Joint assembly, robotic arm and robot

Abstract

This utility model discloses a joint assembly, a robotic arm, and a robot, relating to the field of robotics technology. The joint assembly includes a first support module and a second support module. The first support module is driven to the second support module to rotate. The second support module is driven to the output component to rotate, enabling the output component to perform rotation and swinging movements. The technical solution provided by this utility model allows for flexible multi-directional movement, more flexible posture adjustment, and a simple structure, making it easy to implement.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a joint assembly, a robotic arm, and a robot. Background Technology

[0002] Robots are widely used in various fields such as industrial production, logistics and transportation, and medical assistance. Typically, a robot consists of three main parts: the torso, the robotic arm, and the mobile base. The torso, as the main body of the robot, carries various electronic components and control systems. The robotic arm, as the key component for operation and interaction, completes complex tasks such as grasping, handling, assembly, and welding through precise joint movements and end effectors. The mobile base, as the core component of the robot's mobile platform, is responsible for bearing the weight of the entire robot and achieving autonomous movement and positioning in the working environment. When performing actions such as grasping and handling, the robotic arm needs to adjust to different postures. Currently, the robotic arms of some robots are not flexible enough in adjusting their postures, which affects work efficiency. Utility Model Content

[0003] The main objective of this invention is to provide a joint assembly, robotic arm, and robot that aims to improve the flexibility of the joint assembly's swing.

[0004] To achieve the above objectives, the present invention proposes a joint assembly for connecting an output component, the joint assembly comprising:

[0005] First support module;

[0006] The second support module is driven to connect with the output component to drive the output component to rotate around the second support module as an axis. The first support module is driven to connect with the second support module to drive the second support module to rotate, so that the output component can complete the rotation and swinging motion.

[0007] In one embodiment, the second support module includes a support structure, a second drive motor, a second worm gear, and a second worm wheel. The support structure is mounted on the first support module, the second worm wheel is fixedly mounted on the support structure, and the output component is mounted on the second drive motor. The second drive motor is drivenly connected to the second worm gear to drive the second worm gear to rotate. The second worm gear meshes with the second worm wheel so that the rotation of the second worm gear causes the second worm gear and the second drive motor to rotate about the central axis of the second worm wheel.

[0008] In one embodiment, the joint assembly includes a first mounting base, and the support structure is mounted on the first mounting base;

[0009] The first support module includes a first drive motor, a first worm gear, and a first worm wheel. The first worm gear extends along a first direction, and the axis of the first worm wheel extends along a second direction. The first worm wheel is coaxially mounted on the first mounting base. The first drive motor is driven to the first worm gear to drive the first worm gear to rotate. The first worm gear meshes with the first worm wheel so that the rotation of the first worm gear causes the first worm wheel to rotate, thereby driving the first mounting base and the second support module to rotate about the second direction as the axis.

[0010] In one embodiment, the first support module is a harmonic motor, and the output shaft of the harmonic motor is driven to the second support module to drive the second support module to rotate in a second direction.

[0011] In one embodiment, the support structure includes a second mounting base, which is coaxially connected to the output end of the first support module. A support plate is provided on each side of the mounting base, and the two ends of the second worm gear are fixedly connected to the two support plates respectively.

[0012] In one embodiment, the second support module further includes a mounting shell, which includes a first shell and a second shell connected together. The first shell forms a first channel, and the second shell forms a second channel. The axis of the first channel is perpendicular to that of the second channel, and the first shell and the second shell are in communication. The two ends of the axis of the second shell are respectively mounted on the support plate. The second worm gear is disposed in the first shell and is coaxially arranged with the first shell. The second worm wheel is disposed in the second shell and is coaxially arranged with the second shell.

[0013] In one embodiment, the second drive motor is fitted with a housing, which has multiple mounting holes.

[0014] In one embodiment, the cross-sectional shape of the mounting hole is triangular.

[0015] This invention also proposes a robotic arm, including the joint assembly described in any of the preceding claims.

[0016] This utility model also proposes a mobile robot, including the robotic arm described above.

