Joint body and robot

Abstract

The utility model relates to a joint body and a robot. The joint body is applied to the robot and comprises a joint shell, an output shaft, a translation driving mechanism and a rotation driving mechanism. The output shaft is movably connected to the joint shell. The translation driving mechanism is arranged in the joint shell and comprises a translation driving part and a translation transmission assembly, the translation transmission assembly is in transmission connection between the translation driving part and the output shaft, and the translation driving mechanism is used for driving the output shaft to move in the direction of the preset axis relative to the joint shell. The translation driving mechanism is arranged in the joint shell and comprises a translation driving part and a translation transmission assembly, the translation transmission assembly is in transmission connection between the translation driving part and the output shaft, and the translation driving mechanism is used for driving the output shaft to move in the direction of the preset axis relative to the joint shell. The joint main body is compact in structure, and the size of the joint shell in the width direction is relatively small, so that the overall beat of the robot is indirectly and relatively improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a joint body and a robot. Background Art

[0002] SCARA robots (assembly robots) are cylindrical coordinate industrial robots. As a key branch of the industrial robotics field, they are widely used in many industries, such as automotive manufacturing, new energy, semiconductors, and metal processing, due to their fast operation cycle, easy deployment, small footprint, and lower price compared to traditional six-axis robots. They are primarily used in a range of applications, including parts assembly, material sorting, and object handling. They offer high task execution efficiency and low error rates, significantly reducing the manpower and material resources required in modern factories.

[0003] Because inverted SCARA robots utilize a suspended upper base, they are more convenient for applications where space is limited and where a belt mechanism is required for sorting. The SCARA robot's forearm carries the drive mechanisms for both translation and rotation. The space occupied by these drive mechanisms significantly increases the forearm's size, hindering the robot's overall cycle time. Utility Model Content

[0004] An embodiment of the present application provides a joint body, and an embodiment of the present application also provides a robot having the above-mentioned joint body.

[0005] In a first aspect, an embodiment of the present application provides a joint body, which is applied to a robot and includes a joint housing, an output shaft, a translation drive mechanism, and a rotation drive mechanism. The output shaft is movably connected to the joint housing. The translation drive mechanism is arranged in the joint housing, and the translation drive mechanism includes a translation drive member and a translation transmission assembly, and the translation transmission assembly is transmission-connected between the translation drive member and the output shaft, and the translation drive mechanism is used to drive the output shaft to move relative to the joint housing along a predetermined axis. The translation drive mechanism is arranged in the joint housing, and the translation drive mechanism includes a translation drive member and a translation transmission assembly, and the translation transmission assembly is transmission-connected between the translation drive member and the output shaft, and the translation drive mechanism is used to drive the output shaft to move relative to the joint housing along a predetermined axis.

[0006] In some optional examples, the translation transmission assembly includes a first input member, a first transmission member and a first output member, the first input member is connected to the translation drive member, the first transmission member is connected between the first input member and the first output member, and the first output member is transmission-connected to the output shaft.

[0007] In some optional examples, the rotary transmission assembly includes a second input member, a second transmission member and a second output member, the second input member is connected to the adapter assembly, the second transmission member is connected between the second input member and the second output member, and the second output member is transmission-connected to the output shaft; the first transmission member and the second transmission member are arranged side by side in the direction of a predetermined axis.

[0008] In some optional examples, the joint housing has a length direction perpendicular to the predetermined axis, the rotation drive member and the translation drive member are arranged along the length direction, the first transmission member and the second transmission member are both extended along the length direction, and the first transmission member and the second transmission member are parallel.

[0009] In some optional examples, the adapter assembly includes an input part, a transmission part, and an output part, the input part is connected to the rotating drive member, the transmission part is connected between the input part and the output part, and the output part is transmission-connected to the second input member; the transmission part is parallel to the first transmission member, and in the direction of the predetermined axis, the distance between the transmission part and the first transmission member is greater than the distance between the second transmission member and the first transmission member.

[0010] In some optional examples, the first input member and the first output member are both synchronous pulleys, and the first transmission member is a synchronous belt; the translation drive mechanism also includes a first tensioning assembly, the first tensioning assembly is connected to the joint housing, and the first tensioning assembly is used to tension the first transmission member.

[0011] In some optional examples, the translational drive member can be movably disposed in the joint housing, and the first tensioning assembly includes a fixing member and an adjusting member. The fixing member is connected to the joint housing, and the adjusting member can be movably disposed on the fixing member, which can move relative to the fixing member to press against the translational drive member and tension the first transmission member.

[0012] In some optional examples, the joint housing includes a connecting portion and a mounting portion, the connecting portion is connected to one side of the mounting portion and protrudes relative to the mounting portion, the inner cavity of the connecting portion and the inner cavity of the mounting portion are connected to jointly define an installation space, the translational drive member and the rotational drive member are at least partially arranged in the connecting portion, and the translational transmission assembly and the rotational transmission assembly are both arranged in the mounting portion.

[0013] In some optional examples, the output shaft is connected to one end of the mounting portion away from the connecting portion, the connecting portion protrudes relative to the mounting portion along a predetermined axis and is spaced relative to the output shaft, and the mounting portion and the connecting portion are integrally formed and connected.

[0014] In some optional examples, the joint housing further includes a bottom cover portion connected to a side of the mounting portion facing away from the connecting portion to shield the mounting space; the connecting portion and the mounting portion are arranged side by side in the direction of the predetermined axis.

[0015] In some optional examples, the connecting portion is located on one side of the mounting portion and is used to connect to the driving mechanism of the joint body, the output shaft passes through the mounting portion and is exposed on the side of the mounting portion away from the connecting portion, and the output shaft is located at the end of the mounting portion away from the connecting portion for installing the execution end of the robot.

[0016] In some optional examples, the output shaft is a ball spline screw, and the translation drive mechanism further includes a screw nut, which is connected to the output shaft through a threaded pair, and the screw nut is connected to the translation transmission assembly.

