Shaft joint structure and mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a shaft joint structure and a mechanical arm, the shaft joint structure comprises a first shaft joint driving module, a second shaft joint driving module, a transmission assembly and a first supporting seat; the first shaft joint driving module is rotationally mounted on the first supporting seat, and the second shaft joint driving module is mounted on the first supporting seat; the second shaft joint driving module is connected with the first shaft joint driving module through the transmission assembly and used for driving the first shaft joint driving module to rotate through the transmission assembly. According to the shaft joint structure, the transmission assembly can transfer the rotating center of the second shaft joint driving module to the first shaft joint driving module, the shaft joint structure can be applied to a small space, and the applicability and universality of the shaft joint structure are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robotic arms, and particularly relates to a knuckle structure and a robotic arm. Background Art

[0002] A robotic arm is a mechanical device that imitates the human arm and can move a gripper to a desired position and bear the working weight and its own weight. The robotic arm can replace humans to complete many tasks or work in cooperation with humans. Especially in harsh environments or for jobs with high repeatability, the robotic arm has greater advantages over humans.

[0003] In the prior art, a robotic arm has multiple knuckles, and the rotation centers of adjacent two knuckles are arranged staggeredly. Each of the two separately arranged knuckles requires a certain amount of movement space, resulting in the existing robotic arm being unable to move in a narrow space and reducing the applicability of the robotic arm. Summary of the Invention

[0004] The utility model provides a knuckle structure and a robotic arm for solving the technical problem that a robotic arm in the prior art requires a large movement space.

[0005] In view of the above technical problems, an embodiment of the utility model provides a knuckle structure, including a first knuckle driving module, a second knuckle driving module, a transmission component, and a first support seat; the first knuckle driving module is rotatably installed on the first support seat, and the second knuckle driving module is installed on the first support seat;

[0006] The second knuckle driving module is connected to the first knuckle driving module through the transmission component and is used to drive the first knuckle driving module to rotate through the transmission component.

[0007] Optionally, the transmission component includes a first wheel body, a second wheel body, and an adapter piece wound between the first wheel body and the second wheel body; the output end of the second knuckle driving module is connected to the first wheel body, and the second wheel body is connected to the first knuckle driving module.

[0008] Optionally, the knuckle structure further includes a connecting piece installed at the output end of the first knuckle driving module; the rotation direction of the first knuckle driving module driven by the second knuckle driving module through the transmission component is perpendicular to the rotation direction of the first knuckle driving module driving the connecting piece.

[0009] Optionally, the first support seat includes a first side plate, and both the first knuckle driving module and the second knuckle driving module are installed on the same plate surface of the first side plate.

[0010] Another embodiment of the present utility model further provides a robotic arm, which includes a third joint drive module and the above-mentioned joint structure, and the output end of the third joint drive module is connected to the first support seat;

[0011] The rotation direction of the first support seat driven by the third joint drive module is perpendicular to the rotation direction of the first joint drive module driven by the second joint drive module through the transmission component.

[0012] Optionally, the first support seat includes a first side plate and a second side plate that are vertically arranged and connected to each other. The first side plate is provided with a first through hole and a second through hole that are spaced apart, and the second side plate is provided with a third through hole;

[0013] The first joint drive module is provided with a connection end that inserts into the first through hole and connects to the transmission component; the output end of the second joint drive module inserts into the second through hole and connects to the transmission component, and the output end of the third joint drive module is plugged into the third through hole.

[0014] Optionally, the robotic arm further includes a flange portion provided on the first side plate around the second through hole; the second joint drive module is mounted on the flange portion.

[0015] Optionally, the robotic arm further includes a second support seat and a fourth joint drive module; the body of the third joint drive module is mounted on the second support seat, and the output end of the fourth joint drive module is connected to the second support seat;

[0016] The rotation direction of the first support seat driven by the third joint drive module is perpendicular to the rotation direction of the second support seat driven by the fourth joint drive module.