[0017] In the technical solution of this utility model, the joint assembly includes a first support module and a second support module. The first support module drives and connects to the second support module, so that the second support module rotates around the first support module as the axis. The second support module drives the output component to swing and flip around the second axis, so that the output component completes the rotation and flipping action relative to the first support module. That is, the joint assembly can perform flexible multi-directional movement, the posture adjustment is more flexible, and the structure is simple and easy to implement. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A schematic diagram of a joint assembly according to an embodiment of the present invention;

[0020] Figure 2 An exploded structural diagram of an embodiment of the first support module provided by this utility model;

[0021] Figure 3 A schematic diagram of another embodiment of the joint assembly provided by this utility model;

[0022] Figure 4 An exploded structural diagram of the second support module provided by this utility model.

[0023] Explanation of icon numbers:

[0024] 100. First support module; 101. First drive motor; 102. Connecting structure; 103. First worm gear; 104. First worm wheel; 105. Housing; 110. Harmonic motor;

[0025] 200. Second support module; 210. Support structure; 211. Second mounting base; 212. Support plate; 220. Second drive motor; 230. Transmission structure; 240. Second worm gear; 250. Second worm wheel; 260. Mounting shell; 261. First shell; 262. Second shell;

[0026] 300. First mounting bracket;

[0027] 400, outer casing; 410, mounting holes.

[0028] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0030] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0031] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0032] Robots are widely used in various fields such as industrial production, logistics and transportation, and medical assistance. Typically, a robot consists of three main parts: the torso, the robotic arm, and the mobile base. The torso, as the main body of the robot, carries various electronic components and control systems. The robotic arm, as the key component for operation and interaction, completes complex tasks such as grasping, handling, assembly, and welding through precise joint movements and end effectors. The mobile base, as the core component of the robot's mobile platform, is responsible for bearing the weight of the entire robot and achieving autonomous movement and positioning in the working environment. When performing actions such as grasping and handling, the robotic arm needs to adjust to different postures. Currently, the robotic arms of some robots are not flexible enough in adjusting their postures, which affects work efficiency.

[0033] This utility model proposes a joint assembly.

[0034] Please see Figure 1 and Figure 3In one embodiment of the present invention, the joint assembly includes a first support module 100 and a second support module 200. The second support module 200 is driven to the output component to drive the output component to swing about a first axis. The first support module 100 is driven to the second support module 200 to drive the second support module 200 to rotate about a second axis, so that the output component completes the rotation and swinging actions.

[0035] In the technical solution of this utility model, the joint assembly includes a first support module 100 and a second support module 200. The first support module 100 drives and connects to the second support module 200, so that the second support module 200 rotates around the first support module 100 as the axis. The second support module 200 drives the output component to swing and flip around the second axis, so that the output component completes the rotation and flipping action relative to the first support module 100. That is, the joint assembly can perform flexible multi-directional movement, the posture adjustment is more flexible, and the structure is simple and easy to implement.

[0036] Specifically, the output component can be a structure of an output end such as a robotic hand or robotic arm, without limitation. The joint assembly can be applied to the robotic arm of a robot. For example, the first support module 100 is installed on the torso of the robot. The first support module 100 includes a first fixed end and a first output end. The first fixed end is fixedly installed on one side of the torso by screws or the like. The first output end can rotate relative to the first fixed end. The second support module 200 is installed on the side of the first support module 100 away from the torso, that is, the second support module 200 is installed on the first output end. When the first output end rotates, it drives the second support module 200 to rotate about a first axis. The first axis is the rotation axis of the first output end. The second support module 200 includes a second fixed end and a second output end. The second fixed end is installed on the first output end. The second output end can swing along a second axis relative to the second fixed end. The second output end is connected to the output component, so that the output component can complete the rotation along the first axis and the swinging action along the second axis.

[0037] In an embodiment of this utility model, the second support module 200 includes a support structure 210, a second drive motor 220, a second worm 240, and a second worm wheel 250. The support structure 210 is installed on the first support module 100, and the second worm wheel 250 is fixedly installed on the support structure 210. The output component is installed on the second drive motor 220. The second drive motor 220 is drivenly connected to the second worm 240 to drive the second worm 240 to rotate. The second worm 240 meshes with the second worm wheel 250 so that the rotation of the second worm 240 causes the second worm 240 and the second drive motor 220 to rotate about the central axis of the second worm wheel 250.

