Joint assembly and robot
By setting limiting spaces and openings in the joint assembly, and using fasteners to apply force to the first joint component, causing it to deform elastically, the axial clearance problem between the joint components is solved, thereby improving the robot's motion accuracy and stability.
Patent Information
- Application Number
- CN202423322497.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2034-12-31
AI Technical Summary
In existing technologies, there are axial clearances between the joint components of joint assemblies, which cause mechanical movement that affects the robot's motion accuracy and structural vibration.
By setting a limiting space and an opening in the joint assembly, the first joint member is fitted onto the second joint member, and the first joint member is subjected to a force by the axial movement of the fastener along the shaft member, causing it to elastically deform, thereby reducing the axial clearance.
This effectively reduces the axial clearance between joint components, improving the robot's motion accuracy and structural stability.
Smart Images
Figure CN223657049U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more particularly to a joint assembly and a robot. Background Technology
[0002] The information disclosed in this background section is intended only to enhance the understanding of the general background of this disclosure and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art.
[0003] Joint components are important structures in robots that enable the interaction between two articulated arms. Due to manufacturing and assembly errors, axial clearance can easily occur between joint components. The mechanical movement caused by axial clearance can affect the robot's motion accuracy and cause structural vibration. How to reduce the axial clearance between joint components in joint components is a problem that urgently needs to be solved in this field. Utility Model Content
[0004] In view of this, the purpose of this application is to provide a joint assembly and robot, which aims to solve the technical problem of how to reduce the axial clearance between joint components in the joint assembly.
[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:
[0006] In a first aspect, embodiments of this application provide a joint assembly, including:
[0007] The first joint defines a limiting space and has an opening communicating with the limiting space;
[0008] The second joint is at least partially located within the limiting space, and the first joint is sleeved on the second joint through the limiting space and the opening;
[0009] A shaft is inserted through the first joint member and the second joint member to enable the first joint member and the second joint member to be rotatably connected;
[0010] A fastener is sleeved on the shaft and abuts against the first joint member. The fastener is axially movable along the shaft to apply a force toward the second joint member when the fastener abuts against the first joint member, so as to elastically deform the first joint member.
[0011] In one embodiment of the first aspect, the first joint includes a first connecting portion, a second connecting portion, and a third connecting portion, the third connecting portion being connected between the first connecting portion and the second connecting portion, the first connecting portion, the second connecting portion, and the third connecting portion enclosing the limiting space and the opening, the shaft passing through the first connecting portion and the second connecting portion, the fastener being located on the side of the second connecting portion away from the first connecting portion along the axial direction of the shaft, and the fastener abutting against the second connecting portion.
[0012] In one embodiment of the first aspect, the first connecting portion, the second connecting portion, and the third connecting portion are arranged to form a U-shaped structure.
[0013] In one embodiment of the first aspect, the shaft includes a limiting portion and a shaft body portion connected together. The first joint is provided with a first through hole communicating with the limiting space. The shaft body portion passes through the first through hole. The limiting portion is located outside the limiting space. The limiting portion is located at one end of the shaft body portion and extends in a direction perpendicular to the axial direction of the shaft and abuts against the first connecting portion. The fastener is sleeved and connected to the end of the shaft body portion away from the limiting portion.
[0014] In one embodiment of the first aspect, the limiting portion is movable along the axial direction of the shaft member to apply a force toward the second joint member when the limiting portion abuts against the first joint member, so as to elastically deform the first joint member.
[0015] In one embodiment of the first aspect, the fastener includes a first nut, which is sleeved on the shaft portion and threadedly connected to the shaft portion, and the first nut abuts against the first joint member.
[0016] In one embodiment of the first aspect, the fastener further includes a second nut, which is sleeved on the shaft portion and threadedly connected to the shaft portion. The second nut is located at the end of the first nut away from the first joint member and abuts against the first nut.
