Joint with limiting structure, robot arm and robot

Abstract

The utility model discloses a joint with a limiting structure, a manipulator and a robot, and the joint with the limiting structure comprises a first rotating body, a second rotating body and a third rotating body, the second rotating body is rotationally connected with the first rotating body; the limiting plate is arranged on the second rotating body and used for being connected with a second limb; and the limiting plate is used for limiting the rotation of the first rotating body. The first rotating body and the second rotating body are connected with the first limb and the limiting plate respectively, and the first rotating body and the second rotating body are rotationally connected, so that the movement of the first limb and the second limb is realized. The limiting plate limits rotation of the first rotating body, so that the movement range of the first limb and the second limb is limited, the joints and the limbs are closer to real joints and real limbs, the structure is simple, assembly is easy, and the size is small.

Description

Technical Field

[0001] This utility model relates to the field of robot joint technology, and in particular to a joint with a limiting structure, a robotic hand, and a robot. Background Technology

[0002] Robotic or robotic arms typically mimic real limbs. The joints of real limbs have a limited range of motion, which is related to their tissue structure. The closer a robot's limbs are to a real limb, the more complex the robot's structure. In existing technologies, the limiting structures for the range of motion of robot joints are complex and bulky. For example, in patent document CN117281665A, the limiting mechanism uses a rotation limiting seat and a limiting plate, resulting in a large and complex joint connector.

[0003] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a joint, robotic arm and robot with a limiting structure to address the above-mentioned defects of the prior art, so as to solve the problem that the limiting structure of the joint range of motion of the robot in the prior art is complicated and bulky.

[0005] The technical solution adopted by this utility model to solve the technical problem is as follows:

[0006] A joint with a limiting structure, wherein it includes:

[0007] The first rotating body is used to connect to the first limb;

[0008] The second rotating body is rotatably connected to the first rotating body;

[0009] A limiting plate is disposed on the second rotating body and is used to connect the second limb;

[0010] The limiting plate limits the rotation of the first rotating body.

[0011] The joint with a limiting structure, wherein the second rotating body is rotatably connected to the second limb; the joint with a limiting structure further includes:

[0012] The third rotating body is rotatably connected to the first rotating body;

[0013] The fourth rotating body is rotatably connected to the third rotating body and rotatably connected to the second limb.

[0014] The joint with a limiting structure, wherein the first rotating body is provided with a connecting plate, the connecting plate is provided with a first shaft hole, and the fourth rotating body is provided with a second shaft hole;

[0015] The third rotating body has a first shaft portion and a second shaft portion at both ends, the first shaft portion is inserted into the first shaft hole, and the second shaft portion is inserted into the second shaft hole.

[0016] The joint with the limiting structure is provided with a first clamping piece on the first shaft portion, and the first clamping piece limits the first rotating body.

[0017] The second shaft portion is provided with a second clamping piece, which limits the fourth rotating body.

[0018] The joint with the limiting structure is provided with a first slot in the first shaft portion, and the first clip is inserted into the first slot.

[0019] The second shaft portion is provided with a second slot, and the second clip is inserted into the second slot.

[0020] The joint with a limiting structure, wherein the first rotating body has a stop portion for abutting against the limiting plate.

[0021] In the joint with the limiting structure, when the first rotating body rotates at a preset acute angle, the abutting part abuts against the limiting plate.

[0022] The joint with the limiting structure includes two first rotating bodies connected by the connecting plate; two second rotating bodies connected by the limiting plate; each second rotating body is rotatably connected to a corresponding first rotating body; and each first rotating body is located between two second rotating bodies.

[0023] A robotic hand, wherein it includes a joint with a limiting structure as described in any of the preceding claims.

[0024] A robot comprising a joint with a limiting structure as described in any of the preceding claims, or a robotic hand as described above.

[0025] Beneficial effects: The first and second rotating bodies are respectively connected to the first limb and the limiting plate. The first and second rotating bodies are rotatably connected, thereby realizing the movement of the first and second limbs. The limiting plate limits the rotation of the first rotating body, thereby restricting the range of motion of the first and second limbs, making the joints and limbs closer to real joints and limbs. Moreover, the structure is simple, easy to assemble, and small in size. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the robotic arm in an embodiment of this utility model.

[0027] Figure 2 This is a schematic diagram of the structure of the first limb and joint in an embodiment of this utility model.

[0028] Figure 3 This is a schematic diagram of the joint structure in an embodiment of this utility model.

[0029] Figure 4 This is a cross-sectional view of the joint in an embodiment of this utility model.

[0030] Figure 5 This is a schematic diagram of the structure of the first rotating body in an embodiment of this utility model.

[0031] Figure 6 This is a schematic diagram of the structure of the limiting plate in an embodiment of this utility model.

