Joint structure of mechanical arm, mechanical arm and robot
By designing a robotic arm joint structure containing coded components, joint limit components and damping parts, the problem of the main and slave robotic arm cannot achieve arbitrary hovering and inconvenient operation of the main and slave robotic arm joint is solved, and the rotation angle of the joint structure is controlled and continuous rotation is not easy to wind.
Patent Information
- Application Number
- CN202421982791.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-15
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-08-15
AI Technical Summary
The existing master-slave robotic arm main hand joint cannot achieve arbitrary hovering and inconvenient operation, especially when continuous rotation is easy to wind and cannot record the rotation angle in real time.
A robotic arm joint structure is designed, including a first housing section, a second housing section and a third housing section sequentially connected, and an articulation shaft, a coding assembly, a joint limit assembly, a first damping member and a locking member are provided. By recording the rotation angle in real time by the encoded component, the joint limiting component realizes control of the rotation angle and continuous rotation, the first damping member provides damping characteristics to achieve hovering at any position.
It realizes hovering of the joint structure at any position, avoids winding problems, and has the characteristics of simple structure, high integration and controllable rotation angle.
Smart Images
Figure CN222920572U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of robotic arms, and more particularly, to a joint structure of a robotic arm, a robotic arm, and a robot. Background Art
[0002] The master-slave robotic arm for underwater equipment has broad application prospects in modern ocean engineering and scientific research. By establishing the mapping relationship between the master hand and the slave hand, the master-slave robotic arm can achieve precise control of the slave hand.
[0003] Currently, the structure of the master hand joint of the master-slave robotic arm mainly includes components such as a joint housing, a spiral swing cylinder assembly, an internally oil-passing shaft, a pipe joint, a sensor assembly, a single / double-hole wire routing box, a robotic arm base and robotic arm, and a joint shield. These components together constitute the swing joint structure of the master-slave robotic arm, enabling it to operate and move precisely.
[0004] However, the inventor found that the current master hand joint generally has a non-damping structure form, and there are problems that it cannot achieve hovering at any position of the master hand joint and is inconvenient to operate (such as being prone to wire winding during continuous rotation and unable to record the rotation angle of the master hand joint in real time). Summary of the Utility Model
[0005] The present application provides a joint structure of a robotic arm, a robotic arm, and a robot, which is used to solve the problems that the master hand joint of the current master-slave robotic arm cannot achieve hovering at any position and is inconvenient to operate.
[0006] According to one aspect of the present application, a joint structure of a robotic arm is provided. The joint structure includes a first housing section, a second housing section, and a third housing section connected in sequence. The joint structure further includes: a joint rotating shaft disposed on the first housing section and connected to the first housing section; an encoding component disposed on the joint rotating shaft and connected to one end of the second housing section to obtain the rotation angle of the joint structure; a joint limiting component disposed on one side of the encoding component and connected to the other end of the second housing section. The joint limiting component includes: a limiting plate on which at least two limiting holes are provided; a first limiting member disposed on the limiting plate and cooperating with the limiting holes to limit the rotation angle of the joint structure; a second limiting member disposed on one side of the limiting plate and connected to the joint rotating shaft to limit the position of the first limiting member; a first damping member disposed in the third housing section, on one side of the second limiting member, and connected to the joint rotating shaft; a locking member disposed in the third housing section, on one side of the first damping member, and connected to the joint rotating shaft for locking the joint rotating shaft.
[0007] According to some embodiments of the present application, the joint limiting component further includes: a second damping member disposed on the limiting plate and fixedly connected to the limiting plate.
[0008] According to some embodiments of the present application, the second limiting member includes: a limiting protrusion, and the second limiting member limits the position of the first limiting member through the limiting protrusion.
[0009] According to some embodiments of the present application, the encoding assembly includes: an encoder ring sleeved on the joint rotating shaft; an encoder circuit board nested with the encoder ring.