[0017] In one embodiment of the first aspect, the second joint member includes a fourth connecting portion and a bearing portion. The fourth connecting portion is provided with a second through hole and a groove communicating with the second through hole. The groove is communicating with the limiting space. The bearing portion is disposed at the groove, and the shaft member passes through the bearing portion, the groove, and the second through hole.
[0018] In one embodiment of the first aspect, the groove includes a first groove and a second groove, the first groove being located on one side of the fourth connecting portion along the axial direction of the shaft, and the second groove being located on the other side of the fourth connecting portion along the axial direction of the shaft.
[0019] The bearing section includes a first bearing and a second bearing. Both the first bearing and the second bearing include an inner ring and an outer ring surrounding the inner ring. The outer ring of the first bearing is at least partially disposed in the first groove. The inner ring of the first bearing is sleeved on the shaft. The outer ring of the second bearing is at least partially disposed in the second groove. The inner ring of the second bearing is sleeved on the shaft.
[0020] The first joint member is provided with a first boss and a second boss. The first boss is located on one side of the first joint member along the axial direction of the shaft member and abuts against the inner ring of the first bearing. The second boss is located on the other side of the first joint member along the axial direction of the shaft member and abuts against the inner ring of the second bearing.
[0021] In one embodiment of the first aspect, the side of the first bearing away from the second bearing is flush with the side of the fourth connecting portion away from the second bearing, and the side of the second bearing away from the first bearing is flush with the side of the fourth connecting portion away from the first bearing.
[0022] In one embodiment of the first aspect, the first bearing is a first angular contact bearing, the second bearing is a second angular contact bearing, and the first angular contact bearing and the second angular contact bearing are arranged opposite to each other along the axial direction of the shaft.
[0023] Secondly, embodiments of this application provide a robot including the joint components described in any of the embodiments of the first aspect above.
[0024] The beneficial effects of this application are as follows:
[0025] When assembling the joint assembly provided in this application, a force is applied to the first joint member along the axial direction of the shaft member by a fastener, which is directed toward the second joint member. This causes the first joint member to undergo elastic deformation under the force, thereby reducing the axial gap between the joint members by utilizing the elastic deformation of the first joint member.
[0026] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0028] Figure 1 A three-dimensional structural schematic diagram of a joint assembly in one embodiment of this application is shown;
[0029] Figure 2 This invention provides a schematic diagram of the joint assembly from one perspective in one embodiment of the present application.
[0030] Figure 3 This invention provides a schematic diagram of the joint assembly from another perspective in one embodiment of the present application.
[0031] Figure 4 It shows Figure 3 Schematic diagram of the cross-sectional structure at point AA;
[0032] Figure 5 This paper shows a schematic diagram of the structure of the first joint member from one perspective in one embodiment of this application;
[0033] Figure 6 It shows Figure 5 Schematic diagram of the cross-sectional structure at point BB;
[0034] Figure 7 A schematic diagram of the assembly structure of the shaft and fastener in one embodiment of this application is shown;
[0035] Figure 8 This paper shows a schematic diagram of the second joint component from one perspective in one embodiment of the present application.
[0036] Figure 9 It shows Figure 8 Enlarged structural diagram at the CC position;
[0037] Figure 10 This paper shows a three-dimensional exploded view of the second joint member in one embodiment of the present application. Figure 1 ;
[0038] Figure 11 This paper shows a three-dimensional exploded view of the second joint member in one embodiment of the present application. Figure 2 .
[0039] Explanation of key component symbols:
[0040] 100 - Joint assembly; 110 - First joint member; 111 - First connecting part; 112 - Second connecting part; 113 - Third connecting part; 1131 - Limiting space; 1132 - Opening; 1133 - First through hole; 114 - Support part; 1141 - First boss; 1142 - Second boss; 120 - Second joint member; 121 - Fourth connecting part; 1211 - Second through hole; 1212 - Groove; 12121 - First groove; 12122 - Second groove; 122 - Bearing part; 1221 - First bearing; 1222 - Second bearing; 130 - Shaft member; 131 - Limiting part; 132 - Shaft part; 140 - Fastener; 141 - First nut; 142 - Second nut; d - Axial clearance. Detailed Implementation
[0041] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0042] In the description of this application, the terms "center", "longitudinal", "lateral", "length", "width", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0043] Furthermore, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Moreover, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0044] In the description of this application, the terms "first," "second," etc., are used to distinguish different objects and should not be construed as indicating or implying a specific order or hierarchy, or implicitly specifying the number of technical features indicated. Therefore, a feature marked "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly defined.
