 23, lower arm; 24, second driving mechanism; 3, adjusting mechanism; 31, first rotating rod; 32, second rotating rod; 4, connecting rod mechanism; 41, first connecting rod; 42, second connecting rod; 43, rotating block; 5, clamping assembly; 51, rotating mechanism; 511, connecting frame; 5111, first connecting block; 5112, second connecting block; 5113, rotating shaft; 512, first servo; 513, first swing arm; 514, rotating member; 5141, mounting groove; 5142, through groove; 5143, engaging groove; 52, second servo; 53, second swing arm; 54, active clamp; 541, first tooth; 542, groove; 55, driven clamp; 551, second tooth; 6, rotating mechanism. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention will be further described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0026] Please refer to Figure 1-Figure 8 ,in, Figure 1 A schematic diagram of the overall structure of the rotary joint assembly provided by the utility model; Figure 2 A schematic diagram of the structural disassembly of the rotary joint assembly provided by the utility model; Figure 3 A schematic diagram of the partial structure of the rotary joint assembly provided by the utility model; Figure 4 A schematic diagram of the partial structural disassembly of the rotary joint assembly provided by the utility model; Figure 5 A schematic diagram of the structure of the connecting rod mechanism 4 provided by the utility model; Figure 6 A schematic diagram of the structure of the adjustment mechanism 3 provided by the utility model; Figure 7 This is a schematic diagram of the structure disassembly of the rotating mechanism 51 provided by the utility model; Figure 8 This is a schematic diagram of the partial structure disassembly of the clamping assembly 5 provided by the utility model.

[0027] like Figure 1-Figure 8As shown, a rotary joint assembly includes a chassis 1, a base 2 rotatably arranged on the chassis 1, a large arm 21 and a small arm 23 are rotatably arranged on the side wall of the base 2, the large arm 21 and the small arm 23 are directional-controlled by a first driving mechanism 22 and a second driving mechanism 24 respectively, an adjusting mechanism 3 is rotatably connected to one side of the large arm 21 and the small arm 23, a connecting rod mechanism 4 is rotatably connected to the side wall of the base 2, one side of the connecting rod mechanism 4 is rotatably connected to one side of the large arm 21, one end of the adjusting mechanism 3 and the connecting rod mechanism 4 are rotatably connected to a clamping jaw assembly, and the orientation of the clamping jaw assembly is adjusted by the mutual cooperation of the adjusting mechanism 3 and the connecting rod mechanism 4;

[0028] It should be noted that the base 2 can be rotated on the chassis 1 through the rotating mechanism 6. The rotating mechanism 6 includes a rotating steering gear and a rotating rudder arm. The rotating steering gear is fixedly connected to the base 2. The output end of the rotating steering gear is fixedly connected to one side of the rotating rudder arm. The rotating rudder arm is fixedly connected to the rudder arm slot provided at the bottom of the base 2. The rotating steering gear can accurately control the rotation angle and speed of the rotating rudder arm, thereby realizing accurate rotation adjustment of the base 2 on the chassis 1.

[0029] It should also be noted that the first drive mechanism 22 and the second drive mechanism 24 are both servos and rudder arms, and the first drive mechanism 22 and the second drive mechanism 24 are both fixedly arranged on the base 2, and the output ends of the first drive mechanism 22 and the second drive mechanism 24 are respectively fixedly connected to one side of the upper arm 21 and the lower arm 23, respectively accurately controlling the upper arm 21 and the lower arm 23 to rotate on the base 2;

[0030] The adjusting mechanism 3 includes a first rotating rod 31 and a second rotating rod 32. The side wall of one end of the first rotating rod 31 is rotatably connected to the side wall of one end of the small arm 23. The side wall of the opposite end of the first rotating rod 31 is rotatably connected to the side wall of one end of the second rotating rod 32. The outer side wall of the second rotating rod 32 is rotatably connected to the inner wall of the first rotating groove 211 provided in the large arm 21. The end of the second rotating rod 32 away from the first rotating rod 31 is rotatably connected to one side of the clamping assembly 5.

[0031] The connecting rod mechanism 4 includes a first connecting rod 41, a rotating block 43 and a second connecting rod 42. The side wall of one end of the first connecting rod 41 is rotatably connected to the side wall of the base 2, the opposite end of the first connecting rod 41 is rotatably connected to one side of the rotating block 43, the bottom side of the rotating block 43 is rotatably connected to the inner wall of the second rotating groove 212 opened on the upper arm 21, the side wall of one end of the second connecting rod 42 is rotatably connected to the side wall of the rotating block 43, and the end of the second connecting rod 42 away from the rotating block 43 is rotatably connected to one side of the clamping assembly 5;

[0032] According to the embodiment, the first driving mechanism 22 and the second driving mechanism 24 respectively control the upper arm 21 and the lower arm 23 to rotate on the base 2. During the movement, the first rotating rod 31 always remains parallel to the upper arm 21, and the second rotating rod 32 always remains parallel to the lower arm 23. The direction and position of the second rotating rod 32 can be adjusted by adjusting the angles of the upper arm 21 and the lower arm 23, and the second rotating rod 32 has strong stability during the movement.