[0017] Optionally, the robotic arm further includes a third support seat and a fifth joint drive module. The third support seat includes a first sleeve and a first support arm connecting the first sleeve; the fourth joint drive module is installed in the inner hole of the first sleeve, and the output end of the fifth joint drive module is connected to one end of the first support arm away from the first sleeve;

[0018] The rotation direction of the second support seat driven by the fourth joint drive module is perpendicular to the rotation direction of the third support seat driven by the fifth joint drive module.

[0019] Optionally, the robotic arm further includes a fourth support seat and a sixth joint drive module. The fourth support seat includes a third side plate and a fourth side plate that are vertically arranged and connected to each other; the fifth joint drive module is mounted on the third side plate, and the output end of the sixth joint drive module is connected to the fourth side plate;

[0020] The rotation direction of the third support base driven by the fifth joint drive module is perpendicular to the rotation direction of the fourth support base driven by the sixth joint drive module.

[0021] Optionally, the robotic arm further includes a fifth support base and a seventh joint drive module. The fifth support base includes a second sleeve and a second support arm connecting the second sleeve. The sixth joint drive module is installed in the inner hole of the second sleeve, and the output end of the seventh joint drive module is connected to one end of the second support arm away from the second sleeve.

[0022] The rotation direction of the fourth support base driven by the sixth joint drive module is perpendicular to the rotation direction of the fifth support base driven by the seventh joint drive module.

[0023] In the present utility model, the first joint drive module is rotatably installed on the first support base, and the second joint drive module is installed on the first support base. The second joint drive module is connected to the first joint drive module through the transmission assembly. The second joint drive module drives the first joint drive module to rotate on the first support base through the transmission assembly, and during the process of the second joint drive module driving the first joint drive module to rotate, the first support base is in a fixed state. The transmission assembly can transfer the rotation center of the second joint drive module to the first joint drive module. This joint structure can be applied in a smaller space, improving the applicability and versatility of this joint structure. Description of the Drawings

[0024] The present utility model will be further described below with reference to the drawings and embodiments.

[0025] Figure 1 is a schematic structural diagram of a joint structure provided by an embodiment of the present utility model;

[0026] Figure 2 is a schematic structural diagram of a robotic arm provided by an embodiment of the present utility model;

[0027] Figure 3 is a schematic structural diagram of the first support base of the joint structure provided by an embodiment of the present utility model;

[0028] Figure 4 is a schematic structural diagram of the third support base of the robotic arm provided by an embodiment of the present utility model;

[0029] Figure 5 is a partial schematic structural diagram of a robotic arm provided by an embodiment of the present utility model.

[0030] The reference numerals in the specification are as follows:

[0031] 1. Knuckle structure; 11. First knuckle drive module; 12. Second knuckle drive module; 13. Transmission component; 131. First wheel body; 132. Second wheel body; 133. Adapter; 14. First support seat; 141. First side plate; 1411. First through hole; 1412. Second through hole; 1413. First flange portion; 142. Second side plate; 1421. Third through hole; 15. Connecting piece; 2. Third knuckle drive module; 3. Second support seat; 4. Fourth knuckle drive module; 5. Third support seat; 51. First sleeve; 52. First support arm; 6. Fifth knuckle drive module; 7. Fourth support seat; 8. Sixth knuckle drive module; 9. Fifth support seat; 10. Seventh knuckle drive module. Detailed implementation manners

[0032] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0033] It should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "middle", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present utility model.

[0034] As Figure 1 shown, a knuckle structure 1 provided by an embodiment of the present utility model includes a first knuckle drive module 11, a second knuckle drive module 12, a transmission component 13 and a first support seat 14; the first knuckle drive module 11 is rotatably installed on the first support seat 14, and the second knuckle drive module 12 (fixed) is installed on the first support seat 14; it can be understood that both the first knuckle drive module 11 and the second knuckle drive module 12 include but are not limited to a rotating motor, a harmonic joint module, etc.

