Joint mechanism, robot arm, and robot
By adopting a combination structure of bushing and rotating shaft in the joint mechanism, the problems of difficult disassembly and space occupation are solved, achieving the effects of convenient disassembly and compact structure.
Patent Information
- Application Number
- CN202520622205.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-02
- Publication Date
- 2026-02-13
- Estimated Expiration
- 2035-04-02
AI Technical Summary
Existing joint mechanisms are prone to interference from the first or second link during disassembly, which increases the difficulty of disassembly. Furthermore, traditional connection methods such as set screws and snap rings have problems such as wear and space occupation.
The structure adopts a combination of bushing and shaft. The shaft can move axially to generate a disengagement force on the bushing. The bushing replaces the first connecting rod in contact with the shaft in the mounting hole, which reduces wear and facilitates disassembly, eliminating the need for connecting structures such as set screws and snap rings.
It improves the ease of disassembly and structural compactness of the joint mechanism, reduces wear and space occupation, and simplifies the disassembly location requirements.
Smart Images
Figure CN223903971U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robot accessories, in particular to a joint mechanism, a mechanical arm and a robot. BACKGROUND
[0002] The joint mechanism is a connecting mechanism for providing one degree of freedom of movement for two connecting rods, and can realize relative rotation between the two connecting rods.
[0003] The joint mechanism comprises a first connecting rod, a second connecting rod and a rotating shaft, one end of the first connecting rod is connected with the rotating shaft, so that the first connecting rod can rotate relative to the rotating shaft, and the second connecting rod is fixed with the rotating shaft through a jackscrew.
[0004] In the related art, when the joint mechanism needs to be disassembled due to maintenance, failure or the like, the disassembly position of the jackscrew is easily interfered by the first connecting rod or the second connecting rod, which increases the difficulty of disassembly. UTILITY MODEL CONTENT
[0005] In view of this, the present application provides a joint mechanism, a mechanical arm and a robot to improve the disassembly convenience thereof.
[0006] Specifically, the technical solutions include the following:
[0007] The first aspect of the present application provides a joint mechanism, which comprises a first connecting rod, a shaft sleeve, a rotating shaft and a second connecting rod, wherein,
[0008] The first connecting rod comprises a mounting hole.
[0009] The shaft sleeve comprises a first rotating hole, the shaft sleeve is located in the mounting hole, and the outer wall surface of the first rotating hole is connected with the inner wall surface of the mounting hole.
[0010] One end of the rotating shaft extends into the first rotating hole and can rotate relative to the shaft sleeve, and the rotating shaft can move along its axial direction to generate an action force on the shaft sleeve to separate the shaft sleeve from the mounting hole.
[0011] One end of the second connecting rod is connected with the rotating shaft.
[0012] The second aspect of the present application provides a mechanical arm, which comprises the joint mechanism according to the above technical solution.
[0013] The third aspect of the present application provides a robot, which comprises the mechanical arm according to the above technical solution or the joint mechanism according to the above technical solution.
[0014] The beneficial effects of the technical scheme provided by the embodiment of the present application at least include that the rotating shaft can make the first connecting rod and the second connecting rod relatively rotate, and realize the connection function of the joint mechanism. The shaft sleeve can replace the first connecting rod to contact the rotating shaft in the mounting hole, which is beneficial to reduce the wear of the rotating shaft when rotating. The shaft sleeve is beneficial to separate the first connecting rod from the rotating shaft when the shaft sleeve is detached from the mounting hole, and the joint mechanism can be disassembled. The rotating shaft can generate a force to separate the shaft sleeve from the mounting hole, which is beneficial to detach the shaft sleeve from the mounting hole, and can reduce the interference of the first connecting rod or other components, so that the detachability is improved. BRIEF DESCRIPTION OF DRAWINGS
[0015] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0016] Figure 1 A structural schematic diagram of a joint mechanism provided by the embodiment of the present application is shown.
[0017] Figure 2 A full-section exploded schematic diagram of a joint mechanism provided by the embodiment of the present application is shown.
[0018] Figure 3 A full-section structural schematic diagram of a joint mechanism provided by the embodiment of the present application is shown.