[0017] In some optional examples, the rotary drive mechanism further includes a spline nut, which is transmission-connected between the output shaft and the rotary transmission assembly, and the spline nut and the screw nut are spaced apart along a predetermined axis.

[0018] In a second aspect, an embodiment of the present application further provides a robot comprising a base, an upper arm joint and the above-mentioned joint body, wherein the upper arm joint is rotatably connected to the base, and the joint body is rotatably connected to an end of the upper arm joint away from the base.

[0019] In some optional examples, the robot also includes a first driving mechanism and a second driving mechanism, the first driving mechanism is arranged between the base and the upper arm joint, and the first driving mechanism is used to drive the upper arm joint to rotate around a first axis relative to the base, and the second driving mechanism is arranged between the upper arm joint and the joint body, and the second driving mechanism is used to drive the joint body to rotate around a second axis relative to the upper arm joint, and the first axis, the second axis and the predetermined axis are parallel to each other.

[0020] In some optional examples, the joint housing includes a connecting portion and a mounting portion, the connecting portion is connected between the mounting portion and the upper arm joint, and the translation drive member and the rotation drive member are both arranged in the connecting portion to be relatively close to the second axis and the first axis.

[0021] Compared to the prior art, in the joint body provided in the embodiment of the present application, a translation drive mechanism is arranged in the joint housing, which is used to drive the output shaft to move along the direction of a predetermined axis. A rotation drive mechanism is arranged in the joint housing, which is used to drive the output shaft to rotate around a predetermined axis. The translation drive mechanism and the rotation drive mechanism are used to realize the linear motion and rotational motion of the robot's actuator. The translation transmission assembly and the rotation transmission assembly are arranged side by side in the direction of the predetermined axis, and the structure is compact, which makes the size of the joint housing in the width direction relatively small, thereby indirectly improving the overall beat of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the technical solutions of the present application, the accompanying drawings required for the implementation manners will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementation manners of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0023] Figure 1 is a block diagram of a module of a robot provided by an embodiment of the present application.

[0024] Figure 2 is Figure 1 a schematic perspective view of the body of the robot shown.

[0025] Figure 3 is a schematic structural view of a joint body provided by an embodiment of the present application.

[0026] Figure 4 is Figure 3 a sectional view of the output shaft and the lead screw nut of the joint body shown.

[0027] Figure 5 is Figure 3 a sectional view of the output shaft and the spline nut of the joint body shown.

[0028] Figure 6 is Figure 3 a schematic internal structure view of the joint body shown.

[0029] Figure 7 is Figure 6 an enlarged structural view of part A in

[0030] Figure 8 is Figure 3 an exploded structural view of the translation drive mechanism and the rotation drive structure of the joint body shown.

[0031] Figure 9 is Figure 3 a schematic structural view of the joint housing of the joint body shown.

[0032] Description of reference numerals: 100, main body; 10, base; 30, upper arm joint; 50, joint body; 51, first mounting seat; 512, mounting plate; 514, connecting plate; 5141, first waist-shaped groove; 5143, first screw; 52, joint housing; 521, connecting portion; 523, mounting portion; 524, first mounting post; 5241, mounting groove; 525, mounting space; 527, bottom cover portion; 53, second mounting seat; 532, second waist-shaped groove; 534, second screw; 54, output shaft; 541, first end; 543, second end; 545, threaded groove; 547, ball slide groove; 549, ball passage; 56, translation drive mechanism; 561, translation drive member; 563, translation transmission assembly; 5632, first input member; 5634, first transmission member; 5636, first output member; 565, lead screw nut; 5652, first ball; 569, first tensioning assembly; 5692, fixing member; 5694, adjusting member; 58, rotation drive mechanism; 581, rotation drive member; 583, adapter assembly; 5832, input portion; 5834, transmission portion; 5836, output portion; 585, rotation transmission assembly; 5852, second input member; 5854, second transmission member; 5856, second output member; 587, spline nut; 5872, receiving groove; 5874, second ball; 589, second tensioning assembly; 70, first drive mechanism; 90, second drive mechanism; 200, robot; 201, execution end. Detailed implementation manners

[0033] In order to enable those skilled in the art of this technology to better understand the solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of this application.

[0034] As used in the specification and claims, certain terms are used to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in names as a way to distinguish components, but use the difference in functions of components as the criterion for distinction. As mentioned throughout the specification and claims, "including" is an open-ended term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve the technical effects.

[0035] Please refer to Figure 1 , the embodiments of this application provide a main body 100 and a robot 200, and the main body 100 can be applied to the robot 200.

[0036] This specification does not limit the specific type of the robot 200. For example, the robot 200 can be an industrial robotic arm or a collaborative robot. In this embodiment, the robot 200 is a cylindrical coordinate type industrial robot. The robot 200 can include a body 100 and an end effector 201. The end effector 201 is connected to the body 100 and is used to move relative to the body 100 under the drive of the body 100. This specification does not limit the specific type of the end effector 201. The end effector 201 can be a joint of the robot 200, such as a wrist joint or an elbow joint, or the end effector 201 can also be a tooling fixture.

[0037] Please refer to Figure 2 , the body 100 can include a base 10, a shoulder joint 30, and a joint body 50. Among them, the base 10 can be arranged on the workbench in the application environment of the robot 200 and is used to install other structures of the body 100. The shoulder joint 30 is rotatably connected to the base 10, and the joint body 50 is rotatably connected to one end of the shoulder joint 30 away from the base 10. This specification does not limit the specific installation type of the robot 200. The robot 200 can be a robot with a normal installation, where the base 10 is fixed on a horizontal tabletop, and the shoulder joint 30 and the joint body 50 are arranged above the base 10. Or the robot 200 can also be an inverted robot, where the base 10 is suspended and installed on a high platform or ceiling, and the shoulder joint 30 and the joint body 50 are installed below the base 10. Such an inverted robot can be applied to some occasions where space compactness is prioritized and sorting needs to be coordinated with a conveyor belt mechanism. In this embodiment, the robot 200 is an inverted cylindrical coordinate type industrial robot.