[0033] In different motion states, the first connecting rod 41 is always parallel to the first rotating rod 31, the second connecting rod 42 is always parallel to the second rotating rod 32, the rotating block 43 is triangular, and the rotating block 43 can adjust the angles of the first connecting rod 41 and the second connecting rod 42 by rotating. Since the ends of the second connecting rod 42 and the second rotating rod 32 are both rotatably connected to one side of the clamping assembly 5, the clamping assembly 5 can be supported;

[0034] The clamping assembly 5 includes a rotating mechanism 51, a second steering gear 52, an active clamp 54 and a driven clamp 55. One end of the second rotating rod 32 and the second connecting rod 42 are fixedly connected to one side of the rotating mechanism 51 for adjusting the angles of the active clamp 54 and the driven clamp 55. The second steering gear 52 is fixedly connected to one side of the rotating mechanism 51. The output end of the second steering gear 52 is fixedly connected to a second swing arm 53. The second swing arm 53 is fixedly arranged in a groove 542 provided in the active clamp 54. One end of the active clamp 54 is fixedly arranged with a plurality of first teeth 541 along its arc-shaped edge array. The driven clamp 55 is arranged opposite to the active clamp 54 and one end of the driven clamp 55 is fixedly arranged with a plurality of first teeth 541 along its arc-shaped edge array. The second teeth 551 are formed such that the gaps formed between the first teeth 541 are matched with the second teeth 551. The upper side of the driven clamp 55 is rotatably connected with the bottom side of the rotating mechanism 51. When grabbing an object, the second steering gear 52 can drive the second rudder arm to rotate, thereby driving the active clamp 54 to rotate. Since the first teeth 541 and the second teeth 551 are in a mutually matched meshing relationship, it is ensured that the active clamp 54 and the driven wheel can be stably transmitted. When the active clamp 54 rotates, it can drive the driven clamp 55 to make relative movement. The active clamp 54 and the driven clamp 55 can adjust the degree of opening and closing and the grasping force under the drive of the second steering gear 52 to stably grasp the object.

[0035] The inner side walls of the driven clamp 55 and the active clamp 54 are provided with a plurality of toothed strips along their arc surfaces. The design of the toothed strips can increase the friction between the driven clamp 55 and the active clamp 54 and the grasped object, thereby improving the clamping stability.

[0036] The rotating mechanism 51 includes a connecting frame 511, a first steering gear 512 and a rotating member 514. The upper end of the connecting frame 511 is fixedly provided with a first connecting block 5111 and a second connecting block 5112. The two sides of one end of the second rotating rod 32 are respectively rotatably connected to the two adjacent side walls of the first connecting block 5111 and the second connecting block 5112. The side wall of one end of the second connecting rod 42 is rotatably connected to one side of the second connecting block 5112. The second rotating rod 32 and the second connecting rod 42 cooperate to support the connecting frame 511. The first steering gear 512 is fixedly connected to the fixing groove on the bottom side of the connecting frame 511. The output end of the first steering gear 512 A first swing arm 513 is fixedly connected, and the first swing arm 513 is fixedly connected to a snap-fit ​​groove 5143 provided on one side of the rotating member 514. A through groove 5142 provided on the other side of the rotating member 514 is rotatably connected to a rotating shaft 5113 fixedly provided on the side wall of the connecting frame 511. The second steering gear 52 is fixedly connected to a mounting groove 5141 provided on the rotating member 514. The upper side of one end of the driven clamp 55 is rotatably connected to the bottom side of the rotating member 514. The first steering gear 512 can accurately control the rotation angle and speed of the first rudder arm, thereby driving the rotating member 514 to rotate outside the connecting frame 511, so as to adjust the angle of the clamping claw.

[0037] It should be noted that the steering gear can accurately control the rotation angle and speed of the rudder arm through its internal motor, potentiometer and control system. The cooperation between the steering gear and the rudder arm has a high degree of flexibility and adaptability. The steering gear and the rudder arm are common knowledge to those skilled in the art.

[0038] A mechanical arm comprises the above-mentioned rotary joint assembly.