[0035] The second knuckle drive module 12 is connected to the first knuckle drive module 11 through the transmission component 13 and is used to drive the first knuckle drive module 11 to rotate through the transmission component 13. It can be understood that the transmission component 13 includes but is not limited to a belt mechanism, a chain mechanism, etc.

[0036] In the present utility model, the first knuckle drive module 11 is rotatably mounted on the first support base 14, and the second knuckle drive module 12 is mounted on the first support base 14; the second knuckle drive module 12 is connected to the first knuckle drive module 11 through the transmission assembly 13. The second knuckle drive module 12 drives the first knuckle drive module 11 to rotate on the first support base 14 through the transmission assembly 13, and during the process of the second knuckle drive module 12 driving the first knuckle drive module 11 to rotate, the first support base 14 is in a fixed state; the transmission assembly 13 can transfer the rotation center of the second knuckle drive module 12 to the first knuckle drive module 11, and this knuckle structure 1 can be applied in a smaller space, improving the applicability and versatility of this knuckle structure 1.

[0037] In one embodiment, as Figure 1 shown, the transmission assembly 13 includes a first wheel body 131, a second wheel body 132, and a transfer member 133 wound between the first wheel body 131 and the second wheel body 132; the output end of the second knuckle drive module 12 is connected to the first wheel body 131, and the second wheel body 132 is connected to the first knuckle drive module 11. It can be understood that the first wheel body 131, the second wheel body 132, and the transfer member 133 can be a synchronous pulley and synchronous belt assembly (that is, the first wheel body 131 is the first synchronous pulley, the second wheel body 132 is the second synchronous pulley, and the transfer member 133 is the synchronous belt), a chain assembly (that is, the first wheel body 131 is the first sprocket, the second wheel body 132 is the second sprocket, and the transfer member 133 is the chain), and a belt assembly (that is, the first wheel body 131 is the first belt pulley, the second wheel body 132 is the second belt pulley, and the transfer member 133 is the belt), etc. Further, the first wheel body 131 and the second wheel body 132 are both rotatably mounted on the first support base 14.

[0038] Specifically, the second knuckle drive module 12 drives the first wheel body 131 to rotate, the first wheel body 131 drives the second wheel body 132 to rotate through the transfer member 133, and the second wheel body 132 drives the first knuckle drive module 11 to rotate on the first support base 14. In this embodiment, the structure of the transmission assembly 13 is simple and occupies a small space.

[0039] In one embodiment, as Figure 1As shown, the knuckle structure 1 further includes an adapter 15 installed at the output end of the first knuckle drive module 11; the second knuckle drive module 12 drives the rotation direction of the first knuckle drive module 11 through the transmission component 13, which is perpendicular to the rotation direction of the first knuckle drive module 11 driving the adapter 15. It can be understood that the first knuckle drive module 11 can be connected to an external component through the adapter 15, and the design of the adapter 15 improves the convenience of connecting the external component to the knuckle structure 1. In addition, the rotation direction of the first knuckle drive module 11 driving the adapter 15 is perpendicular to the rotation direction of the second knuckle drive module 12 driving the first knuckle drive module 11 through the transmission component 13, so that the knuckle structure 1 can achieve rotation in two degrees of freedom, and the rotation centers of the two free ends are both on the first knuckle drive module 11, improving the applicability and versatility of the knuckle structure 1.

[0040] In one embodiment, as Figure 1 shown, the first support base 14 includes a first side plate 141, and both the first knuckle drive module 11 and the second knuckle drive module 12 are installed on the same plate surface of the first side plate 141. It can be understood that the first knuckle drive module 11 and the second knuckle drive module 12 are arranged on the same side of the first side plate 141, so that there is no need to occupy space on both sides of the first side plate 141, further reducing the occupied space of the knuckle structure 1.

[0041] As Figure 2 shown, another embodiment of the present invention further provides a robotic arm, including a third knuckle drive module 2 and the above-mentioned knuckle structure 1, and the output end of the third knuckle drive module 2 is connected to the first support base 14; it can be understood that the third knuckle drive module 2 includes, but is not limited to, a rotating motor, a harmonic joint module, etc.