[0038] The body 100 can also include a first driving mechanism 70 and a second driving mechanism 90. The first driving mechanism 70 is arranged between the base 10 and the shoulder joint 30, and the first driving mechanism 70 is used to drive the shoulder joint 30 to rotate relative to the base 10 around the first axis X1. The second driving mechanism 90 is arranged between the shoulder joint 30 and the joint body 50, and the second driving mechanism 90 is used to drive the joint body 50 to rotate relative to the shoulder joint 30 around the second axis X2. The first axis X1 and the second axis X2 are parallel to each other. The robot 200 has multiple degrees of freedom of movement and has high flexibility.

[0039] In this application, unless otherwise clearly specified or limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or indirectly connected through an intermediate medium, or the communication inside two components, or just surface contact. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] Please also refer to Figure 2 and Figure 3 In this embodiment, the joint body 50 is connected to one end of the upper arm joint 30 away from the base 10 and is located below the upper arm joint 30. The joint body 50 may include a joint housing 52, an output shaft 54, a translation drive mechanism 56, and a rotation drive mechanism 58. The output shaft 54 is movably connected to the joint housing 52. The translation drive mechanism 56 is disposed in the joint housing 52. The translation drive mechanism 56 includes a translation drive member 561 and a translation transmission assembly 563. The translation transmission assembly 563 is drivingly connected between the translation drive member 561 and the output shaft 54. The translation drive mechanism 56 is configured to drive the output shaft 54 to move relative to the joint housing 52 along the direction of a predetermined axis X3. The rotation drive mechanism 58 is disposed in the joint housing 52. The rotation drive mechanism 58 includes a rotation drive member 581, a transfer assembly 583, and a rotation transmission assembly 585. The transfer assembly 583 is drivingly connected between the rotation drive member 581 and the rotation transmission assembly 585. The rotation transmission assembly 585 is drivingly connected to the output shaft 54. The rotation drive mechanism 58 is configured to drive the output shaft 54 to rotate relative to the joint housing 52 about the predetermined axis X3. The rotation transmission assembly 585 and the translation transmission assembly 563 are arranged in parallel in the extending direction of the predetermined axis X3.

[0041] In the joint body 50 provided by the embodiment of the present application, the translation drive mechanism 56 is disposed in the joint housing 52 and is configured to drive the output shaft 54 to move along the direction of the predetermined axis X3. The rotation drive mechanism 58 is disposed in the joint housing 52 and is configured to drive the output shaft 54 to rotate about the predetermined axis X3. The execution end 201 is connected to the output shaft 54. The translation drive mechanism 56 and the rotation drive mechanism 58 realize the linear motion and the rotational motion of the execution end 201. In the application scenario of the robot 200, the predetermined axis X3 is substantially parallel to the vertical direction. The translation transmission assembly 563 and the rotation transmission assembly 585 are arranged in parallel in the direction of the predetermined axis X3, with a compact structure, so that the size of the joint housing 52 in the width direction is relatively small, thereby indirectly improving the overall cycle of the robot 200.

[0042] In the robot 200 provided in the embodiment of the present application, the first driving mechanism 70 can drive the large arm joint 30 to rotate relative to the base 10 around the first axis X1, the second driving mechanism 90 can drive the joint body 50 to rotate relative to the large arm joint 30 around the second axis X2, the translation driving mechanism 56 can drive the output shaft 54 to move relative to the joint housing 52 along the direction of the predetermined axis X3, and the rotation driving mechanism 58 can drive the output shaft 54 to rotate relative to the joint housing 52 around the predetermined axis X3. The first axis X1, the second axis X2, and the third axis X3 are parallel to each other, and the foregoing structure together constitutes a four-axis robot 200 with high flexibility.

[0043] In this embodiment, the joint housing 52 is rotatably connected to the large arm joint 30, and the joint housing 52 is used to install other structures of the joint body 50. The joint housing 52 may include a connecting portion 521 and a mounting portion 523. The connecting portion 521 is connected to one side of the mounting portion 523 and protrudes relative to the mounting portion 523. The inner cavity of the connecting portion 521 and the inner cavity of the mounting portion 523 communicate with each other to jointly define the mounting space 525. The translation driving member 561 and the rotation driving member 581 are both at least partially disposed in the connecting portion 521, and the rotation transmission assembly 585 and the translation transmission assembly 563 are both disposed in the mounting portion 523. The translation driving member 561 and the rotation driving member 581 are disposed in the connecting portion 521, and the rotation transmission assembly 585 and the translation transmission assembly 563 are disposed in the mounting portion 523, rationally utilizing the space inside the joint housing 52.

[0044] The connecting portion 521 is located on one side of the mounting portion 523 and is used to connect the driving mechanism of the joint body 50. In this embodiment, the foregoing driving mechanism is the second driving mechanism 90. In other embodiments, the joint body 50 may not be one of the components of the robot 200. It may be used alone and directly connected to other driving mechanisms to serve as a three-axis robot. In this embodiment, one end of the connecting portion 521 facing away from the mounting portion 523 is rotatably connected to the large arm joint 30 and is in transmission connection with the second driving mechanism 90. The connecting portion 521 is generally cylindrical, and the inner diameter of the end of the connecting portion 521 connected to the large arm joint 30 is smaller than the inner diameter of the end of the connecting portion 521 connected to the mounting portion 523, increasing the mounting space 525 inside the joint housing 52. The connecting portion 521 is connected to one end of the mounting portion 523 and is located on the side of the mounting portion 523 facing the large arm joint 30. The joint housing 52 has a length direction Y, and the length direction Y is perpendicular to the predetermined axis X3. The mounting portion 523 extends along the length direction Y. The connecting portion 521 protrudes relative to the mounting portion 523 along the direction of the predetermined axis X3 to jointly form a joint housing 52 generally in an "L" shape with the mounting portion 523. The arrangement of the connecting portion 521 well avoids the interference between the large arm joint 30 and the joint body 50 during the operation of the robot 200, thereby expanding the movement range of the robot 200.