[0039] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0040] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A rotary joint assembly, characterized in that: include: A chassis (1), a base (2) rotatably arranged on the chassis (1), a large arm (21) and a small arm (23) rotatably arranged on the side wall of the base (2), the large arm (21) and the small arm (23) are directional-controlled by a first driving mechanism (22) and a second driving mechanism (24) respectively, one side of the large arm (21) and the small arm (23) are rotatably connected to an adjusting mechanism (3), a connecting rod mechanism (4) is rotatably connected to the side wall of the base (2), one side of the connecting rod mechanism (4) is rotatably connected to one side of the large arm (21), one end of the adjusting mechanism (3) and the connecting rod mechanism (4) are rotatably connected to a clamping jaw assembly, and the orientation of the clamping jaw assembly is adjusted by the mutual cooperation of the adjusting mechanism (3) and the connecting rod mechanism (4).

2. The rotary joint assembly according to claim 1, characterized in that: The adjusting mechanism (3) comprises a first rotating rod (31) and a second rotating rod (32), wherein a side wall at one end of the first rotating rod (31) is rotationally connected to a side wall at one end of the small arm (23), a side wall at an opposite end of the first rotating rod (31) is rotationally connected to a side wall at one end of the second rotating rod (32), an outer side wall of the second rotating rod (32) is rotationally connected to an inner wall of a first rotating groove (211) provided in the large arm (21), and an end of the second rotating rod (32) away from the first rotating rod (31) is rotationally connected to a side of the clamping assembly (5).

3. The rotary joint assembly according to claim 2, characterized in that: The connecting rod mechanism (4) comprises a first connecting rod (41), a rotating block (43) and a second connecting rod (42); the side wall of one end of the first connecting rod (41) is rotatably connected to the side wall of the base (2); the opposite end of the first connecting rod (41) is rotatably connected to one side of the rotating block (43); the bottom side of the rotating block (43) is rotatably connected to the inner wall of a second rotating groove (212) provided on the upper arm (21); the side wall of one end of the second connecting rod (42) is rotatably connected to the side wall of the rotating block (43); and the end of the second connecting rod (42) away from the rotating block (43) is rotatably connected to one side of the clamping assembly (5).

4. The rotary joint assembly according to claim 3, characterized in that: The clamping assembly (5) comprises a rotating mechanism (51), a second steering gear (52), an active clamp (54) and a passive clamp (55); one end of the second rotating rod (32) and the second connecting rod (42) are fixedly connected to one side of the rotating mechanism (51) for adjusting the angles of the active clamp (54) and the passive clamp (55); the second steering gear (52) is fixedly connected to one side of the rotating mechanism (51); the output end of the second steering gear (52) is fixedly connected to a second swing arm (53); the second swing arm (53) is fixedly arranged on the rotating mechanism (51); In the groove (542) opened in the active clamp (54), one end of the active clamp (54) is fixedly provided with a plurality of first teeth (541) along its arc-shaped edge array, the driven clamp (55) is arranged opposite to the active clamp (54) and one end of the driven clamp (55) is fixedly provided with a plurality of second teeth (551) along its arc-shaped edge array, the gaps formed between the first teeth (541) are matched with the second teeth (551), and the upper side of the driven clamp (55) is rotatably connected to the bottom side of the rotating mechanism (51).

5. The rotary joint assembly according to claim 4, characterized in that: The rotating mechanism (51) comprises a connecting frame (511), a first steering gear (512) and a rotating member (514); a first connecting block (5111) and a second connecting block (5112) are fixedly arranged at the upper end of the connecting frame (511); two sides of one end of the second rotating rod (32) are respectively rotatably connected to two adjacent side walls of the first connecting block (5111) and the second connecting block (5112); a side wall of one end of the second connecting rod (42) is rotatably connected to one side of the second connecting block (5112); the first steering gear (512) is fixedly connected to the fixed portion on the bottom side of the connecting frame (511); In the fixed groove, the output end of the first servo (512) is fixedly connected with a first swing arm (513), the first swing arm (513) is fixedly connected to a snap-fit ​​groove (5143) opened on one side of the rotating member (514), the through groove (5142) opened on the other side of the rotating member (514) is rotatably connected to a rotating shaft (5113) fixedly arranged on the side wall of the connecting frame (511), the second servo (52) is fixedly connected to a mounting groove (5141) opened on the rotating member (514), and the upper side of one end of the driven clamp (55) is rotatably connected to the bottom side of the rotating member (514).

6. The rotary joint assembly according to claim 5, characterized in that: The inner side walls of the driven clamp (55) and the active clamp (54) are both provided with a plurality of toothed strips along their arc surfaces.

7. A robotic arm, characterized in that: The invention comprises a rotary joint assembly as described in any one of claims 1 to 6.

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