[0032] Figure 7 This is a schematic diagram of the first structure of the third rotating body in an embodiment of this utility model.

[0033] Figure 8 This is a schematic diagram of the second structure of the third rotating body in an embodiment of this utility model.

[0034] Figure 9 This is a schematic diagram of the structure of the fourth rotating body in an embodiment of this utility model.

[0035] Figure 10 This is a side view of the first rotating body in an embodiment of this utility model when it is limited by the limiting plate.

[0036] Figure 11 This is a side view of the first rotating body in an embodiment of the present invention when it is not limited by the positioning plate.

[0037] Figure 12 This is a top view of the first rotating body in this embodiment of the present invention when it is not limited by the limiting plate.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1. First limb; 2. Second limb; 10. First rotating body; 11. Connecting plate; 111. First shaft hole; 12. Abutment part; 20. Second rotating body; 30. Limiting plate; 40. Third rotating body; 41. First shaft part; 42. Second shaft part; 43. First clamping piece; 44. Second clamping piece; 45. First slot; 46. Second slot; 50. Fourth rotating body; 51. Second shaft hole; 61. First driving member; 62. Second driving member; 63. Mounting base. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, 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 merely illustrative of the present utility model and are not intended to limit the present utility model.

[0041] Please also refer to Figures 1-12 This utility model provides some preferred embodiments of a joint with a limiting structure.

[0042] like Figure 1 and Figure 2 As shown, the joint with the limiting structure includes:

[0043] The first rotating body 10 is used to connect the first limb 1;

[0044] The second rotating body 20 is rotatably connected to the first rotating body 10;

[0045] A limiting plate 30 is disposed on the second rotating body 20 and is used to connect the second limb 2;

[0046] The limiting plate 30 limits the rotation of the first rotating body 10.

[0047] Specifically, the first rotating body 10 and the second rotating body 20 are respectively connected to the first limb 1 and the limiting plate 30. The first rotating body 10 and the second rotating body 20 are rotatably connected, thereby realizing the movement of the first limb 1 and the second limb 2. The limiting plate 30 limits the rotation of the first rotating body 10, thereby restricting the range of motion of the first limb 1 and the second limb 2, making the joints and limbs closer to real joints and limbs, and the structure is simple, easy to assemble, and small in size.

[0048] The first rotating body 10 can be fixedly connected to the first limb 1 or rotatably connected. The limiting plate 30 is rotatably connected to the second limb 2. The rotation direction of the second rotating body 20 relative to the first rotating body 10 is a first direction, and the rotation direction of the second rotating body 20 relative to the second limb 2 is a second direction. Since the first direction and the second direction are different, the first limb 1 and the second limb 2 are more flexible. The second rotating body 20 is driven by the first driving member 61, realizing the rotation of the second rotating body 20 and driving the first rotating body 10 to rotate. The first driving member 61 is disposed on the mounting base 63, and the second rotating body 20 is rotatably disposed on the mounting base 63, rotating relative to the mounting base 63.

[0049] For example, such as Figure 3 , Figure 4 and Figure 10As shown, when the second rotating body 20 rotates independently relative to the mounting base 63, the first rotating body 10 rotates toward the limiting plate 30. After the first rotating body 10 comes into contact with the limiting plate 30, it is restricted by the limiting plate 30, and neither the first rotating body 10 nor the second rotating body 20 can continue to rotate.

[0050] In a preferred embodiment of this utility model, please also refer to... Figures 1-2 , Figure 7 , Figure 8 as well as Figure 9 The second rotating body 20 is rotatably connected to the second limb 2; the joint with the limiting structure further includes:

[0051] The third rotating body 40 is rotatably connected to the first rotating body 10;

[0052] The fourth rotating body 50 is rotatably connected to the third rotating body 40 and rotatably connected to the second limb 2.

[0053] Specifically, the third rotating body 40 is rotatably connected to the first rotating body 10, and the fourth rotating body 50 is rotatably connected to the third rotating body 40. The fourth rotating body 50 is rotatably connected to the second limb 2. When the first rotating body 10 rotates, it can drive the second rotating body 20 and the third rotating body 40 to rotate, while the fourth rotating body 50 does not rotate, so the first limb 1 rotates in the first direction; when the first rotating body 10 rotates, it can drive the third rotating body 40 and the fourth rotating body 50 to rotate, while the second rotating body 20 does not rotate, so the first limb 1 rotates in the second direction. Of course, the first rotating body 10, the second rotating body 20, the third rotating body 40, and the fourth rotating body 50 can rotate together, so the first limb 1 and the second limb 2 rotate in three-dimensional space. The fourth rotating body 50 is driven by the second driving member 62, thereby driving the third rotating body 40 and the first rotating body 10 to rotate. The second driving member 62 is disposed on the mounting base 63, and the fourth rotating body 50 is rotatably disposed on the mounting base 63, rotating relative to the mounting base 63.