[0045] In this embodiment, the joint housing 52 can be formed by casting to ensure high structural strength and transmission stability. Therefore, although different names are used to refer to different parts of the joint housing 52 for the connecting portion 521 and the mounting portion 523, these names should not be regarded as a limitation on the structure of the joint housing 52. These names are only made for the convenience of description. For example, the connection between the connecting portion 521 and the mounting portion 523 can be an integrally formed connection structure, and there may be no obvious demarcation line between the connecting portion 521 and the mounting portion 523. In other embodiments, the joint housing 52 can be formed by assembly connection to reduce the preparation difficulty. For example, after the connecting portion 521 and the mounting portion 523 are separately prepared, they can be assembled together by fasteners to form the overall structure of the joint housing 52. Among them, the connecting portion 521 and the mounting portion 523 can be separately formed by casting, and the connecting portion 521 and the mounting portion 523 can be connected together by fasteners (such as screw, bolt, stud and other threaded fasteners).

[0046] The integrated design of the connecting portion 521 and the mounting portion 523 reduces the number of castings of the whole robot 200, saves costs, and the integrated design greatly increases the available space (i.e., the mounting space 525) inside the joint housing 52.

[0047] In this embodiment, the joint housing 52 is used to mount the translation drive mechanism 56 and the rotation drive mechanism 58. For the convenience of installation, the joint housing 52 can further include a bottom cover portion 527. One side of the mounting portion 523 facing away from the connecting portion 521 is open to communicate with the outside and the mounting space 525. The bottom cover portion 527 is connected to the side of the mounting portion 523 facing away from the connecting portion 521 to shield the mounting space 525. The connecting portion 521, the mounting portion 523, and the bottom cover portion 527 are arranged in parallel along the direction of the predetermined axis X3. During processing and assembly, the connecting portion 521 and the mounting portion 523 can be integrally cast, and then the translation drive mechanism 56 and the rotation drive mechanism 58 are installed in the mounting space 525. Finally, the bottom cover portion 527 and the mounting portion 523 are connected together by fasteners (such as screw, bolt, stud and other threaded fasteners).

[0048] The bottom cover portion 527 has a flat structure and a small volume. Using the bottom cover portion 527 to protect the components inside the joint housing 52 reduces the weight of the joint body 50, which is more conducive to improving the cycle time of the whole robot 200.

[0049] In this embodiment, the output shaft 54 is disposed on the mounting portion 523 and is drivingly connected to the translational driving mechanism 56 and the rotational driving mechanism 58, and is used to achieve linear motion under the drive of the translational driving mechanism 56 and rotational motion under the drive of the rotational driving mechanism 58. The output shaft 54 is movably disposed through the mounting portion 523 and is located at one end of the mounting portion 523 away from the output shaft 54. The output shaft 54 has opposite first end 541 and second end 543, and the first end 541 and the second end 543 are respectively located on opposite sides of the mounting portion 523. The first end 541 is disposed at a relative interval from the connecting portion 521, and the second end 543 is located on a side of the mounting portion 523 facing away from the connecting portion 521, and the second end 543 is used to mount the execution end 201.

[0050] This specification does not limit the specific structure of the output shaft 54. For example, the output shaft 54 may include a lead screw shaft and a spline shaft. The lead screw shaft is slidably connected to the joint housing 52, and the translational driving mechanism 56 is drivingly connected to the lead screw shaft. The spline shaft is rotatably connected to the joint housing 52, and the rotational driving mechanism 58 is drivingly connected to the spline shaft. Alternatively, the output shaft 54 may also be a ball spline lead screw shaft; in this embodiment, the output shaft 54 is a ball spline lead screw, and both the translational driving mechanism 56 and the rotational driving mechanism 58 are connected to the output shaft 54.

[0051] In this embodiment, the translational driving mechanism 56 may include the above-mentioned translational driving member 561 and the translational transmission assembly 563. The translational driving mechanism 56 may further include a lead screw nut 565. Among them, the lead screw nut 565 is connected to the output shaft 54 through a thread pair, and the lead screw nut 565 is connected to the translational transmission assembly 563. Specifically, please refer to Figure 4 As shown in the figure, a thread groove 545 is provided on the outer peripheral wall of the output shaft 54, and a first ball 5652 is provided on the inner wall of the lead screw nut 565, and the first ball 5652 is embedded in the thread groove 545. The lead screw nut 565 is rotatably disposed in the mounting portion 523. During use, the translational driving member 561 drives the lead screw nut 565 to rotate relative to the mounting portion 523 through the translational transmission assembly 563, and the first ball 5652 cooperates with the thread groove 545, so as to drive the output shaft 54 to move relative to the mounting portion 523 along the direction of the predetermined axis X3.

[0052] This specification does not limit the specific type of the translational driving member 561. For example, the translational driving member 561 may be a driving source such as a rotary motor or a rotary cylinder. In this embodiment, the translational driving member 561 uses a rotary motor. The translational driving member 561 is vertically disposed in the connecting portion 521 along the direction of the predetermined axis X3, and the bottom end of the translational driving member 561 may be partially received in the mounting portion 523. The translational transmission assembly 563 is disposed in the mounting portion 523 along the length direction Y.

[0053] In this embodiment, the translation transmission assembly 563 may include a first input member 5632, a first transmission member 5634, and a first output member 5636. The first input member 5632 is connected to the translation driver 561. The first transmission member 5634 is connected between the first input member 5632 and the first output member 5636. The first output member 5636 is transmission-connected to the output shaft 54. The first input member 5632, the first transmission member 5634, and the first output member 5636 are arranged sequentially along the length direction Y. The first input member 5632 and the first output member 5636 are arranged side by side in the length direction Y. The translation driver 561 drives the first input member 5632. The first input member 5632 drives the first output member 5636 via the first transmission member 5634. The first output member 5636 drives the screw nut 565 to rotate relative to the mounting portion 523, thereby driving the output shaft 54 to move along the predetermined axis X3.