[0019] The reference signs in the drawings represent respectively:
[0020] 1, first connecting rod; 101, mounting hole; 1011, first hole section; 1012, second hole section; 102, accommodating cavity; 11, support part; 12, limiting part;
[0021] 2, shaft sleeve; 201, first rotating hole;
[0022] 3, rotating shaft; 31, connecting section; 32, force applying section;
[0023] 4, second connecting rod; 401, second rotating hole.
[0024] Through the above drawings, the specific embodiments of the present application have been shown, and more detailed descriptions will be given in the following. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application by any means, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0025] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of the present application.
[0026] The orientation nouns such as "upper", "lower", "lateral" and the like in the embodiments of the present application are generally based on the relative relationship of the orientation shown in the drawings, and these orientation nouns are only used for more clearly describing the structure and the relationship between the structures, and are not used for describing absolute orientation. When the product is placed in different postures, the orientation may change, for example, "upper" and "lower" may be interchanged. Figure 1
[0027] Unless otherwise defined, all the technical terms used in the embodiments of the present application have the same meaning as commonly understood by a person of ordinary skill in the art.
[0028] In order to make the technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.
[0029] In the related art, two connecting rods of a joint mechanism are generally connected and rotated through a rotating shaft. The connecting rod located on the inner side is connected with the rotating shaft through a jack screw, or the two ends of the rotating shaft are connected with the connecting rod located on the outer side through a snap spring.
[0030] For the scheme using the jack screw, the joint mechanism has the disadvantage of poor maintainability. Especially when the size of the jack screw is small, the jack screw is prone to sliding, causing problems such as difficulty in taking out the jack screw during maintenance. In addition, the installation and disassembly require the jack screw to be in a specific position range, and the jack screw cannot be installed and disassembled when the robot hand is in a damaged state.
[0031] For the scheme using the snap spring, the snap spring is located outside the joint mechanism, and therefore extra space is required.
[0032] The first aspect of the present application provides a joint mechanism, as shown in Figure 1 、 Figure 2 and Figure 3 , the joint mechanism comprises a first connecting rod 1, a shaft sleeve 2, a rotating shaft 3 and a second connecting rod 4, wherein
[0033] The first connecting rod 1 comprises a mounting hole 101.
[0034] The shaft sleeve 2 comprises a first rotating hole 201, and the shaft sleeve 2 is located in the mounting hole 101, and an outer wall surface of the first rotating hole 201 is connected with an inner wall surface of the mounting hole 101.
[0035] One end of the rotating shaft 3 extends into the first rotating hole 201 and can rotate relative to the shaft sleeve 2, and the rotating shaft 3 can move along the axial direction to generate an action force on the shaft sleeve 2 to separate the shaft sleeve 2 from the mounting hole 101.
[0036] One end of the second connecting rod 4 is connected with the rotating shaft 3.
[0037] Through the above configuration, the rotating shaft 3 can make the first connecting rod 1 and the second connecting rod 4 relatively rotate, and realize the connection function of the joint mechanism. The shaft sleeve 2 can replace the first connecting rod 1 to contact the rotating shaft 3 in the mounting hole 101, which is beneficial to reduce the wear of the rotating shaft 3 when rotating. When the shaft sleeve 2 is detached from the mounting hole 101, the first connecting rod 1 can be separated from the rotating shaft 3, and the joint mechanism can be disassembled. The rotating shaft 3 can generate an action force on the shaft sleeve 2 to separate the shaft sleeve 2 from the mounting hole 101, which is beneficial to detach the shaft sleeve 2 from the mounting hole 101, and can reduce the interference of the first connecting rod 1 or other components, so as to improve the disassembly convenience.
[0038] In addition, since the top screw, the snap spring and other connection structures are omitted, the number of parts is small, and the assembly convenience of the joint mechanism of the application is also improved.
[0039] In the embodiment of the application, compared with the scheme of the top screw, the joint mechanism of the application does not have requirements for the disassembly position, as long as the rotating shaft 3 can be subjected to the action force, so it has high disassembly convenience, and compared with the scheme of the snap spring, since the shaft sleeve 2 is located in the mounting hole 101, the joint mechanism can reduce the occupation of space, and improve the compactness of the structure.
