Limb joint, robot hand and robot

Abstract

The utility model discloses a limb joint, a manipulator and a robot, the limb joint comprises: a first mounting seat for mounting a first limb; the second mounting seat is used for mounting a second limb; the joint assembly is respectively connected with the first mounting seat and the second mounting seat; the driving assembly is mounted on the first mounting seat and / or the second mounting seat; wherein the driving assembly is used for driving the joint assembly to move and driving the first limb to rotate in at least two directions relative to the second limb. Relative movement of the first mounting base and the second mounting base is achieved through the joint assembly, that is, relative movement of the first limb and the second limb is achieved, the relative movement is rotation in at least two directions, and the flexibility of limb joints is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot joints, in particular to a limb joint, a robotic arm and a robot. Background Art

[0002] Robotic joints are used to connect different robot limbs and enable mutual rotation between two limbs. In some under-actuated robot joint designs, their functions are single, with few degrees of freedom, and they cannot well imitate the movements of real limbs. In the prior art, robot joints have limited rotation directions, the rotation range of the two limbs is limited, and the flexibility of the robot joints is insufficient, making it difficult to flexibly complete operational tasks. For example, in patent document CN109808791A, the connectors are connected by a rotating shaft to achieve one-way rotation of two adjacent connectors, and the connectors have poor flexibility.

[0003] Therefore, the existing technology still needs to be improved and developed. Utility Model Content

[0004] The technical problem to be solved by the present invention is to provide a limb joint, a robotic arm and a robot in response to the above-mentioned defects of the prior art, aiming to solve the problems in the prior art that the robot joints have fewer rotation directions, the rotation range of the two limbs is limited, and the flexibility of the robot joints is insufficient.

[0005] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0006] A limb joint, comprising:

[0007] a first mounting seat for mounting a first limb;

[0008] a second mounting base for mounting a second limb;

[0009] a joint assembly, connected to the first mounting seat and the second mounting seat respectively;

[0010] a drive assembly, mounted on the first mounting seat and / or the second mounting seat;

[0011] The driving assembly is used to drive the joint assembly to move and drive the first limb to rotate relative to the second limb in at least two directions.

[0012] The limb joint, wherein the joint assembly comprises:

[0013] a first rotating member, rotatably mounted on the second mounting seat and rotatably connected to the first mounting seat;

[0014] a second rotating member, rotatably mounted on the second mounting seat;

[0015] The rotating connecting rod has two ends which are rotatably connected to the first mounting seat and the second rotating member respectively.

[0016] The limb joint, wherein the rotation center axis of the first rotating member includes: a first axis and a second axis that are orthogonal to each other, the first axis being the rotation center axis of the first rotating member rotating relative to the first mounting seat, and the second axis being the rotation center axis of the first rotating member rotating relative to the second mounting seat;

[0017] The rotation center axis of the second rotating member rotating relative to the second mounting seat is the third axis;

[0018] The first axis, the second axis, and the third axis intersect at an origin.

[0019] The limb joint, wherein the central axis of rotation of the rotating link relative to the first mounting seat is the fourth axis, and the central axis of rotation of the rotating link relative to the second rotating member is the fifth axis;

[0020] The fourth axis is orthogonal to the first axis;

[0021] The fourth axis and the fifth axis intersect at the origin.

[0022] The limb joint, wherein the drive assembly comprises:

[0023] a first driving member, configured to drive the first rotating member to rotate;

[0024] The second driving member is used to drive the second rotating member to rotate.

[0025] The limb joint, wherein the first driving member is arranged in a direction perpendicular to the length of the first limb;

[0026] The second drive member is arranged in a direction perpendicular to the length of the first limb.

[0027] The limb joint, wherein the second mounting seat comprises:

[0028] a first mounting portion and a second mounting portion connected to each other;

[0029] Wherein, the first mounting portion and / or the second mounting portion is used to mount the second limb;

[0030] The first mounting portion mounts the first driving member and the first rotating member;

[0031] The second mounting portion mounts the second driving member and the second rotating member.