[0054] This specification does not limit the specific structure of the translation transmission assembly 563. For example, the translation transmission assembly 563 may include cooperating gears, racks, and other structures, or may include cooperating synchronous belts and pulleys. In this embodiment, the first input member 5632 and the first output member 5636 are both synchronous pulleys, and the first transmission member 5634 is a synchronous belt. The first input member 5632 is connected to the output shaft of the translation drive member 561, the first output member 5636 is fixedly connected to the screw nut 565, and the first transmission member 5634 is wound around the first input member 5632 and the first output member 5636. The first transmission member 5634 extends along the longitudinal direction Y. It should be understood that the "fixed connection" between the first output member 5636 and the screw nut 565 should be understood as meaning that the first output member 5636 and the screw nut 565 are relatively fixed, and the screw nut 565 can rotate with the rotation of the first output member 5636.

[0055] In this embodiment, the rotary drive mechanism 58 may include the aforementioned rotary drive member 581, the adapter assembly 583, and the rotary transmission assembly 585. The rotary drive mechanism 58 may further include a spline nut 587. The spline nut 587 is disposed between the output shaft 54 and the mounting portion 523 and is connected to the rotary transmission assembly 585. The spline nut 587 and the screw nut 565 are arranged at intervals along the direction of the predetermined axis X3 to maximize the use of the space within the mounting portion 523 and reduce the volume of the joint body 50. The spline nut 587 is sleeved on the output shaft 54 and is connected to the output shaft 54. For details, please refer to Figure 5, a ball chute 547 is provided on the outer peripheral wall of the output shaft 54, and a receiving groove 5872 and a second ball 5874 are provided on the inner wall of the spline nut 587. The spline nut 587 is sleeved on the output shaft 54 so that the receiving groove 5872 and the ball chute 547 together form a ball channel 549, and the ball channel 549 extends along the direction of the predetermined axis X3. The second ball 5874 is embedded in the ball channel 549. The spline nut 587 is rotatably provided in the mounting portion 523. During use, the rotary driving member 581 drives the spline nut 587 to rotate relative to the mounting portion 523 through the rotary transmission assembly 585, and the spline nut 587 drives the output shaft 54 to rotate relative to the mounting portion 523 about the predetermined axis X3 through the second ball 5874.

[0056] This specification does not limit the specific type of the rotary driving member 581. For example, the rotary driving member 581 can be a driving source such as a rotary motor or a rotary cylinder. In this embodiment, the rotary driving member 581 adopts a rotary motor. The translation driving member 561 and the rotary driving member 581 are both provided in the connecting portion 521 to be relatively close to the second axis X2 and the first axis X1 (as Figure 2 shown). The translation driving member 561 and the rotary driving member 581 are close to the boom joint 30, reducing the distance between the center of gravity of the joint body 50 and the second axis X2. Furthermore, the moment of inertia when the first driving mechanism 70 drives the boom joint 30 to rotate relative to the base 10 and the second driving mechanism 90 drives the joint body 50 to rotate relative to the boom joint 30 can be greatly reduced, which helps to improve the operation cycle of the robot 200 on the premise of maintaining the power of the rotary motor (the translation driving member 561 and the rotary driving member 581) unchanged.

[0057] In this embodiment, the rotary transmission assembly 585 and the translation transmission assembly 563 are arranged in parallel in the direction of the predetermined axis X3. The rotary transmission assembly 585 can include a second input member 5852, a second transmission member 5854, and a second output member 5856. The second input member 5852 is connected to the rotary driving member 581, the second transmission member 5854 is connected between the second input member 5852 and the second output member 5856, and the second output member 5856 is drivingly connected to the output shaft 54. The second input member 5852, the second transmission member 5854, and the second output member 5856 are arranged in sequence along the length direction Y, and the second transmission member 5854 and the first transmission member 5634 are arranged in parallel in the direction of the predetermined axis X3. The rotary driving member 581 drives the second input member 5852, the second input member 5852 drives the second output member 5856 through the second transmission member 5854, and the second output member 5856 drives the lead screw nut 565 to rotate relative to the mounting portion 523, thereby driving the output shaft 54 to rotate about the predetermined axis X3.

[0058] This specification does not limit the specific structure of the rotary transmission assembly 585. For example, the rotary transmission assembly 585 may include cooperating gears, racks, and other structures, or may include cooperating synchronous belts and synchronous pulleys. In this embodiment, the second input member 5852 and the second output member 5856 may both be synchronous pulleys, and the second transmission member 5854 is a synchronous belt. The second input member 5852 is connected to the adapter assembly 583, the second output member 5856 is fixedly connected to the spline nut 587, and the second transmission member 5854 is wound around the second input member 5852 and the second output member 5856. The second transmission member 5854 extends along the longitudinal direction Y.

[0059] The rotary drive member 581 and the translational drive member 561 are arranged along the length direction Y, and the first transmission member 5634 and the second transmission member 5854 are both extended along the length direction Y. The first transmission member 5634 is located above the second transmission member 5854, and the first transmission member 5634 and the second transmission member 5854 are arranged in parallel. The synchronous belts (first transmission member 5634 and second transmission member 5854) of the rotary transmission assembly 585 and the translational transmission assembly 563 are arranged in parallel. This layout greatly reduces the width of the joint body 50, thereby improving the compactness of the structure. In addition, to adapt to joint bodies 50 with different arm spans, the lengths of the first transmission member 5634 and the second transmission member 5854 can be shortened or increased by equalizing the lengths. The rotary drive member 581 and the translational drive member 561 of the embodiment of the present application only need to make minor modifications to adapt to joint bodies 50 with different arm spans.