[0045] In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0046] In the description of this application, the term "and / or" indicates that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the character " / " generally indicates that the preceding and following objects have an "or" relationship.
[0047] In the description of this application, "parallel" includes not only the case of absolute parallelism, but also the case of approximate parallelism as commonly understood in engineering; similarly, "perpendicular" also includes not only the case of absolute perpendicularity, but also the case of approximate perpendicularity as commonly understood in engineering. For example, if the angle between two directions is 80° to 90°, the two directions can be considered perpendicular; if the angle between two directions is 0° to 10°, the two directions can be considered parallel.
[0048] like Figure 1 As shown, in a first aspect, embodiments of this application provide a joint assembly 100, which relates to the field of robotics and is mainly used in robots to realize relative movement between two articulated arms.
[0049] It should be noted that the aforementioned robots include, but are not limited to, humanoid robots, animal-inspired robots, and cleaning robots; no specific restrictions are placed on the type of robot. Of course, in addition to applications in robots, the joint component 100 can also be used in robotic arms and optical instruments; no specific restrictions are placed on the application scenarios of the joint component 100.
[0050] like Figure 1 and Figure 2 As shown, the joint assembly 100 provided in this embodiment includes: a first joint member 110, a second joint member 120, a shaft member 130, and a fastener 140.
[0051] The first joint member 110 defines a limiting space 1131 and has an opening 1132 communicating with the limiting space 1131. At least a portion of the second joint member 120 is located within the limiting space 1131. The first joint member 110 is sleeved on the second joint member 120 through the limiting space 1131 and the opening 1132. The shaft member 130 passes through the first joint member 110 and the second joint member 120 to rotatably connect the first joint member 110 and the second joint member 120. The fastener 140 is sleeved on the shaft member 130 and abuts against the first joint member 110. The fastener 140 can move along the axial direction of the shaft member 130 so that when the fastener 140 abuts against the first joint member 110, it applies a force toward the second joint member 120 to cause the first joint member 110 to elastically deform.
[0052] For example, the material of the first joint 110 and / or the second joint 120 can be metal, plastic, etc. For example, metals such as 45 steel, 40Cr, T10 steel, etc. No specific restrictions are placed on the material of the joint.
[0053] It should be noted that by setting the opening 1132 and the limiting space 1131, the first joint member 110 has the ability to deform elastically, and can deform elastically under the action of force. That is, it can deform elastically when subjected to the force applied by the fastener 140. The direction of the force can be parallel to the axial direction of the shaft member 130, or it can intersect with the axial direction of the shaft member 130 but not perpendicular to it. No specific restrictions are made here.
[0054] It is understood that in the joint assembly 100 provided in this embodiment, the first joint member 110 defines a limiting space 1131, and the first joint member 110 is provided with an opening 1132, which communicates with the limiting space 1131. At least a portion of the second joint member 120 is located within the limiting space 1131. The first joint member 110 is sleeved on the second joint member 120 through the limiting space 1131 and the opening 1132. The shaft member 130 passes through the first joint member 110 and the second joint member 120 to enable the first joint member 110 and the second joint member 120 to be rotatably connected. The fastener 140 is sleeved on the shaft member 130 and abuts against the first joint member 110. The fastener 140 can move along the axial direction of the shaft member 130 so that when the fastener 140 abuts against the first joint member 110, it further applies a force toward the second joint member 120 to the first joint member 110.