[0054] When the first rotating body 10, the second rotating body 20, and the third rotating body 40 rotate, while the fourth rotating body 50 does not rotate, the first limb 1 rotates along the first direction. Typically, the first limb 1 has a maximum angular range (which can be 180°) along the first direction. During the rotation of the first limb 1 along the first direction, the first rotating body 10 and the second rotating body 20 also rotate relative to each other. The angle between the first rotating body 10 and the limiting plate 30 gradually decreases, and the limiting plate 30 limits the first rotating body 10. Due to the presence of the limiting plate 30, the relative rotation angle between the first rotating body 10 and the limiting plate 30 is restricted, thus reducing the angular range of the first limb 1's rotation along the first direction (this angular range is smaller than the maximum angular range). Figure 11 and Figure 12 As shown, if it is necessary to continue rotating the first limb 1 along the first direction, the fourth rotating body 50 needs to be rotated to increase the angle between the first rotating body 10 and the second rotating body 20. Then the first limb 1 can continue to rotate along the first direction, so that the angle range of the first limb 1 rotating along the first direction reaches the maximum angle range.

[0055] By changing the position of the fourth rotating body 50 and cooperating with the limiting plate 30 to limit the first rotating body 10, the rotation angle range of the first limb 1 (i.e. the first rotating body 10) can be adjusted.

[0056] In a preferred embodiment of this utility model, please also refer to... Figure 3 and Figure 5 The first rotating body 10 is provided with a connecting plate 11, and the connecting plate 11 is provided with a first shaft hole 111. The fourth rotating body 50 is provided with a second shaft hole 51. The two ends of the third rotating body 40 form a first shaft portion 41 and a second shaft portion 42. The first shaft portion 41 is inserted into the first shaft hole 111, and the second shaft portion 42 is inserted into the second shaft hole 51.

[0057] Specifically, the first shaft portion 41 is inserted into the first shaft hole 111 and rotates within the first shaft hole 111; the second shaft hole 51 is inserted into the second shaft hole 51 and rotates within the second shaft hole 51.

[0058] In a preferred embodiment of this utility model, please also refer to... Figure 3 , Figure 4 as well as Figure 7 The first shaft portion 41 is provided with a first clamping piece 43, which limits the first rotating body 10; the second shaft portion 42 is provided with a second clamping piece 44, which limits the fourth rotating body 50.

[0059] Specifically, in order to confine the first shaft portion 41 within the first shaft hole 111, a first clamping piece 43 is provided on the first shaft portion 41. Due to the limiting effect of the first clamping piece 43, the first shaft portion 41 is difficult to detach from the first shaft hole 111. In order to confine the second shaft portion 42 within the second shaft hole 51, a second clamping piece 44 is provided on the second shaft portion 42. Due to the limiting effect of the second clamping piece 44, the second shaft portion 42 is difficult to detach from the second shaft hole 51.

[0060] The first clamp 43 and the second clamp 44 are open clamps. When the force that causes the first shaft part 41 to disengage from the first shaft hole 111 exceeds the limit of the first clamp 43, causing the first clamp 43 to open, the first shaft part 41 can be pulled out from the first shaft hole 111. When the force that causes the second shaft part 42 to disengage from the second shaft hole 51 exceeds the limit of the second clamp 44, causing the second clamp 44 to open, the second shaft part 42 can be pulled out from the second shaft hole 51. This can reduce damage to each rotating body.

[0061] In a preferred embodiment of this utility model, please also refer to... Figure 4 , Figure 7 as well as Figure 8 The first shaft portion 41 is provided with a first slot 45, and the first clip 43 is inserted into the first slot 45; the second shaft portion 42 is provided with a second slot 46, and the second clip 44 is inserted into the second slot 46.

[0062] Specifically, the first slot 45 allows the first clamping piece 43 to be engaged, and the second slot 46 allows the second clamping piece 44 to be engaged. If the force on the first shaft portion 41 is too great, the first clamping piece 43 will open and disengage from the first slot 45, allowing the first shaft portion 41 to disengage from the first shaft hole 111. If the force on the second shaft portion 42 is too great, the second clamping piece 44 will open and disengage from the second slot 46, allowing the second shaft portion 42 to disengage from the second shaft hole 51. The first slot 45 and the second slot 46 can be annular grooves to facilitate clamping of the first clamping piece 43 and the second clamping piece 44.

[0063] In a preferred embodiment of this utility model, please also refer to... Figure 3 , Figure 4 as well as Figure 5 The first rotating body 10 has a stop portion 12, which is used to abut against the limiting plate 30.