[0060] In this embodiment, the adapter assembly 583 is disposed between the rotary drive member 581 and the second input member 5852, and is used to transmit the movement of the rotary drive member 581 to the second input member 5852. The adapter assembly 583 includes an input portion 5832, a transmission portion 5834, and an output portion 5836. The input portion 5832 is connected to the rotary drive member 581, the transmission portion 5834 is connected between the input portion 5832 and the output portion 5836, and the output portion 5836 is transmission-connected to the second input member 5852. During startup, the rotary drive member 581 drives the input portion 5832, the input portion 5832 drives the output portion 5836 through the transmission portion 5834, and the output portion 5836 drives the second input member 5852 to rotate.

[0061] The specific structure of the adapter assembly 583 is not limited in this specification. For example, the adapter assembly 583 may include structures such as meshing gears and racks, or may include a cooperating synchronous belt and pulley. In this embodiment, the input portion 5832 and the output portion 5836 may both be pulleys, and the transmission portion 5834 is a synchronous belt. The input portion 5832 is non-rotatably connected to the output shaft of the rotary drive member 581, the output portion 5836 is non-rotatably connected to the second input member 5852, and the transmission portion 5834 is wound around the outside of the input portion 5832 and the output portion 5836.

[0062] The transmission portion 5834 is parallel to the first transmission member 5634, and the transmission portion 5834 is located on the side of the translation drive member 561 facing the bottom cover portion 527. In the direction of the predetermined axis X3, the distance between the transmission portion 5834 and the first transmission member 5634 is greater than the distance between the second transmission member 5854 and the first transmission member 5634. The arrangement of the adapter assembly 583 enables the second transmission member 5854 to be not directly connected to the rotary drive member 581, so that it can be arranged closer to the first transmission member 5634 in position, shortening the dimension of the middle part of the joint body 50 in the direction of the predetermined axis X3 and further reducing the size of the joint body 50.

[0063] Please also refer to Figure 6 and Figure 7 , in this embodiment, the first transmission member 5634 is a synchronous belt. In order to tension the first transmission member 5634 to improve the transmission stability, the translation drive mechanism 56 may further include a first tensioning assembly 569. The first tensioning assembly 569 is connected to the joint housing 52 and is used to tension the first transmission member 5634. The translation drive member 561 is movably arranged in the joint housing 52. The first tensioning assembly 569 may include a fixing member 5692 and an adjusting member 5694. The fixing member 5692 is connected inside the joint housing 52, and the adjusting member 5694 is movably arranged on the fixing member 5692 and can move relative to the fixing member 5692 to press against the translation drive member 561 to tension the first transmission member 5634.

[0064] Please also refer to Figure 6 , Figure 8 and Figure 9 , in order to facilitate the installation of the translation drive member 561, the joint body 50 may further include a first mounting seat 51. The first mounting seat 51 is slidably mounted on the joint housing 52, and the translation drive member 561 is fixedly connected to the first mounting seat 51. During installation, the translation drive member 561 and the first mounting seat 51 are moved from the mounting portion 523 closer to the bottom cover portion 527 (such as Figure 3It is installed at the open end on one side (as shown), and a notch is provided at the first mounting seat 51 for making way for structural components such as the transfer assembly 583 between the translation driving member 561 and the bottom cover portion 527. Specifically, in this embodiment, the first mounting seat 51 may include a mounting plate 512 and two connecting plates 514. The mounting plate 512 is substantially parallel to the bottom cover portion 527, and the translation driving member 561 is disposed on the mounting plate 512. The two connecting plates 514 are respectively connected to opposite sides of the mounting plate 512 and are both located on the side of the mounting plate 512 facing the bottom cover portion 527. The two connecting plates 514 are spaced apart relatively to accommodate structural components such as the transfer assembly 583.

[0065] This specification does not limit the connection method between the first mounting seat 51 and the joint housing 52. For example, a slide rail may be provided inside the joint housing 52, and the first mounting seat 51 is mounted on the slide rail. Alternatively, the first mounting seat 51 may be connected to the joint housing 52 through movable fasteners. In this embodiment, a first waist-shaped slot 5141 may be provided on the end surface of the connecting plate 514 away from the mounting plate 512, and the first waist-shaped slot 5141 extends along the length direction Y. A protrusion may be provided on the inner wall of the mounting portion 523 for connecting the connecting plate 514. The connecting plate 514 is stacked on the aforementioned protrusion, and a threaded hole corresponding to the first waist-shaped slot 5141 is provided on the protrusion on the inner wall of the mounting portion 523. The connecting plate 514 is connected to the mounting portion 523 through a first screw 5143. The first screw 5143 sequentially passes through the first waist-shaped slot 5141 and the threaded hole on the mounting portion 523 and is threadedly connected to the mounting portion 523. When the first tensioning assembly 569 presses against the translation driving member 561, the first screw 5143 can move along the length direction Y in the first waist-shaped slot 5141.

[0066] In this embodiment, in order to facilitate the installation of the first tensioning assembly 569, the joint housing 52 may further include a first mounting post 524. The first mounting post 524 is fixedly connected to the inner wall of the mounting portion 523 and extends along the direction of the predetermined axis X3. An installation groove 5241 is provided at one end of the first mounting post 524 close to the bottom cover portion 527. The fixing member 5692 is embedded in the installation groove 5241, and the adjusting member 5694 is movably limited in the fixing member 5692. This specification does not limit the specific structures of the fixing member 5692 and the adjusting member 5694. For example, the fixing member 5692 may be a buckle, and the adjusting member 5694 is a rod limited in the buckle. In this embodiment, the fixing member 5692 is a nut, and the adjusting member 5694 is an adjusting screw. The adjusting member 5694 extends along the length direction Y and is disposed opposite to the connecting plate 514. When the adjusting member 5694 is screwed in the fixing member 5692, the adjusting member 5694 will move along the length direction Y, pushing the connecting plate 514 to move away from the output shaft 54, so that the first transmission member 5634 is tightened to achieve a tensioning effect.