[0032] The limb joint, wherein the first rotating member comprises:

[0033] a first turntable connected to the first driving member;

[0034] a vertical plate, disposed on the first turntable and perpendicular to the first turntable;

[0035] The second rotating member includes:

[0036] a second turntable connected to the second driving member;

[0037] an inclined plate, disposed on the second turntable;

[0038] Wherein, the tilting plate is rotatably connected to the rotating connecting rod;

[0039] There are two vertical plates;

[0040] The first mounting base comprises:

[0041] A first mounting plate, a connecting plate, and a second mounting plate connected in sequence;

[0042] Wherein, the first mounting plate and the second mounting plate are rotatably connected to the two vertical plates respectively;

[0043] The first mounting plate and the second mounting plate are used to mount the first limb;

[0044] The connecting plate is rotatably connected to the rotating connecting rod.

[0045] A robotic arm, comprising a limb joint as described in any one of the above items.

[0046] A robot, comprising a limb joint as described in any one of the above items, or a robotic hand as described above.

[0047] Beneficial effect: The joint assembly enables relative movement between the first mounting seat and the second mounting seat, thereby enabling relative movement between the first limb and the second limb, and this relative movement is a rotation in at least two directions, thereby improving the flexibility of the limb joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a structural diagram of the robot arm in the embodiment of the present utility model.

[0049] Figure 2 It is a structural schematic diagram of the first limb and limb joint in an embodiment of the present utility model.

[0050] Figure 3 It is a structural schematic diagram of the limb joints in an embodiment of the present utility model.

[0051] Figure 4 It is a side view of a limb joint in an embodiment of the present utility model.

[0052] Figure 5 It is a cross-sectional view of a limb joint in an embodiment of the present utility model.

[0053] Figure 6 It is a structural diagram of the first rotating member in an embodiment of the present utility model.

[0054] Figure 7 It is a structural diagram of the second rotating member in an embodiment of the present utility model.

[0055] Figure 8 It is a structural schematic diagram of the first mounting base in an embodiment of the present utility model.

[0056] Description of reference numerals:

[0057] 1. First limb; 2. Second limb; 10. First mounting seat; 11. First mounting plate; 12. Connecting plate; 13. Second mounting plate; 20. Second mounting seat; 21. First mounting portion; 22. Second mounting portion; 30. Joint assembly; 31. First rotating member; 311. First turntable; 312. Vertical plate; 32. Second rotating member; 321. Second turntable; 322. Inclined plate; 33. Rotating connecting rod; 40. Driving assembly; 41. First driving member; 42. Second driving member; 51. First axis; 52. Second axis; 53. Third axis; 54. Fourth axis; 55. Fifth axis. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0059] Please also see Figures 1-8 , the utility model provides some preferred embodiments of a limb joint.

[0060] like Figure 1 and Figure 2 As shown, the limb joints include:

[0061] A first mounting seat 10 for mounting the first limb 1;

[0062] A second mounting seat 20 for mounting the second limb 2;

[0063] The joint assembly 30 is connected to the first mounting seat 10 and the second mounting seat 20 respectively;

[0064] A driving assembly 40 is mounted on the first mounting seat 10 and / or the second mounting seat 20;

[0065] The driving assembly 40 is used to drive the joint assembly 30 to move, and drive the first limb 1 to rotate relative to the second limb 2 in at least two directions.

[0066] Specifically, the first limb 1 and the second limb 2 are mounted on the first mounting seat 10 and the second mounting seat 20, respectively. The first limb 1 can be fixed to the first mounting seat 10, and the second limb 2 can be fixed to the second mounting seat 20. The joint assembly 30 is connected to the first mounting seat 10 and the second mounting seat 20, respectively. The drive assembly 40 is used to drive the joint assembly 30 to move and drive the first limb 1 to rotate relative to the second limb 2 in at least two other directions. The drive assembly 40 can be installed on the first mounting seat 10 or the second mounting seat 20.

[0067] The joint assembly 30 enables relative movement between the first mounting seat 10 and the second mounting seat 20, thereby enabling relative movement between the first limb 1 and the second limb 2. This relative movement is a rotation in at least two directions, thereby improving the flexibility of the limb joints.