[0055] Based on the above structure, when the joint assembly 100 provided in this embodiment is assembled, the fastener 140 applies a force to the first joint member 110 in the direction toward the second joint member 120 along the axial direction of the shaft member 130, so that the first joint member 110 undergoes elastic deformation under the action of the force, thereby reducing the axial gap d between the joint members by utilizing the elastic deformation of the first joint member 110.
[0056] like Figures 2 to 4 As shown, in one embodiment, the first joint 110 includes a first connecting portion 111, a second connecting portion 112, and a third connecting portion 113. The third connecting portion 113 is connected between the first connecting portion 111 and the second connecting portion 112. The first connecting portion 111, the second connecting portion 112, and the third connecting portion 113 enclose a limiting space 1131 and an opening 1132. The shaft 130 passes through the first connecting portion 111 and the second connecting portion 112. The fastener 140 is located on the side of the second connecting portion 112 away from the first connecting portion 111 along the axial direction of the shaft 130. The fastener 140 abuts against the second connecting portion 112.
[0057] It is understood that when the joint assembly 100 provided in this embodiment is assembled, the fastener 140 applies a force to the second connecting portion 112 in the direction of the second joint member 120 along the axial direction of the shaft member 130, so that the second connecting portion 112 undergoes elastic deformation relative to the third connecting portion 113 under the action of the force, thereby using the elastic deformation of the second connecting portion 112 to achieve the effect of reducing the axial gap d between the joint members.
[0058] like Figure 5 and Figure 6 As shown, the first connecting part 111, the second connecting part 112 and the third connecting part 113 are arranged to form a U-shaped structure, that is, the shape of the first joint 110 is U-shaped. The U-shaped first joint 110 is more likely to undergo elastic deformation under the action of force, thereby more effectively reducing the axial clearance d.
[0059] Of course, for the above embodiments, the first connecting part 111, the second connecting part 112 and the third connecting part 113 can also be enclosed to form an arc-shaped structure, an arch-shaped structure, an M-shaped structure, an inverted V-shaped structure, etc. When the first joint member 110 presents these shapes, it can also undergo elastic deformation under the action of force to reduce the axial clearance d. Here, no specific limitation is made on the shape of the first joint member 110.
[0060] like Figures 3 to 6As shown, the shaft 130 further includes a limiting part 131 and a shaft body 132 connected to each other. The first joint 110 is provided with a first through hole 1133 communicating with the limiting space 1131. The shaft body 132 passes through the first through hole 1133. The limiting part 131 is located outside the limiting space 1131. The limiting part 131 is located at one end of the shaft body 132 and extends in a direction perpendicular to the axial direction of the shaft 130, and abuts against the first connecting part 111 of the first joint 110. The fastener 140 is sleeved and connected to the end of the shaft body 132 away from the limiting part 131.
[0061] For example, the shaft body 132 and the first through hole 1133 may be a clearance fit or a transition fit, so that the shaft body 132 can slide along the first through hole 1133 relative to the first joint member 110 in the axial direction of the shaft member 130.
[0062] Understandably, since the limiting part 131 is connected to one end of the shaft part 132 and abuts against the first connecting part 111 of the first joint member 110, and the fastener 140 is connected to the end of the shaft part 132 away from the limiting part 131 and abuts against the second connecting part 112 of the first joint member 110, the fastener 140 can apply a force to the first joint member 110 toward the second joint member 120 under the support of the limiting part 131, causing the first joint member 110 to elastically deform toward the second joint member 120, thereby achieving the effect of reducing the axial clearance d.
[0063] like Figure 3 and Figure 4 As shown, further, the limiting part 131 can move along the axial direction of the shaft 130 so that when the limiting part 131 abuts against the first joint member 110, a force is applied toward the second joint member 120, causing the first joint member 110 to elastically deform. In this way, under the action of the limiting part 131 and the fastener 140, the first joint member 110 can elastically deform on both sides along the axial direction of the shaft 130, thereby reducing the axial clearance d on both sides.