[0040] In the embodiment of the application, the outer wall surface of the first rotating hole 201 is connected with the inner wall surface of the mounting hole 101, which can mean that there is a connection relationship between the two, so that the first rotating hole 201 and the mounting hole 101 maintain a relatively stable positional relationship.
[0041] In the embodiment of the application, the rotating shaft 3 can move along the axial direction to generate an action force on the shaft sleeve 2 to separate the shaft sleeve 2 from the mounting hole 101, which can mean that the action force along the axial direction is applied to the end, shaft body or other positions of the rotating shaft 3, so that the shaft sleeve 2 can be separated from the mounting hole 101 under the action of the action force.
[0042] In the embodiment of the application, the mounting hole 101 can be a through hole penetrating through the first connecting rod 1 at both ends.
[0043] In the embodiment of the application, the first rotating hole 201 can be a through hole penetrating through the shaft sleeve 2 at both ends.
[0044] In the embodiments of the present application, the cross section of the mounting hole 101 can be in a geometric shape such as a circle, a rectangle, etc., can be a combination of two or more geometric shapes, and can also be in other shapes.
[0045] In the embodiments of the present application, the cross section of the first rotating hole 201 can be in a circular shape.
[0046] In the embodiments of the present application, the second connecting rod 4 and the rotating shaft 3 can be connected through hole shaft cooperation, and the second connecting rod 4 and the rotating shaft 3 can be gap fit, transition fit or interference fit.
[0047] In the embodiments of the present application, the shaft sleeve 2 can be a copper sleeve.
[0048] In some embodiments of the present application, as shown in Figure 2 The rotating shaft 3 includes a connecting section 31 and a force applying section 32, the outer wall surface of the connecting section 31 is connected with the inner wall surface of the first rotating hole 201, one end of the force applying section 32 is connected with the connecting section 31, and the one end of the force applying section 32 can move along the extension direction of the first rotating hole 201 to abut and push the shaft sleeve 2 towards the one end of the force applying section 32.
[0049] Through the above configuration, the outer wall surface of the connecting section 31 is connected with the inner wall surface of the first rotating hole 201 and can rotate relative to the wall surface of the first rotating hole 201, and the force applying section 32 abuts against the one end of the shaft sleeve 2 towards the force applying section 32, which is conducive to generating an acting force on the shaft sleeve 2, the acting force can push the shaft sleeve 2 to move along the axial direction of the rotating shaft 3, and promote the shaft sleeve 2 to be separated from the mounting hole 101.
[0050] In the embodiments of the present application, the force applying section 32 can be connected with the second connecting rod 4.
[0051] In some embodiments of the present application, as shown in Figure 2 The outer diameter of the connecting section 31 is smaller than the outer diameter of the force applying section 32.
[0052] Through the above configuration, the position where the force applying section 32 is connected with the connecting section 31 can form a shaft shoulder, the shaft shoulder can be a structure abutting against the shaft sleeve 2, and the transmission of the acting force is realized, which is conducive to the separation of the shaft sleeve 2 from the mounting hole 101.
[0053] In some embodiments of the present application, as shown in Figure 2 The mounting hole 101 includes a first hole section 1011 and a second hole section 1012, the connecting section 31 extends into the first hole section 1011 from the second hole section 1012, the shaft sleeve 2 is located in the first hole section 1011, and the outer diameter of the shaft sleeve 2 is greater than the inner diameter of the second hole section 1012.
[0054] Through the above configuration, the first hole section 1011 can accommodate the shaft sleeve 2 so that the shaft sleeve 2 can be supported by the wall surface of the first hole section 1011 and provide conditions for the rotation of the rotating shaft 3. The outer diameter of the shaft sleeve 2 is greater than the inner diameter of the second hole section 1012, and the shaft sleeve 2 can be limited by the end of the second hole section 1012 when the shaft sleeve 2 moves to the force applying section 32, so that the rotating shaft 3 can be kept rotating.
[0055] In some embodiments of the present application, as shown in Figure 2 the first connecting rod 1 includes two support portions 11, each of which has a mounting hole 101, and the number of the connecting sections 31 is two, each of which extends into the mounting hole 101 and is connected to the inner wall surface of the first rotating hole 201 of the shaft sleeve 2 in the mounting hole 101.