[0042] The rotation direction of the third knuckle drive module 2 driving the first support base 14 is perpendicular to the rotation direction of the second knuckle drive module 12 driving the first knuckle drive module 11 through the transmission component 13. It can be understood that the robotic arm can achieve rotation in the X, Y, and Z directions in space, that is, the robotic arm can drive the adapter 15 to achieve rotation in the X, Y, and Z directions in space, improving the applicability and versatility of the robotic arm.

[0043] In one embodiment, as Figures 1 to 3As shown, the first support base 14 includes a first side plate 141 and a second side plate 142 that are vertically arranged and connected to each other. The first side plate 141 is provided with a first through hole 1411 and a second through hole 1412 that are spaced apart. The second side plate 142 is provided with a third through hole 1421. A connection end that inserts into the first through hole 1411 and connects to the transmission component 13 is provided on the first link driving module 11. The output end of the second link driving module 12 inserts into the second through hole 1412 and connects to the transmission component 13, and the output end of the third link driving module 2 is plugged into the third through hole 1421. It can be understood that the first side plate 141 and the second side plate 142 are integrally formed. The first link driving module 11, the second link driving module 12, the third link driving module 2, and the second side plate 142 are all located on the same side of the first side plate 141. In this embodiment, the first support base 14 is an "L"-shaped structural member, which ensures the strength between adjacent links of the robotic arm and reduces the weight of the robotic arm at the same time.

[0044] In one embodiment, as Figure 1 and Figure 3 shown, the robotic arm further includes a first flange portion 1413 provided on the first side plate 141 and surrounding the second through hole 1412. The second link driving module 12 is installed on the first flange portion 1413. It can be understood that a plurality of fastening holes are annularly and spaced apart on the first flange portion 1413, and screws, helices, etc. pass through the fastening holes and are connected to the second link driving module 12, thereby realizing the function of fixedly installing the second link driving module 12 on the first flange portion 1413.

[0045] A second flange portion is provided on the first side plate 141 and surrounds the first through hole 1411. The second flange portion 1411 is provided with an arc-shaped hole. A first fastener passes through the arc-shaped hole and is connected to the first link driving module 11. Thus, during the rotation of the first link driving module 11 on the first side plate 141, the fixing member slides along the arc-shaped hole, thereby ensuring the stability of the rotation of the first link driving module 11 on the first side plate 141.

[0046] Similarly, a third flange portion is provided on the second side plate 142 and surrounds the third through hole 1421. The output end of the third link driving module 2 is installed on the third flange portion.

[0047] In one embodiment, as Figure 2As shown, the robotic arm further includes a second support base 3 and a fourth joint drive module 4; the body (i.e., the housing) of the third joint drive module 2 is mounted on the second support base 3, and the output end of the fourth joint drive module 4 is connected to the second support base 3; it can be understood that the fourth joint drive module 4 can be mounted on the second support base 3 through a flange structure; the fourth joint drive module 4 includes, but is not limited to, a rotating motor, a harmonic joint module, etc.

[0048] The rotation direction of the first support base 14 driven by the third joint drive module 2 is perpendicular to the rotation direction of the second support base 3 driven by the fourth joint drive module 4. In this embodiment, the robotic arm has four joint axes, which improves the applicability and versatility of the robotic arm.

[0049] In one embodiment, the second support base 3 includes a first support plate and a second support plate that are vertically arranged and integrally formed. The third joint drive module 2 is fixedly mounted on the first support plate, the output end of the fourth joint drive module 4 is connected to the second support plate, and the third joint drive module 2, the fourth joint drive module 4, and the second support plate are all located on the same side of the first support plate.