[0064] like Figures 2 to 4 As shown, the fastener 140 further includes a first nut 141, which is sleeved on the shaft portion 132 and threadedly connected to the shaft portion 132. The first nut 141 abuts against the first joint member 110.
[0065] It is understood that when assembling the joint assembly 100 provided in this embodiment, the elastic deformation of the first joint member 110 can be adjusted by screwing the first nut 141, thereby achieving the effect of adjusting the axial clearance d. At the same time, the first nut 141 serves to fasten the shaft member 130, reducing the possibility of the shaft member 130 detaching from the first joint member 110.
[0066] like Figure 2 and Figure 7 As shown, the fastener 140 further includes a second nut 142, which is sleeved on the shaft portion 132 and threadedly connected to the shaft portion 132. The second nut 142 is located at the end of the first nut 141 away from the first joint member 110 and abuts against the first nut 141.
[0067] Understandably, by adding a second nut 142 to the end of the first nut 141 away from the first joint member 110, this double-nut design can effectively reduce the possibility of the fastener 140 detaching from the shaft member 130, so that the first joint member 110 and the second joint member 120 can rotate relative to each other stably and smoothly.
[0068] Of course, in the above embodiments, the fastener 140 can also be a screw, wedge, pin, etc. When the fastener 140 is a pin, a pin hole is provided at the end of the shaft portion 132 away from the limiting portion 131, the pin passes through the pin hole, and abuts against the first joint member 110; in addition, the fastener 140 can also be a snap fastener that is slidably sleeved on the shaft portion 132, and a slot is provided on the shaft portion 132. The snap fastener can move along the axial direction of the shaft portion 132 and engage in the slot when it moves to a preset position to fasten the shaft member 130. Both of the above structures can also fasten the shaft member 130 and can apply a force to the first joint member 110 in the direction of the second joint member 120. No specific limitation is made on the type of fastener 140 here. In addition, the shaft 130 can be selected from bolts, screws, etc. For example, the bolt is an external hex bolt. In this case, the limiting part 131 is the nut of the bolt, the shaft part 132 is the bolt shank, and the internal thread of the first nut 141, the internal thread of the second nut 142 and the external thread of the shank can be further selected as fine thread.
[0069] like Figure 3 and Figure 4 As shown, in one embodiment, the second joint member 120 includes a fourth connecting portion 121 and a bearing portion 122. The fourth connecting portion 121 is provided with a second through hole 1211 and a groove 1212 communicating with the second through hole 1211. The groove 1212 communicates with the limiting space 1131. The bearing portion 122 is disposed at the groove 1212. The shaft member 130 passes through the bearing portion 122, the groove 1212 and the second through hole 1211.
[0070] Understandably, by providing the bearing portion 122, the friction generated when the first joint member 110 and the second joint member 120 rotate relative to each other can be reduced, making the movement of the joint assembly 100 smoother and more stable.
[0071] like Figure 4 , Figure 10 andFigure 11 As shown, further, the groove 1212 includes a first groove 12121 and a second groove 12122. The first groove 12121 is located on one side of the fourth connecting portion 121 along the axial direction of the shaft 130, and the second groove 12122 is located on the other side of the fourth connecting portion 121 along the axial direction of the shaft 130. The bearing portion 122 includes a first bearing 1221 and a second bearing 1222. Both the first bearing 1221 and the second bearing 1222 include an inner ring and an outer ring surrounding the inner ring. The outer ring of the first bearing 1221 is at least partially disposed within the first groove 12121. A ring is fitted onto the shaft 130. The outer ring of the second bearing 1222 is at least partially disposed within the second groove 12122. The inner ring of the second bearing 1222 is fitted onto the shaft 130. A support portion 114 is provided on the first joint member 110. The support portion 114 includes a first boss 1141 and a second boss 1142. The first boss 1141 is located on one side of the first joint member 110 along the axial direction of the shaft 130 and abuts against the inner ring of the first bearing 1221. The second boss 1142 is located on the other side of the first joint member 110 along the axial direction of the shaft 130 and abuts against the inner ring of the second bearing 1222.