[0010] According to some embodiments of the present application, the first housing section includes a first hollow cavity and a second hollow cavity; the joint rotating shaft is disposed in the second hollow cavity, and a third hollow cavity is provided inside the joint rotating shaft; wherein, the electrical connection lines of the joint structure pass through the first hollow cavity into the second hollow cavity and penetrate out from the third hollow cavity.
[0011] According to some embodiments of the present application, the second hollow cavity is further provided with: a wire threading guide member connected to the first housing section, and a wire threading guide groove is provided on the wire threading guide member; wherein, the electrical connection lines from the first hollow cavity enter the third hollow cavity through the wire threading guide groove and penetrate out from the third hollow cavity.
[0012] According to some embodiments of the present application, the first damping member is a butterfly gasket.
[0013] According to another aspect of the present application, the present application provides a robotic arm. The robotic arm includes the joint structure as described above.
[0014] According to some embodiments of the present application, the robotic arm is a master-slave robotic arm for underwater equipment carrying, and the joint structure is the master hand joint of the master-slave robotic arm.
[0015] According to another aspect of the present application, the present application further provides a robot. The robot includes the robotic arm as described above.
[0016] The joint structure provided by the present application can record the rotation angle of the joint structure in real time through the setting of the encoding assembly, can control the rotation angle of the joint structure and realize the continuous rotation of the joint structure through the setting of the joint limiting assembly, and can realize the damping characteristic of the joint structure through the setting of the first damping member, so as to realize the hovering of the joint structure at any position.
[0017] The joint structure provided by the present application has the characteristics of simple structure, high integration, controllable rotation angle, continuous rotation without winding, and hovering at any position. Description of the Drawings
[0018] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.
[0019] Figure 1 A schematic diagram showing a first housing segment of an embodiment of the present application;
[0020] Figure 2 A schematic diagram showing a second housing segment of an embodiment of the present application;
[0021] Figure 3 Another schematic diagram showing a first housing segment of an embodiment of the present application;
[0022] Figure 4 A schematic diagram showing a joint structure of an embodiment of the present application;
[0023] Figure 5 Another schematic diagram showing a joint structure of an embodiment of the present application;
[0024] Figure 6 An enlarged schematic diagram showing a limiting plate of an embodiment of the present application;
[0025] Figure 7 A wire threading schematic diagram showing a joint structure of an embodiment of the present application.
[0026] Explanation of reference numerals:
[0027] First housing segment 10; second housing segment 20; third housing segment 30; joint rotating shaft 40; coding assembly 50; joint limiting assembly 60; first damping member 70; locking member 80.
[0028] First hollow cavity 11; second hollow cavity 12; third hollow cavity 13; wire threading guide member 121; wire threading guide groove 1211.
[0029] Encoder ring 51; encoder circuit board 52.
[0030] Limiting plate 61; first limiting member 62; second limiting member 63; limiting hole 611; limiting protrusion 633; second damping member 64; electrical connection line 90. Detailed implementation manners
[0031] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Like reference numerals in the figures denote like or similar parts, and thus their repeated description will be omitted.
[0032] The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will recognize that the technical solutions of the present disclosure can be practiced without one or more of these specific details, or can be implemented in other ways, components, materials, devices, etc. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.
[0033] Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.
[0034] The terms "first", "second", etc. in the specification and claims of this application and in the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order.
[0035] The technical solutions of this application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative efforts fall within the scope of protection of this application.
[0036] According to one aspect of this application, this application provides a joint structure of a robotic arm. The joint structure includes a first housing segment 10, a second housing segment 20, and a third housing segment 30 that are sequentially connected and arranged.
[0037] According to the example embodiment, the joint structure of the robotic arm further includes a joint rotating shaft 40, an encoding assembly 50, a joint limiting assembly 60, a first damping member 70, and a locking member 80.