[0064] Specifically, the abutment part 12 is located on the side of the first rotating body 10 facing the limiting plate 30. As the first rotating body 10 and the second rotating body 20 rotate, the included angle between the first rotating body 10 and the second rotating body 20 decreases, and the abutment part 12 moves toward the limiting plate 30. The abutment part 12 can abut against the limiting plate 30, so that the included angle between the first rotating body 10 and the second rotating body 20 can no longer decrease.

[0065] In a preferred embodiment of this utility model, please also refer to... Figure 4 and Figure 10 When the first rotating body 10 rotates at a preset acute angle, the abutting part 12 abuts against the limiting plate 30.

[0066] Specifically, when the first rotating body 10 rotates relative to the second rotating body 20 by a preset acute angle, the abutting part 12 abuts against the limiting plate 30.

[0067] In a preferred embodiment of this utility model, please also refer to... Figure 3 , Figure 3 , Figure 5 as well as Figure 6 There are two first rotating bodies 10, which are connected by the connecting plate 11; there are two second rotating bodies 20, which are connected by the limiting plate 30; the second rotating body 20 is rotatably connected to the corresponding first rotating body 10.

[0068] Specifically, there can be two first rotating bodies 10, which are connected by a connecting plate 11, with each end of the connecting plate 11 connected to one of the two first rotating bodies 10. There can also be two second rotating bodies 20, which are connected by a limiting plate 30, with each end of the limiting plate 30 connected to one of the two second rotating bodies 20. Each second rotating body 20 is rotatably connected to its corresponding first rotating body 10.

[0069] In a preferred embodiment of this utility model, please also refer to... Figure 2 and Figure 3 Both of the first rotating bodies 10 are located between the two second rotating bodies 20.

[0070] Specifically, since both first rotating bodies 10 are located between two second rotating bodies 20, the rotation of both first rotating bodies 10 is limited by the limiting plate 30.

[0071] Based on the joint with a limiting structure in any of the above embodiments, the present invention also provides a robotic hand, including the joint with a limiting structure as described in any of the above embodiments, as specifically as described above.

[0072] The robotic arm provided by this utility model has all the above-mentioned beneficial effects because it is equipped with a joint with a limiting structure as described in any of the above technical solutions, which will not be repeated here.

[0073] Based on any of the above embodiments, the present invention also provides a robot, including the joint or robotic arm with a limit structure as described in any of the above embodiments, as specifically as described above.

[0074] The robot provided by this utility model has all the above-mentioned beneficial effects because it is equipped with joints or robotic arms with limiting structures as described in any of the above technical solutions, which will not be repeated here.

[0075] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A joint with a limiting structure, characterized in that, It includes: The first rotating body is used to connect to the first limb; The second rotating body is rotatably connected to the first rotating body; A limiting plate is disposed on the second rotating body and is used to connect the second limb; Wherein, the limiting plate limits the rotation of the first rotating body; The second rotating body is rotatably connected to the second limb; the joint with the limiting structure further includes: The third rotating body is rotatably connected to the first rotating body; The fourth rotating body is rotatably connected to the third rotating body and rotatably connected to the second limb.

2. The joint with a limiting structure according to claim 1, characterized in that, The first rotating body is provided with a connecting plate, the connecting plate is provided with a first shaft hole, and the fourth rotating body is provided with a second shaft hole; The third rotating body has a first shaft portion and a second shaft portion at both ends, the first shaft portion is inserted into the first shaft hole, and the second shaft portion is inserted into the second shaft hole.

3. The joint with a limiting structure according to claim 2, characterized in that, The first shaft portion is provided with a first clamping piece, which limits the first rotating body; The second shaft portion is provided with a second clamping piece, which limits the fourth rotating body.

4. The joint with a limiting structure according to claim 3, characterized in that, The first shaft portion is provided with a first slot, and the first clip is inserted into the first slot; The second shaft portion is provided with a second slot, and the second clip is inserted into the second slot.

5. The joint with a limiting structure according to claim 1, characterized in that, The first rotating body has a stop portion, which is used to abut against the limiting plate.

6. The joint with a limiting structure according to claim 5, characterized in that, When the first rotating body rotates at a preset acute angle, the abutting part abuts against the limiting plate.

7. The joint with a limiting structure according to any one of claims 2-4, characterized in that, There are two first rotating bodies, which are connected by the connecting plate; there are two second rotating bodies, which are connected by the limiting plate; each second rotating body is rotatably connected to a corresponding first rotating body; each first rotating body is located between two second rotating bodies.

8. A robotic arm, characterized in that, It includes a joint with a limiting structure as described in any one of claims 1 to 7.

9. A robot, characterized in that, It includes a joint with a limiting structure as described in any one of claims 1 to 7, or a robotic arm as described in claim 8.

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