[0050] In one embodiment, as Figure 2 , Figure 4 and Figure 5 shown, the robotic arm further includes a third support base 5 and a fifth joint drive module 6. The third support base 5 includes a first sleeve 51 and a first support arm 52 connecting the first sleeve 51; the fourth joint drive module 4 is installed in the inner hole of the first sleeve 51, and the output end of the fifth joint drive module 6 is connected to one end of the first support arm 52 away from the first sleeve 51; it can be understood that the fifth joint drive module 6 includes, but is not limited to, a rotating motor, a harmonic joint module, etc. The first support arm 52 is connected to the outer side wall of the first sleeve 51, and the first support arm 52 and the first sleeve 51 are integrally formed.

[0051] The rotation direction of the second support base 3 driven by the fourth joint drive module 4 is perpendicular to the rotation direction of the third support base 5 driven by the fifth joint drive module 6. In this embodiment, the robotic arm has five joint axes, which improves the applicability and versatility of the robotic arm; in addition, the fourth joint drive module 4 is located in the inner hole of the first sleeve 51, so that the first sleeve 51 can play a role in protecting the fourth joint drive module 4 and extending the service life of the robotic arm; furthermore, the first support arm 52 can extend the distance between the fourth joint drive module 4 and the fifth joint drive module 6.

[0052] In one embodiment, asFigure 2 and Figure 5 As shown in Figure 5 , the robotic arm further includes a fourth support base 7 and a sixth joint drive module 8. The fourth support base 7 includes a third side plate and a fourth side plate that are vertically arranged and connected to each other. The fifth joint drive module 6 is mounted on the third side plate, and the output end of the sixth joint drive module 8 is connected to the fourth side plate. Understandably, the sixth joint drive module 8 includes, but is not limited to, a rotating motor, a harmonic joint module, etc. The fifth joint drive module 6 can be fixedly mounted on the fourth support base 7 through a flange structure.

[0053] The rotation direction of the third support base 5 driven by the fifth joint drive module 6 is perpendicular to the rotation direction of the fourth support base 7 driven by the sixth joint drive module 8. In this embodiment, the robotic arm has six joints, which improves the applicability and versatility of the robotic arm. In addition, the third side plate and the fourth side plate are integrally formed parts. The fourth support base is an "L"-shaped structural member, which ensures the strength between adjacent joints of the robotic arm and reduces the weight of the robotic arm at the same time.

[0054] In one embodiment, as shown in Figure 2 and Figure 5 As shown in Figure 5 , the robotic arm further includes a fifth support base 9 and a seventh joint drive module 10. The fifth support base 9 includes a second sleeve and a second support arm connecting the second sleeve. The sixth joint drive module 8 is installed in the inner hole of the second sleeve, and the output end of the seventh joint drive module 10 is connected to one end of the second support arm away from the second sleeve. Understandably, the seventh joint drive module 10 includes, but is not limited to, a rotating motor, a harmonic joint module, etc. The second support arm is connected to the outer side wall of the second sleeve, and the second support arm and the second sleeve are integrally formed parts.

[0055] The rotation direction of the fourth support base 7 driven by the sixth joint drive module 8 is perpendicular to the rotation direction of the fifth support base 9 driven by the seventh joint drive module 10. In this embodiment, the robotic arm has seven joints, which improves the applicability and versatility of the robotic arm. In addition, the sixth joint drive module 8 is located in the inner hole of the second sleeve, so that the second sleeve can play a role in protecting the sixth joint drive module 8 and extending the service life of the robotic arm. In addition, the second support arm can extend the distance between the sixth joint drive module 8 and the seventh joint drive module 10.

[0056] In summary, the first joint drive module 11, the second joint drive module 12, and the third joint drive module 2 are equivalent to the wrist structure of an arm, and the fourth joint drive module 4 is equivalent to the elbow structure of an arm; the fifth joint drive module 6, the sixth joint drive module 8, and the seventh joint drive module 10 are equivalent to the shoulder mechanism of an arm; the robotic arm has seven joints, reducing the singularities during the movement of the robotic arm (at the singularities of the axis joints, the bearing capacity is extremely poor, and even if the speed changes very slowly, a very large acceleration is required), and enabling flexible movement in all directions in space.