[0068] In a preferred embodiment of the present invention, please refer to Figure 2 、 Figure 3 、 Figure 4 as well as Figure 5 , the joint assembly 30 includes:

[0069] A first rotating member 31 is rotatably mounted on the second mounting base 20 and is rotatably connected to the first mounting base 10;

[0070] A second rotating member 32 is rotatably mounted on the second mounting seat 20;

[0071] The rotating connecting rod 33 has two ends that are rotatably connected to the first mounting seat 10 and the second rotating member 32 respectively.

[0072] Specifically, the first rotating member 31 rotates relative to the first mounting base 10 and the second mounting base 20, the second rotating member 32 rotates relative to the second mounting base 20, and the rotary connecting rod rotates relative to the first mounting base 10 and the second rotating member 32. The driving assembly 40 is used to drive the first rotating member 31 and the second rotating member 32 to rotate, thereby achieving relative movement between the first mounting base 10 and the second mounting base 20.

[0073] In a preferred embodiment of the present invention, please refer to Figure 3-Figure 4The rotation center axis of the first rotating member 31 includes: a first axis 51 and a second axis 52 that are orthogonal to each other, the first axis 51 is the rotation center axis of the first rotating member 31 rotating relative to the first mounting seat 10, and the second axis 52 is the rotation center axis of the first rotating member 31 rotating relative to the second mounting seat 20; the rotation center axis of the second rotating member 32 rotating relative to the second mounting seat 20 is the third axis 53; the first axis 51, the second axis 52 and the third axis 53 intersect at the origin.

[0074] Specifically, the first rotating member 31 can rotate relative to the first mounting seat 10 or the second mounting seat 20, and the first rotating member 31 has two rotation center axes, namely the first axis 51 and the second axis 52, and the first axis 51 and the second axis 52 are orthogonal to each other. The second rotating member 32 can rotate relative to the second mounting seat 20, and the second rotating member 32 has one rotation center axis, namely the third axis 53. The first axis 51, the second axis 52 and the third axis 53 intersect at the origin. The angle between the second axis 52 and the third axis 53 can be an acute angle, a right angle or an obtuse angle. The angle between the first axis 51 and the second axis 52 is a right angle, and the angle between the first axis 51 and the third axis 53 is not fixed.

[0075] In a preferred embodiment of the present invention, please refer to Figure 3-Figure 4 The rotation center axis of the rotating link 33 relative to the first mounting seat 10 is the fourth axis 54, and the rotation center axis of the rotating link 33 relative to the second rotating member 32 is the fifth axis 55; the fourth axis 54 is orthogonal to the first axis 51; the fourth axis 54 and the fifth axis 55 intersect at the origin.

[0076] Specifically, when the rotating link 33 rotates relative to the first mounting base 10 and the second rotating member 32, the rotating link 33 has two central axes of rotation: the fourth axis 54 and the fifth axis 55. The fourth axis 54 is orthogonal to the first axis 51, and the angle between the fourth axis 54 and the first axis 51 is a right angle. The angle between the fourth axis 54 and the fifth axis 55 can be acute, right, or obtuse. The fourth axis 54 and the fifth axis 55 also pass through the origin. Therefore, the first axis 51, the second axis 52, the third axis 53, the fourth axis 54, and the fifth axis 55 intersect at the origin.

[0077] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 5 , the driving assembly 40 includes:

[0078] A first driving member 41 is used to drive the first rotating member 31 to rotate;

[0079] The second driving member 42 is used to drive the second rotating member 32 to rotate.

[0080] Specifically, the first driving member 41 drives the first rotating member 31 to rotate, and the second driving member 42 drives the second rotating member 32 to rotate. The first driving member 41 can be disposed on the first mounting seat 10 or the second mounting seat 20, and the second driving member 42 is disposed on the second mounting seat 20.

[0081] In a preferred embodiment of the present invention, please refer to Figure 1-Figure 2 , the first driving member 41 is arranged along a direction perpendicular to the length of the first limb 1 ; the second driving member 42 is arranged along a direction perpendicular to the length of the first limb 1 .