[0038] Figure 1 A schematic diagram showing the first housing segment of the embodiment of this application; Figure 2 A schematic diagram showing the second housing segment of the embodiment of this application; Figure 3Another schematic diagram showing the first housing segment of the embodiment of the present application;
[0039] The joint rotation shaft 40 is arranged on the first housing segment 10 and is connected to the first housing segment 10. For example, as Figure 1 shown, the joint rotation shaft 40 is connected to the first housing segment 10 by means of screw fixation.
[0040] Optionally, as Figure 1 shown, the first housing segment 10 includes a first hollow cavity 11 and a second hollow cavity 12. The joint rotation shaft 40 is arranged in the second hollow cavity 12, and a third hollow cavity 13 is arranged inside the joint rotation shaft 40.
[0041] The electrical connection line of the joint structure passes through the first hollow cavity 11 and enters the second hollow cavity 12, and passes out through the third hollow cavity 13.
[0042] For example, as Figure 1 shown, the electrical connection line of the joint structure passes out from the first hollow cavity 11, enters the second hollow cavity 12, then enters the third hollow cavity 13 of the joint rotation shaft 40, and passes out from the third hollow cavity 13.
[0043] With such an arrangement, the electrical connection lines in the joint structure can be compactly and integrally arranged, reducing the possibility of entanglement of the electrical connection lines.
[0044] Optionally, as Figure 1 shown, the second hollow cavity 12 is further provided with a wire threading guide 121. The wire threading guide 121 is connected to the first housing segment 10, and a wire threading guide groove 1211 is arranged on the wire threading guide 121.
[0045] The electrical connection line from the first hollow cavity 11 enters the third hollow cavity 13 through the wire threading guide groove 1211 and passes out from the third hollow cavity 13.
[0046] For example, the electrical connection line of the joint structure passes out from the first hollow cavity 11, enters the second hollow cavity 12, then enters the third hollow cavity 13 of the joint rotation shaft 40 through the wire threading guide groove 1211, and passes out from the third hollow cavity 13.
[0047] With such an arrangement, the electrical connection lines in the joint structure can be compactly and integrally arranged, and further reduces the possibility of entanglement of the electrical connection lines.
[0048] The coding component 50 is arranged on the joint rotation shaft 40 and is connected to one end of the second housing segment 20 to obtain the rotation angle of the joint structure.
[0049] For example, as Figure 2As shown, the encoding component 50 is disposed around the joint rotation shaft 40 and is arranged on the upper side of the second housing segment 20. The encoding component 50 is connected to the inner wall of the second housing segment 20 by means of screw fixation.
[0050] Optionally, the encoding component 50 may include an encoder ring 51 and an encoder circuit board 52.
[0051] For example, as Figure 3 shown, the encoder ring 51 is sleeved on the joint rotation shaft 40. And as Figure 2 shown, the encoder circuit board 52 is nested with the encoder ring 51.
[0052] Exemplarily, the encoder ring 51 may be disposed at a preset position on the joint rotation shaft 40 according to the actual needs of the user.
[0053] The encoding component 50 can collect the pulse signal at the joint rotation shaft 40, and after the pulse signal is processed by the electronic circuit, it is converted into a data signal, so as to realize the accurate measurement of the rotation angle of the joint structure.
[0054] Figure 4 A schematic diagram showing the joint structure of an embodiment of the present application; Figure 5 Another schematic diagram showing the joint structure of an embodiment of the present application; Figure 6 An enlarged schematic diagram showing the limiting plate of an embodiment of the present application.
[0055] According to an exemplary embodiment, the joint limiting component 60 is disposed on one side of the encoding component 50 and is connected to the other end of the second housing segment 20.
[0056] For example, as Figure 4 shown, the joint limiting component 60 and the encoding component 50 are oppositely disposed at the other end of the second housing segment 20, and both the joint limiting component 60 and the encoding component 50 are connected to the inner wall of the second housing segment 20 by means of screw fixation.
[0057] As Figure 4 and Figure 5 shown, the joint limiting component 60 includes a limiting plate 61, a first limiting member 62 and a second limiting member 63.