[0072] Understandably, since the outer ring of the first bearing 1221 is at least partially disposed within the first groove 12121, and the inner ring of the first bearing 1221 is fitted onto the shaft 130, and the outer ring of the second bearing 1222 is at least partially disposed within the second groove 12122, and the inner ring of the second bearing 1222 is fitted onto the shaft 130, and simultaneously, the first boss 1141 is located on one side of the first joint member 110 along the axial direction of the shaft 130 and abuts against the inner ring of the first bearing 1221, and the second boss 1142 is located on the other side of the first joint member 110 along the axial direction of the shaft 130 and abuts against the inner ring of the second bearing 1222, pre-tightening of the first bearing 1221 and the second bearing 1222 can be achieved to improve the smoothness and stability of the joint assembly 100's movement. Meanwhile, this symmetrical arrangement allows for better balance when the first joint 110 and the second joint 120 rotate relative to each other, improving the imbalance of forces on the two opposite sides of the joint assembly 100 along the axial direction of the shaft 130, thereby further improving the smoothness and stability of the joint assembly 100's movement.
[0073] It should be noted that, since the inner and outer rings of the first bearing 1221 and the second bearing 1222 can rotate relative to each other, and the first joint member 110 is connected to the inner rings of the first bearing 1221 and the second bearing 1222 through the shaft member 130, and the fourth connecting part 121 is connected to the outer rings of the first bearing 1221 and the second bearing 1222 through the first groove 12121 and the second groove 12122, the first joint member 110 and the second joint member 120 can rotate relative to each other.
[0074] like Figure 8 and Figure 9 As shown, further, the side of the first bearing 1221 away from the second bearing 1222 is flush with the side of the fourth connecting portion 121 away from the second bearing 1222, and the side of the second bearing 1222 away from the first bearing 1221 is flush with the side of the fourth connecting portion 121 away from the first bearing 1221. In this way, combined with the supporting effect of the first boss 1141 and the second boss 1142, the possibility of the first joint member 110 being too close to the fourth connecting portion 121, resulting in an excessively small axial clearance d, can be effectively reduced. This improves the situation where part wear and insufficient smoothness of movement occur due to an excessively small axial clearance d.
[0075] Furthermore, the entire outer ring of the first bearing 1221 is completely housed within the first groove 12121, and the entire outer ring of the second bearing 1222 is completely housed within the second groove 12122. This can also effectively reduce the possibility that the axial clearance d will be too small due to the first joint member 110 being overly fitted to the fourth connecting part 121.
[0076] like Figure 8 and Figure 9 As shown, the first bearing 1221 is a first angular contact bearing, and the second bearing 1222 is a second angular contact bearing. The first and second angular contact bearings are arranged opposite to each other along the axial direction of the shaft 130. This arrangement of the angular contact bearings opposite to each other further improves the situation of unbalanced force on the two opposite sides of the joint assembly 100 along the axial direction of the shaft 130.
[0077] Of course, for the above embodiments, the first angular contact bearing and the second angular contact bearing can be further selected from double row angular contact ball bearings, four-point angular contact ball bearings, and thrust angular contact ball bearings, etc.
[0078] Secondly, embodiments of this application provide a robot including the joint assembly 100 in any of the embodiments of the first aspect described above.
[0079] For example, the joint assembly 100 can be applied to the leg structure, foot structure, hand structure, etc. of a humanoid robot to realize relative movement between two joint arms, such as relative rotation between the lower leg and the thigh, relative rotation between the lower leg and the foot, relative rotation between the forearm and the upper arm, relative rotation between the palm and the forearm, relative rotation between the fingers and the palm, etc.
[0080] It is understood that since the robot provided in this embodiment has the joint component 100 in any of the embodiments of the first aspect described above, it has all the beneficial effects of the joint component 100, which will not be described in detail here.
[0081] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0082] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.