[0082] Specifically, the first driving member 41 and the second driving member 42 are both arranged on the second mounting seat 20, the length direction of the first driving member 41 is perpendicular to the length direction of the first limb 1, and the length direction of the second driving member 42 is perpendicular to the length direction of the first limb 1.

[0083] In other application scenarios, the length direction of the first driving member 41 may also be parallel to the length direction of the first limb 1 , and the length direction of the second driving member 42 may also be parallel to the length direction of the first limb 1 .

[0084] In a preferred embodiment of the present invention, please refer to Figure 2-Figure 5 , the second mounting seat 20 includes:

[0085] A first mounting portion 21 and a second mounting portion 22 connected to each other;

[0086] The first mounting portion 21 and / or the second mounting portion 22 are used to mount the second limb 2 ; the first mounting portion 21 mounts the first driving member 41 and the first rotating member 31 ; the second mounting portion 22 mounts the second driving member 42 and the second rotating member 32 .

[0087] Specifically, the first mounting portion 21 and the second mounting portion 22 are connected to each other. The first mounting portion 21 is mounted with the first driving member 41 and the first rotating member 31, so the second axis 52 is perpendicular to the first mounting portion 21. The second mounting portion 22 is mounted with the second driving member 42 and the second rotating member 32, so the third axis 53 is perpendicular to the second mounting portion 22. Since the second axis 52 and the third axis 53 are not necessarily perpendicular, the second mounting portion 22 and the third mounting portion are not necessarily perpendicular.

[0088] In a preferred embodiment of the present invention, please refer to Figure 3 、 Figure 5 as well as Figure 6, the first rotating member 31 includes:

[0089] A first rotating disk 311 connected to the first driving member 41;

[0090] The vertical plate 312 is disposed on the first turntable 311 and is perpendicular to the first turntable 311 .

[0091] Specifically, the first turntable 311 is mounted on the first mounting portion 21, and the vertical plate 312 is disposed perpendicular to the first turntable 311. The vertical plate 312 is rotatably connected to the first mounting base 10, and the first turntable 311 is rotatably connected to the first mounting portion 21. The first axis 51 is perpendicular to the vertical plate 312 and parallel to the first turntable 311; the second axis 52 is perpendicular to the first turntable 311 and parallel to the vertical plate 312.

[0092] In a preferred embodiment of the present invention, please refer to Figure 4 、 Figure 5 as well as Figure 7 , the second rotating member 32 includes:

[0093] The second rotating disk 321 is connected to the second driving member 42;

[0094] An inclined plate 322 is provided on the second rotating disk 321;

[0095] The inclined plate 322 is rotatably connected to the rotating link 33 .

[0096] Specifically, the second rotating disk 321 is mounted on the second mounting portion 22, and the inclined plate 322 is tilted relative to the second rotating disk 321. The inclined plate 322 is rotatably connected to the rotating link 33, and the second rotating disk 321 is rotatably connected to the second mounting portion 22. The third axis 53 is perpendicular to the second rotating disk 321, and the fifth axis 55 is perpendicular to the inclined plate 322.

[0097] In a preferred embodiment of the present invention, please refer to Figure 3 、 Figure 6 as well as Figure 8 There are two vertical plates 312; the first mounting seat 10 includes:

[0098] A first mounting plate 11, a connecting plate 12, and a second mounting plate 13 connected in sequence;

[0099] The first mounting plate 11 and the second mounting plate 13 are rotatably connected to the two vertical plates 312 respectively; the first mounting plate 11 and the second mounting plate 13 are used to mount the first limb 1; and the connecting plate 12 is rotatably connected to the rotating connecting rod 33.

[0100] Specifically, there are two vertical plates 312, located at either end of the first turntable 311 and on either side of the rotating link 33. The first mounting plate 11 is rotatably connected to one vertical plate 312, and the second mounting plate 13 is rotatably connected to the other vertical plate 312. The first mounting plate 11 and the second mounting plate 13 are used to mount the first limb 1. The first axis 51 is perpendicular to the vertical plates 312, the first mounting plate 11, and the second mounting plate 13. The ends of the connecting plate 12 are connected to the first mounting plate 11 and the second mounting plate 13, respectively. The connecting plate 12 is rotatably connected to the rotating link 33. The fourth axis 54 is perpendicular to the connecting plate 12, and the first axis 51 is parallel to the mounting plates.