[0056] Through the above configuration, the two support portions 11 can support the two ends of the rotating shaft 3 through the shaft sleeves 2 respectively. Since the two support portions 11 can simultaneously support, the stability of the rotating shaft 3 during rotation can be improved.
[0057] In some embodiments of the present application, as shown in Figure 2 the accommodating cavity 102 is formed between the two support portions 11, the two ends of the force applying section 32 are connected to one connecting section 31 respectively, and at least part of the force applying section 32 is located in the accommodating cavity 102 and can abut against the two shaft sleeves 2.
[0058] Through the above configuration, the accommodating cavity 102 can accommodate the force applying section 32 and the second connecting rod 4 connected to the force applying section 32, provide space for the movement of the force applying section 32, and also improve the overall compactness of the joint mechanism.
[0059] In some embodiments of the present application, as shown in Figure 2 the second connecting rod 4 includes a second rotating hole 401, the two ends of the second rotating hole 401 respectively penetrate the second connecting rod 4, and the force applying section 32 is arranged in the second rotating hole 401.
[0060] Through the above configuration, the second rotating hole 401 can be penetrated by the force applying section 32, so that the force applying section 32 can provide support for the second connecting rod 4, and on the other hand, the force applying section 32 can be matched with the second rotating hole 401, so that the second connecting rod 4 can rotate relative to the first connecting rod 1.
[0061] In the embodiments of the present application, the matching between the second rotating hole 401 and the second connecting rod 4 can be an interference fit, a transition fit or a clearance fit.
[0062] In some embodiments of the present application, the mounting hole 101 is interference fit with the shaft sleeve 2.
[0063] Through the above configuration, the shaft sleeve 2 can be kept relatively fixed in position by the friction force generated by the interference fit of the wall surface of the mounting hole 101, and thus facilitates the rotation of the rotating shaft 3 relative to the shaft sleeve 2.
[0064] In the embodiments of the present application, when the shaft sleeve 2 tends to rotate under the action of the rotating shaft 3, the friction force is generated between the shaft sleeve 2 and the wall surface of the mounting hole 101, so that the shaft sleeve 2 can keep relatively stable in position during operation, and thus facilitates the rotation of the rotating shaft 3 relative to the shaft sleeve 2.
[0065] In some embodiments of the present application, as shown in Figure 2 the outer wall surface of the shaft sleeve 2 and the inner wall surface of the mounting hole 101 have a gap, which is filled with the connecting agent.
[0066] Through the above configuration, it is not only beneficial to keep the shaft sleeve 2 connected with the inner wall surface of the mounting hole 101, but also beneficial to separate the shaft sleeve 2 from the mounting hole 101 after the connecting agent disappears or is dissolved, and thus facilitates the disassembly convenience.
[0067] In some embodiments of the present application, as shown in Figure 2 the two ends of the mounting hole 101 respectively penetrate the first connecting rod 1 along the axis of the rotating shaft 3.
[0068] Through the above configuration, the two ends of the mounting hole 101 can be inserted by the disassembling personnel, and then the rotating shaft 3 located in the mounting hole 101 is subjected to the action force, which can promote the shaft sleeve 2 to separate from the mounting hole 101, and thus facilitates the disassembly convenience.
[0069] In some embodiments of the present application, as shown in Figure 2 the two ends of the first rotating hole 201 respectively penetrate the shaft sleeve 2 along the axis of the rotating shaft 3.
[0070] Through the above configuration, the two ends of the first rotating hole 201 can be inserted by the disassembling personnel, and then the end of the rotating shaft 3 located in the first rotating hole 201 is subjected to the action force, which can push the shaft sleeve 2 and promote the shaft sleeve 2 to separate from the mounting hole 101.
[0071] In some embodiments of the present application, as shown in Figure 2 the two ends of the mounting hole 101 respectively penetrate the first connecting rod 1 along the axis of the rotating shaft 3, and the two ends of the first rotating hole 201 respectively penetrate the shaft sleeve 2 along the axis of the rotating shaft 3.
[0072] Through the above configuration, the disassembling personnel can insert into the mounting hole 101 and generate the action force on the rotating shaft 3 located in the first rotating hole 201, and thus the shaft sleeve 2 and the mounting hole 101 can be separated.
[0073] The second aspect of the present application provides a mechanical arm, which comprises the joint mechanism according to the above technical solution.