[0057] The above are only examples of the joint structure and the robotic arm of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A knuckle structure, characterized in that, It includes a first knuckle drive module, a second knuckle drive module, a transmission component, and a first support base; the first knuckle drive module is rotatably mounted on the first support base, and the second knuckle drive module is mounted on the first support base; The second knuckle drive module is connected to the first knuckle drive module through the transmission component and is used to drive the first knuckle drive module to rotate through the transmission component.

2. The knuckle structure according to claim 1, wherein, The transmission component includes a first wheel body, a second wheel body, and a transfer member wound between the first wheel body and the second wheel body; the output end of the second knuckle drive module is connected to the first wheel body, and the second wheel body is connected to the first knuckle drive module.

3. The knuckle structure according to claim 1, characterized in that, The knuckle structure further includes a connecting member installed at the output end of the first knuckle drive module; the rotation direction of the first knuckle drive module driven by the second knuckle drive module through the transmission component is perpendicular to the rotation direction of the first knuckle drive module driving the connecting member.

4. The knuckle structure according to claim 1, wherein The first support base includes a first side plate, and both the first knuckle drive module and the second knuckle drive module are mounted on the same plate surface of the first side plate.

5. A robotic arm, characterized in that, It includes a third knuckle drive module and the knuckle structure according to any one of claims 1 to 4, and the output end of the third knuckle drive module is connected to the first support base; The rotation direction of the first support base driven by the third knuckle drive module is perpendicular to the rotation direction of the first knuckle drive module driven by the second knuckle drive module through the transmission component.

6. The robotic arm according to claim 5, wherein The first support base includes a first side plate and a second side plate that are vertically arranged and connected to each other. The first side plate is provided with a first through hole and a second through hole that are spaced apart, and the second side plate is provided with a third through hole; The first knuckle drive module is provided with a connection end that inserts into the first through hole and is connected to the transmission component; the output end of the second knuckle drive module inserts into the second through hole and is connected to the transmission component, and the output end of the third knuckle drive module is plugged into the third through hole.

7. The robotic arm according to claim 5, characterized in that, The robotic arm further includes a second support base and a fourth knuckle drive module; the body of the third knuckle drive module is mounted on the second support base, and the output end of the fourth knuckle drive module is connected to the second support base; The rotation direction of the first support base driven by the third knuckle drive module is perpendicular to the rotation direction of the second support base driven by the fourth knuckle drive module.

8. The robotic arm according to claim 7, wherein The robotic arm further includes a third support base and a fifth knuckle drive module. The third support base includes a first sleeve and a first support arm connecting the first sleeve; the fourth knuckle drive module is installed in the inner hole of the first sleeve, and the output end of the fifth knuckle drive module is connected to one end of the first support arm away from the first sleeve; The rotation direction of the second support base driven by the fourth knuckle drive module is perpendicular to the rotation direction of the third support base driven by the fifth knuckle drive module.

9. The robotic arm according to claim 8, wherein The robotic arm further includes a fourth support base and a sixth joint drive module. The fourth support base includes a third side plate and a fourth side plate that are vertically arranged and connected to each other. The fifth joint drive module is mounted on the third side plate, and the output end of the sixth joint drive module is connected to the fourth side plate. The rotation direction of the third support base driven by the fifth joint drive module is perpendicular to the rotation direction of the fourth support base driven by the sixth joint drive module.

10. The robotic arm according to claim 9, characterized in that, The robotic arm further includes a fifth support base and a seventh joint drive module. The fifth support base includes a second sleeve and a second support arm connecting the second sleeve. The sixth joint drive module is mounted in the inner hole of the second sleeve, and the output end of the seventh joint drive module is connected to one end of the second support arm away from the second sleeve. The rotation direction of the fourth support base driven by the sixth joint drive module is perpendicular to the rotation direction of the fifth support base driven by the seventh joint drive module.

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