[0101] Based on the limb joints of any of the above embodiments, the present invention also provides a robotic hand, comprising the limb joints described in any of the above embodiments, as specifically described above.

[0102] The robotic arm provided by the present invention has all the above beneficial effects because it is provided with the limb joints described in any of the above technical solutions, and no further details will be given here.

[0103] Based on the limb joints or robotic arms of any of the above embodiments, the present invention further provides a robot, comprising the limb joints or robotic arms described in any of the above embodiments, as specifically described above.

[0104] The robot provided by the present invention has all the above beneficial effects because it is provided with the limb joints or robotic hands described in any of the above technical solutions, and no further details will be given here.

[0105] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, they can make improvements or changes based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A limb joint, characterized in that: It includes: a first mounting seat for mounting a first limb; a second mounting base for mounting a second limb; a joint assembly, connected to the first mounting seat and the second mounting seat respectively; a drive assembly, mounted on the first mounting seat and / or the second mounting seat; The driving assembly is used to drive the joint assembly to move and drive the first limb to rotate relative to the second limb in at least two directions.

2. The limb joint according to claim 1, characterized in that: The joint assembly comprises: a first rotating member, rotatably mounted on the second mounting seat and rotatably connected to the first mounting seat; a second rotating member, rotatably mounted on the second mounting seat; The rotating connecting rod has two ends which are rotatably connected to the first mounting seat and the second rotating member respectively.

3. The limb joint according to claim 2, characterized in that: in, The rotation center axis of the first rotating member includes: a first axis and a second axis that are orthogonal to each other, the first axis being the rotation center axis of the first rotating member rotating relative to the first mounting seat, and the second axis being the rotation center axis of the first rotating member rotating relative to the second mounting seat; The rotation center axis of the second rotating member rotating relative to the second mounting seat is the third axis; The first axis, the second axis, and the third axis intersect at an origin.

4. The limb joint according to claim 3, characterized in that: The central axis of rotation of the rotating link relative to the first mounting seat is the fourth axis, and the central axis of rotation of the rotating link relative to the second rotating member is the fifth axis; The fourth axis is orthogonal to the first axis; The fourth axis and the fifth axis intersect at the origin.

5. The limb joint according to claim 2, characterized in that: The drive assembly includes: a first driving member, configured to drive the first rotating member to rotate; The second driving member is used to drive the second rotating member to rotate.

6. The limb joint according to claim 5, characterized in that: The first driving member is arranged in a direction perpendicular to the length of the first limb; The second drive member is arranged in a direction perpendicular to the length of the first limb.

7. The limb joint according to claim 5, characterized in that: The second mounting base includes: a first mounting portion and a second mounting portion connected to each other; Wherein, the first mounting portion and / or the second mounting portion is used to mount the second limb; The first mounting portion mounts the first driving member and the first rotating member; The second mounting portion mounts the second driving member and the second rotating member.

8. The limb joint according to claim 7, characterized in that: The first rotating member comprises: a first turntable connected to the first driving member; a vertical plate, disposed on the first turntable and perpendicular to the first turntable; The second rotating member includes: a second turntable connected to the second driving member; an inclined plate, disposed on the second turntable; Wherein, the tilting plate is rotatably connected to the rotating connecting rod; There are two vertical plates; The first mounting base comprises: A first mounting plate, a connecting plate, and a second mounting plate connected in sequence; Wherein, the first mounting plate and the second mounting plate are rotatably connected to the two vertical plates respectively; The first mounting plate and the second mounting plate are used to mount the first limb; The connecting plate is rotatably connected to the rotating connecting rod.

9. A robotic arm, characterized in that: It comprises the limb joint according to any one of claims 1 to 8.

10. A robot, characterized in that: It comprises the limb joint according to any one of claims 1 to 8, or the robotic hand according to claim 9.

Images