Claims
1. A joint assembly, characterized in that, include: The first joint defines a limiting space and has an opening communicating with the limiting space; The second joint is at least partially located within the limiting space, and the first joint is sleeved on the second joint through the limiting space and the opening; A shaft is inserted through the first joint member and the second joint member to enable the first joint member and the second joint member to be rotatably connected; A fastener is sleeved on the shaft and abuts against the first joint member. The fastener is axially movable along the shaft to apply a force toward the second joint member when the fastener abuts against the first joint member, so as to elastically deform the first joint member.
2. The joint assembly according to claim 1, characterized in that, The first joint includes a first connecting portion, a second connecting portion, and a third connecting portion. The third connecting portion is connected between the first connecting portion and the second connecting portion. The first connecting portion, the second connecting portion, and the third connecting portion enclose the limiting space and the opening. The shaft passes through the first connecting portion and the second connecting portion. The fastener is located on the side of the second connecting portion away from the first connecting portion along the axial direction of the shaft. The fastener abuts against the second connecting portion.
3. The joint assembly according to claim 2, characterized in that, The first connecting part, the second connecting part, and the third connecting part are gathered to form a U-shaped structure.
4. The joint assembly according to claim 2, characterized in that, The shaft member includes a limiting part and a shaft body part connected to each other. The first joint member is provided with a first through hole communicating with the limiting space. The shaft body part passes through the first through hole. The limiting part is located outside the limiting space. The limiting part is located at one end of the shaft body part and extends in a direction perpendicular to the axial direction of the shaft member, and abuts against the first connecting part. The fastener is sleeved and connected to the end of the shaft body part away from the limiting part.
5. The joint assembly according to claim 4, characterized in that, The limiting part can move along the axial direction of the shaft member so that when the limiting part abuts against the first joint member, a force is applied toward the second joint member so that the first joint member is elastically deformed.
6. The joint assembly according to claim 4, characterized in that, The fastener includes a first nut, which is sleeved on the shaft portion and threadedly connected to the shaft portion, and abuts against the first joint member.
7. The joint assembly according to claim 6, characterized in that, The fastener further includes a second nut, which is sleeved on the shaft portion and threadedly connected to the shaft portion. The second nut is located at the end of the first nut away from the first joint member and abuts against the first nut.
8. The joint assembly according to any one of claims 1 to 7, characterized in that, The second joint includes a fourth connecting part and a bearing part. The fourth connecting part is provided with a second through hole and a groove communicating with the second through hole. The groove is communicating with the limiting space. The bearing part is disposed at the groove. The shaft passes through the bearing part, the groove and the second through hole.
9. The joint assembly according to claim 8, characterized in that, The groove includes a first groove and a second groove, the first groove being located on one side of the fourth connecting portion along the axial direction of the shaft, and the second groove being located on the other side of the fourth connecting portion along the axial direction of the shaft. The bearing section includes a first bearing and a second bearing. Both the first bearing and the second bearing include an inner ring and an outer ring surrounding the inner ring. The outer ring of the first bearing is at least partially disposed in the first groove. The inner ring of the first bearing is sleeved on the shaft. The outer ring of the second bearing is at least partially disposed in the second groove. The inner ring of the second bearing is sleeved on the shaft. The first joint member is provided with a first boss and a second boss. The first boss is located on one side of the first joint member along the axial direction of the shaft member and abuts against the inner ring of the first bearing. The second boss is located on the other side of the first joint member along the axial direction of the shaft member and abuts against the inner ring of the second bearing.
10. The joint assembly according to claim 9, characterized in that, The side of the first bearing away from the second bearing is flush with the side of the fourth connecting portion away from the second bearing, and the side of the second bearing away from the first bearing is flush with the side of the fourth connecting portion away from the first bearing.
11. The joint assembly according to claim 9, characterized in that, The first bearing is a first angular contact bearing, and the second bearing is a second angular contact bearing. The first angular contact bearing and the second angular contact bearing are arranged opposite each other along the axial direction of the shaft.
12. A robot, characterized in that, Includes the joint assembly according to any one of claims 1 to 11.