[0058] As Figure 6 shown, at least two limiting holes 611 are provided on the limiting plate 61. The first limiting member 62 is connected to the limiting holes 611 to limit the rotation angle of the joint structure.
[0059] For example, the first limiting member 62 is disposed on the limiting plate 61 and is matched with the limiting holes 611. Exemplarily, the first limiting member 62 may be a limiting pin.
[0060] Optionally, the limiting plate 61 may be provided with 20 limiting holes 611, that is, the rotation adjustment angle of the joint structure corresponding to each limiting hole 611 is 18°. The total rotation adjustment angle of the limiting plate 61 is 360°, so that continuous rotation of the joint structure can be achieved.
[0061] Exemplarily, the number of the limiting holes 611 may be set according to the actual needs of the user.
[0062] According to the exemplary embodiment, as Figure 6 shown, the second limiting member 63 is disposed on one side of the limiting plate 61 and is connected to the joint rotating shaft 40 to limit the position of the first limiting member 62.
[0063] For example, the second limiting member 63 is connected to the joint rotating shaft 40 by a screw fixing method.
[0064] Optionally, as Figure 5 shown, the second limiting member 63 includes a limiting protrusion 633, and the second limiting member 63 limits the position of the first limiting member 62 through the limiting protrusion 633.
[0065] For example, when the first limiting member 62 rotates to a certain position, the limiting protrusion 633 will block the first limiting member 62, so that the position of the first limiting member 62 can be limited to achieve mediation of the joint structure at any position.
[0066] Optionally, as Figure 6 shown, the joint limiting assembly 60 further includes a second damping member 64. The second damping member 64 is disposed on the limiting plate 61 and is fixedly connected to the limiting plate 61.
[0067] For example, as Figure 6 shown, the second damping member 64 is fixed to the limiting plate 61 by a screw fixing method.
[0068] Exemplarily, the second damping member 64 may be a gasket.
[0069] By providing the second damping member 64 on the limiting plate 61, the wear resistance of the limiting plate 61 can be increased during the rotation of the joint structure, thereby increasing the service life of the limiting plate 61.
[0070] According to the exemplary embodiment, as Figure 4 shown, the first damping member 70 is disposed in the third housing section 30, is disposed on one side of the second limiting member 63, and is connected to the joint rotating shaft 40.
[0071] For example, the first damping member 70 is fixedly connected to the joint rotating shaft 40, and the first damping member 70 is connected to the second limiting member 63. Such a setting can increase the damping characteristic between the first damping member 70 and the second limiting member 63.
[0072] Optionally, the first damping member 70 is a butterfly gasket.
[0073] Through the above exemplary embodiments, the present application can achieve the damping characteristics of the joint structure and the hovering of the joint structure at any position by providing the first damping member 70.
[0074] According to the exemplary embodiment, as Figure 4 or Figure 5 shown, the locking member 80 is disposed within the third housing segment 30 and on one side of the first damping member 70. The locking member 80 is connected to the joint rotating shaft 40 for locking the joint rotating shaft 40.
[0075] For example, by locking and connecting with the joint rotating shaft 40, the locking member 80 can achieve the locking connection and integration of multiple components such as the joint rotating shaft 40, the coding assembly 50, the joint limiting assembly 60, the first damping member 70, and the locking member 80.
[0076] Exemplarily, the locking member 80 can be a nut.
[0077] Figure 7 Shows a wiring schematic diagram of the joint structure according to an embodiment of the present application.
[0078] As Figure 7 shown, the electrical connection line 90 in the joint structure passes through the hollow cavity in the first housing segment 10, then enters the second housing segment 20 and penetrates through the center of the joint rotating shaft 40 into the third housing segment 30, thereby realizing the wiring arrangement of the joint structure.
[0079] Through the above embodiments, the joint structure provided by the present application can record the rotation angle of the joint structure in real time through the setting of the coding assembly, can control the rotation angle of the joint structure and realize the continuous rotation of the joint structure through the setting of the joint limiting assembly, and can achieve the damping characteristics of the joint structure through the setting of the first damping member to realize the hovering of the joint structure at any position.