[0067] In some other embodiments, one side of the installation groove 5241 facing the bottom cover portion 527 can be provided with an opening, the fixing member 5692 is detachably arranged in the installation groove 5241, and a pressing member for pressing the fixing member 5692, such as a pressing bolt, can also be provided on the first installation post 524. During installation, the position of the adjusting member 5694 relative to the fixing member 5692 can be adjusted first, so that the fixing member 5696 can abut against the first mounting seat 51 after being installed on the first installation post 524. After the adjusting member 5694 is adjusted, the fixing member 5692 is pressed into the installation groove 5241 from the opening of the installation groove 5241, and then the pressing bolt is screwed onto the end face of the first installation post 524. The pressing bolt presses on the fixing member 5692 to fasten it in the installation groove 5241. Finally, the adjusting member 5694 is screwed to make fine adjustments. This installation method is simple to operate, and there is no need to reserve a large installation operation space inside the joint housing 52, which is beneficial to further reducing the overall volume of the joint housing 52.

[0068] The number of the first tensioning assemblies 569 is set to two, and the two first tensioning assemblies 569 are arranged in one-to-one correspondence with the two connecting plates 514. The two first tensioning assemblies 569 improve the stability during adjustment. Correspondingly, the number of the first installation posts 524 is also set to two, and the two first installation posts 524 are arranged at a relative interval for installing other components.

[0069] In this embodiment, the second transmission member 5854 is a synchronous belt. In order to tension the second transmission member 5854 to improve the transmission stability, the rotary drive mechanism 58 can also include a second tensioning assembly 589. The second tensioning assembly 589 is connected to the joint housing 52 and is used to tension the second transmission member 5854. The rotary drive member 581 is movably arranged in the joint housing 52. The structure of the second tensioning assembly 589 is the same as that of the first tensioning assembly 569. The second tensioning assembly 589 can also include a fixing member and an adjusting member. The fixing member is connected inside the joint housing 52, and the adjusting member is movably arranged on the fixing member and can move relative to the fixing member to abut against the rotary drive member 581 to tension the second transmission member 5854.

[0070] To facilitate the installation of the rotary drive member 581, the joint body 50 can also include a second mounting seat 53. The second mounting seat 53 is slidably mounted on the joint housing 52, and the rotary drive member 581 is fixedly connected to the second mounting seat 53. During installation, the rotary drive member 581 and the second mounting seat 53 are installed from the opening on the side of the installation portion 523 close to the bottom cover portion 527 (as Figure 3 shown), and the rotary drive member 581 and the second mounting seat 53 are installed between the two connecting plates 514 of the first mounting seat 51. Specifically, in this embodiment, the second mounting seat 53 is plate-shaped and is substantially parallel to the bottom cover portion 527, and the rotary drive member 581 is fixedly arranged on the side of the second mounting seat 53 facing away from the bottom cover portion 527.

[0071] This specification does not limit the connection method between the second mounting seat 53 and the joint housing 52. For example, a slide rail can be provided in the joint housing 52, and the second mounting seat 53 is mounted on the slide rail. Alternatively, the second mounting seat 53 can be connected to the joint housing 52 through a movable fastener. In this embodiment, the connection method between the second mounting seat 53 and the joint housing 52 is the same as that between the first mounting seat 51 and the joint housing 52. A second waist-shaped slot 532 can be provided on the second mounting seat 53, and the second waist-shaped slot 532 extends along the length direction Y. A protrusion can be provided on the inner wall of the mounting portion 523 for connecting the second mounting seat 53. The second mounting seat 53 is stacked on the aforementioned protrusion, and a threaded hole corresponding to the second waist-shaped slot 532 is provided on the protrusion on the inner wall of the mounting portion 523. The second mounting seat 53 is connected to the mounting portion 523 through a second screw 534. The second screw 534 sequentially passes through the second waist-shaped slot 532 and the threaded hole on the mounting portion 523 and is threadedly connected to the mounting portion 523. When the second tensioning assembly 589 abuts against the rotary driving member 581, the second screw 534 can move along the length direction Y in the second waist-shaped slot 532.

[0072] The number of the second waist-shaped slots 532 can be set to be multiple. The multiple second waist-shaped slots 532 are arranged circumferentially on the second mounting seat 53, and the multiple second waist-shaped slots 532 improve the mounting stability of the second mounting seat 53. Correspondingly, the number of the second screws 534 is also set to be multiple, and the multiple second screws 534 are arranged in one-to-one correspondence with the multiple second waist-shaped slots 532.

[0073] In this embodiment, in order to facilitate the installation of the second tensioning assembly 589, the joint housing 52 can further include a second mounting post 526. The second mounting post 526 is fixedly connected to the inner wall of the mounting portion 523 and extends along the direction of the predetermined axis X3. The second mounting post 526 is located between the two first mounting posts 524, and the second tensioning assembly 589 is also located between the two first tensioning assemblies 569. The second tensioning assembly 589 is mounted on the second mounting post 526 in the same way as the first tensioning assembly 569 is mounted on the first mounting post 524. For example, an installation groove is also provided at one end of the second mounting post 526 close to the bottom cover portion 527. The fixing member of the second tensioning assembly 589 is embedded in the installation groove, and the adjusting member of the second tensioning assembly 589 is movably limited in the fixing member. The adjusting member of the second tensioning assembly 589 extends along the length direction Y and is disposed opposite to the second mounting seat 53. When the adjusting member is screwed in the fixing member, the adjusting member will move along the length direction Y, pushing the second mounting seat 53 to move away from the output shaft 54, so that the second transmission member 5854 is tightened to achieve the tensioning effect.

[0074] In summary, in the joint body 50 provided in the embodiment of the present application, the translation driving mechanism 56 is disposed within the joint housing 52 and is used to drive the output shaft 54 to move along the direction of the predetermined axis X3. The rotation driving mechanism 58 is disposed within the joint housing 52 and is used to drive the output shaft 54 to rotate about the predetermined axis X3. The execution end 201 is connected to the output shaft 54, and the translation driving mechanism 56 and the rotation driving mechanism 58 achieve the linear motion and the rotational motion of the execution end 201. In the application scenario of the robot 200, the predetermined axis X3 is substantially parallel to the vertical direction. The translation transmission assembly 563 and the rotation transmission assembly 585 are arranged side by side in the direction of the predetermined axis X3, with a compact structure, making the size of the joint housing 52 relatively small in the width direction, thereby indirectly increasing the overall cycle of the robot 200 relatively.