[0074] The mechanical arm of the present application has the same technical effects as the above embodiments due to the adoption of the joint mechanism of the above embodiments, which will not be described here again.
[0075] The third aspect of the present application provides a robot, which comprises the mechanical arm according to the above embodiments or the joint mechanism according to the above embodiments.
[0076] The robot of the present application has the same technical effects as the above embodiments due to the adoption of the joint mechanism or the mechanical arm of the above embodiments, which will not be described here again.
[0077] In the present application, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance. The term "a plurality of" refers to two or more, unless otherwise explicitly limited.
[0078] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The present application is intended to cover any variations, uses or adaptive changes of this application following the general principles thereof and including those expressly stated or implied herein. The specification and examples are to be regarded as illustrative only.
[0079] It should be understood that the present application is not limited to the precise structures described above and illustrated in the drawings and that various modifications and changes can be made without departing from the scope thereof. The scope of the present application is limited only by the claims appended hereto.
Claims
1. A joint mechanism, characterized in that, The joint mechanism includes a first connecting rod (1), a bushing (2), a rotating shaft (3), and a second connecting rod (4), wherein, The first connecting rod (1) includes a mounting hole (101); The bushing (2) includes a first rotating hole (201), the bushing (2) is located inside the mounting hole (101), and the outer wall surface of the first rotating hole (201) is connected to the inner wall surface of the mounting hole (101); One end of the rotating shaft (3) extends into the first rotating hole (201) and can rotate relative to the bushing (2). The rotating shaft (3) can move along its axial direction to exert a force on the bushing (2) to disengage from the mounting hole (101). One end of the second connecting rod (4) is connected to the rotating shaft (3).
2. The joint mechanism according to claim 1, characterized in that, The rotating shaft (3) includes a connecting section (31) and a force-applying section (32). The outer wall of the connecting section (31) is connected to the inner wall of the first rotating hole (201). One end of the force-applying section (32) is connected to the connecting section (31). One end of the force-applying section (32) can move along the extension direction of the first rotating hole (201) to abut against and push the bushing (2) toward one end of the force-applying section (32).
3. The joint mechanism according to claim 2, characterized in that, The outer diameter of the connecting section (31) is smaller than the outer diameter of the force-applying section (32).
4. The joint mechanism according to claim 3, characterized in that, The mounting hole (101) includes a first hole section (1011) and a second hole section (1012). The connecting section (31) extends from the second hole section (1012) into the first hole section (1011). The bushing (2) is located inside the first hole section (1011). The outer diameter of the bushing (2) is larger than the inner diameter of the second hole section (1012).
5. The joint mechanism according to any one of claims 2 to 4, characterized in that, The first connecting rod (1) includes two support parts (11), each of which has a mounting hole (101). There are two connecting segments (31), which extend into the two mounting holes (101) one by one and are connected to the inner wall of the first rotating hole (201) of the bushing (2) in the mounting hole (101).
6. The joint mechanism according to claim 5, characterized in that, A receiving cavity (102) is formed between the two support parts (11). The two ends of the force-applying section (32) are respectively connected to a connecting section (31). At least a portion of the force-applying section (32) is located in the receiving cavity (102) and can abut against the two bushings (2).
7. The joint mechanism according to any one of claims 2 to 4, characterized in that, The second connecting rod (4) includes a second rotating hole (401), with both ends of the second rotating hole (401) passing through the second connecting rod (4), and the force-applying section (32) passing through the second rotating hole (401).
8. The joint mechanism according to claim 1, characterized in that, The mounting hole (101) is interference-fitted with the bushing (2). or, There is a gap between the outer wall surface of the bushing (2) and the inner wall surface of the mounting hole (101), and the gap is filled with a bonding agent.
9. The joint mechanism according to claim 1, characterized in that, Both ends of the mounting hole (101) pass through the first connecting rod (1) along the axis of the rotating shaft (3). And / or, The two ends of the first rotating hole (201) pass through the bushing (2) along the axis of the rotating shaft (3).
10. A robotic arm, characterized in that, The robotic arm includes the joint mechanism as described in any one of claims 1 to 9.
11. A robot, characterized in that, The robot includes the robotic arm as described in claim 10 or the joint mechanism as described in any one of claims 1 to 9.