[0080] The joint structure provided by the present application has the characteristics of simple structure, high integration, controllable rotation angle, continuous rotation without winding, and hovering at any position.
[0081] According to another aspect of the present application, the present application further provides a robotic arm. The robotic arm includes the joint structure as described above.
[0082] Optionally, the robotic arm can be a master-slave robotic arm for underwater equipment carrying, and the joint structure can be the master hand joint of the master-slave robotic arm.
[0083] Exemplarily, the robotic arm described in the present application can be a master-slave robotic arm for underwater equipment carrying, or other types of robotic arms; and the joint structure of the robotic arm described in the present application can be the master hand joint of the master-slave robotic arm, or the joint structure of other parts. The present application does not limit this.
[0084] According to another aspect of the present application, the present application also provides a robot. The robot includes the robotic arm as described above. Specifically, the robot can be an underwater robot, such as a remotely operated vehicle (ROV). The robotic arm is carried on this underwater robot as a payload for underwater operations.
[0085] Finally, it should be noted that the above are only the preferred embodiments of the present application and are not used to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions of the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.
Claims
1. A joint structure of a robotic arm, characterized in that: The joint structure comprises a first housing segment, a second housing segment and a third housing segment which are sequentially connected, and the joint structure further comprises: A joint shaft, disposed on the first housing segment and connected to the first housing segment; An encoding component, disposed on the joint shaft and connected to one end of the second housing segment, so as to obtain a rotation angle of the joint structure; A joint limiting assembly is arranged on one side of the encoding assembly and connected to the other end of the second housing segment, and the joint limiting assembly includes: A limiting plate, wherein at least two limiting holes are provided on the limiting plate; A first limiting member is arranged on the limiting plate and cooperates with the limiting hole. To limit the rotation angle of the joint structure; A second limiting member, disposed on one side of the limiting plate and connected to the joint shaft, to limit the position of the first limiting member; A first damping member is arranged in the third housing segment, is arranged on one side of the second limiting member, and is connected to the joint shaft; A locking member is arranged in the third housing section and on one side of the first damping member. The locking member is connected to the joint shaft and is used to lock the joint shaft.
2. The joint structure according to claim 1, characterized in that: The joint limiting assembly also includes: The second damping member is arranged on the limiting plate and is fixedly connected to the limiting plate.
3. The joint structure according to claim 1, characterized in that: The second limiting member comprises: A limiting protrusion, wherein the second limiting member limits the position of the first limiting member through the limiting protrusion.
4. The joint structure according to claim 1, characterized in that: The encoding component comprises: An encoder ring, the ring sleeve is arranged on the joint shaft; The encoder circuit board is nested with the encoder ring.
5. The joint structure according to claim 1, characterized in that: The first shell segment includes a first hollow cavity and a second hollow cavity; The joint shaft is arranged in the second hollow cavity, and a third hollow cavity is arranged in the joint shaft; Wherein, the electrical connection line of the joint structure passes through the first hollow cavity, enters the second hollow cavity, and passes through the third hollow cavity.
6. The joint structure according to claim 5, characterized in that: The second hollow cavity is further provided with: A threading guide, connected to the first housing section, wherein the threading guide is provided with a threading guide groove; The electrical connection line from the first hollow cavity enters the third hollow cavity through the threading guide groove and passes through the third hollow cavity.
7. The joint structure according to claim 1, characterized in that: The first damping member is a butterfly-shaped gasket.
8. A robotic arm, characterized in that: Comprising a joint structure as described in any one of claims 1-7.
9. The robot arm according to claim 8, characterized in that: The robotic arm is a master-slave robotic arm for carrying underwater equipment, and the joint structure is the master-hand joint of the master-slave robotic arm.
10. A robot, characterized in that: The robot comprises the robotic arm as claimed in claim 8.