[0075] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An articular body, characterized in that, The joint body is applied to a robot, and the joint body includes: A joint housing; An output shaft movably connected to the joint housing; A translation drive mechanism disposed within the joint housing, the translation drive mechanism including a translation drive member and a translation transmission assembly, the translation transmission assembly being drivingly connected between the translation drive member and the output shaft, the translation drive mechanism being configured to drive the output shaft to move relative to the joint housing in a direction along a predetermined axis; and A rotation drive mechanism disposed within the joint housing, the rotation drive mechanism including a rotation drive member, a transfer assembly, and a rotation transmission assembly, the transfer assembly being drivingly connected between the rotation drive member and the rotation transmission assembly, the rotation transmission assembly being drivingly connected to the output shaft, the rotation drive mechanism being configured to drive the output shaft to rotate relative to the joint housing about the predetermined axis; the rotation transmission assembly and the translation transmission assembly are juxtaposed in the direction of the predetermined axis.

2. The joint body according to claim 1, wherein The translation transmission assembly includes a first input member, a first transmission member, and a first output member, the first input member being connected to the translation drive member, the first transmission member being connected between the first input member and the first output member, and the first output member being drivingly connected to the output shaft.

3. The joint body according to claim 2, wherein, The rotation transmission assembly includes a second input member, a second transmission member, and a second output member, the second input member being connected to the transfer assembly, the second transmission member being connected between the second input member and the second output member, and the second output member being drivingly connected to the output shaft; The first transmission member and the second transmission member are juxtaposed in the direction of the predetermined axis.

4. The joint body according to claim 3, wherein The joint housing has a length direction perpendicular to the predetermined axis, the rotation drive member and the translation drive member are arranged along the length direction, the first transmission member and the second transmission member both extend along the length direction, and the first transmission member and the second transmission member are parallel.

5. The joint body according to claim 4, characterized in that, The transfer assembly includes an input portion, a transmission portion, and an output portion, the input portion being connected to the rotation drive member, the transmission portion being connected between the input portion and the output portion, and the output portion being drivingly connected to the second input member; the transmission portion is parallel to the first transmission member, and in the direction of the predetermined axis, the distance between the transmission portion and the first transmission member is greater than the distance between the second transmission member and the first transmission member.

6. The joint body according to claim 2, wherein Both the first input member and the first output member are synchronous pulleys, the first transmission member is a synchronous belt; the translation drive mechanism further includes a first tensioning assembly connected to the joint housing, and the first tensioning assembly is configured to tension the first transmission member.

7. The joint body according to claim 6, wherein, The translation drive member is movably disposed within the joint housing, the first tensioning assembly includes a fixing member and an adjusting member, the fixing member is connected within the joint housing, and the adjusting member is movably disposed on the fixing member and can move relative to the fixing member to press against the translation drive member to tension the first transmission member.

8. The joint body according to claim 1, characterized in that, The joint housing includes a connecting portion and a mounting portion. The connecting portion is connected to one side of the mounting portion and protrudes relative to the mounting portion. The inner cavity of the connecting portion and the inner cavity of the mounting portion communicate with each other to jointly define a mounting space. The translation driving member and the rotation driving member are both at least partially disposed within the connecting portion, and the translation transmission assembly and the rotation transmission assembly are both disposed within the mounting portion.

9. The joint body according to claim 8, characterized in that, The output shaft is connected to an end of the mounting portion away from the connecting portion. The connecting portion protrudes relative to the mounting portion along the direction of the predetermined axis and is spaced apart from the output shaft. The mounting portion and the connecting portion are integrally formed and connected.

10. The joint body according to claim 8, wherein The joint housing further includes a bottom cover portion. The bottom cover portion is connected to a side of the mounting portion facing away from the connecting portion to shield the mounting space. The connecting portion and the mounting portion are juxtaposed in the direction of the predetermined axis.

11. The joint body according to claim 8, wherein, The connecting portion is located on one side of the mounting portion and is used for connecting to the driving mechanism of the joint body. The output shaft passes through the mounting portion and is exposed on a side of the mounting portion facing away from the connecting portion. The output shaft is located at an end of the mounting portion facing away from the connecting portion and is used for mounting the execution end of the robot.

12. The joint body according to any one of claims 1 to 11, characterized in that, The output shaft is a ball spline screw rod. The translation driving mechanism further includes a screw nut. The screw nut is connected to the output shaft through a thread pair, and the screw nut is connected to the translation transmission assembly.

13. The joint body according to claim 12, wherein, The rotation driving mechanism further includes a spline nut. The spline nut is drivingly connected between the output shaft and the rotation transmission assembly. The spline nut and the screw nut are arranged at intervals along the direction of the predetermined axis.

14. A robot, characterized in that, Comprising: A base; A large arm joint rotatably connected to the base, and The joint body according to any one of claims 1 to 13, the joint body being rotatably connected to an end of the large arm joint away from the base.

15. The robot according to claim 14, characterized in that, The robot further includes a first driving mechanism and a second driving mechanism. The first driving mechanism is disposed between the base and the large arm joint. The first driving mechanism is used for driving the large arm joint to rotate relative to the base about a first axis. The second driving mechanism is disposed between the large arm joint and the joint body. The second driving mechanism is used for driving the joint body to rotate relative to the large arm joint about a second axis. The first axis, the second axis, and the predetermined axis are parallel to each other.

16. The robot according to claim 15, characterized in that, The joint housing includes a connecting portion and a mounting portion. The connecting portion is connected between the mounting portion and the large arm joint. The translation driving member and the rotation driving member are both disposed within the connecting portion to be relatively close to the second axis and the first axis.

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