[0038] Please refer to Figure 4 The axis of the second worm gear 250 is configured as the second axis, and the second worm gear 250 is fixed to the first output end of the first support module 100 through the support structure 210, so that the second worm gear 250 rotates around the axis of the first output end, which is the first axis. The second support module 200 includes a second drive motor 220, which is a servo motor. A transmission structure can also be provided between the second drive motor 220 and the second worm 240, such as a planetary reducer. The second drive motor 220 is connected to the transmission structure 230 through a flange. The planetary reducer is small in size, light in weight, and has high transmission efficiency. The output torque of the second drive motor 220 is adjusted by the planetary reducer. The output shaft of the planetary reducer is connected to a second worm 240. The device has a worm gear surface, and the second worm 240 meshes with the second worm wheel 250. Since the second worm wheel 250 is fixed on the support structure 210, when the second worm 240 rotates, it causes the second worm 240 and the second drive motor 220 to rotate around the second axis. The output component is mounted on the second drive motor 220, thus realizing the rotation of the output component along the second axis. The cooperation between the second worm wheel 250 and the second worm 240 allows the output part to easily achieve large-angle flipping action, meeting the flipping requirements of different processes. Furthermore, the second worm wheel 250 and the second worm 240 have a self-locking characteristic, that is, after the second drive motor 220 stops running, it can prevent the output part from flipping due to its own weight or other external forces, ensuring the stability and reliability of the flipping process.

[0039] In an embodiment of this utility model, the joint assembly includes a first mounting base 300, and the support structure 210 is mounted on the first mounting base 300.

[0040] The first support module 100 includes a first drive motor 101, a first worm 103, and a first worm wheel 104. The first worm 103 extends along a first direction, and the axis of the first worm wheel 104 extends along a second direction. The first worm wheel 104 is coaxially mounted on the first mounting base 300. The first drive motor 101 is driven to rotate the first worm 103. The first worm 103 meshes with the first worm wheel 104 so that the rotation of the first worm 103 causes the first worm wheel 104 to rotate, thereby driving the first mounting base 300 and the second support module 200 to rotate about the second direction as the axis.

[0041] Please refer to Figure 1 and Figure 2The first support module 100 is used to drive the second support module 200 and the output part to rotate along the first axis. The first support module 100 includes a first fixed end fixed to the torso, which is configured as a first drive motor 101. The first drive motor 101 is a servo motor. A connecting structure 102 is also provided between the first drive motor 101 and the first worm gear 103. The first drive motor 101 is connected to the connecting structure 102 through a flange. The connecting structure 102 can also be a planetary reducer, used to adjust the output torque of the second drive motor 101. The first drive motor 101 transmits power through the connecting structure 102. Structure 102 transmits power to the first worm gear 103 to convert the power of the first drive motor 101 into the rotation of the first worm gear 103. The axis of the first worm gear 103 is in the first direction. The outer circumference of the first worm wheel 104 meshes with the first worm gear 103. The rotation of the first worm gear 103 drives the first worm wheel 104 to rotate. Since the first worm wheel 104 is coaxially connected to the first mounting base 300 and the support structure 210 is mounted on the first mounting base 300, the rotation of the first worm wheel 104 will drive the first mounting base 300, the support structure 210 and the second worm wheel 250 to rotate, thereby realizing the rotation of the output component.

[0042] In embodiments of this utility model, such as Figure 3 and Figure 4 As shown, the first support module 100 uses a harmonic motor 110. The output shaft of the harmonic motor 110 is connected to the second support module 200 to drive the second support module 200 to rotate in a second direction. The harmonic motor 110 has a small moment of inertia and high transmission efficiency, making it suitable for precise movements. By driving the second support module 200 to rotate through the harmonic motor 110, and thus driving the output component to rotate, the structure is compact, and the volume is small at the same reduction ratio, which is beneficial to improving the dynamic performance of the system. However, this design is not limited to this; the harmonic motor 110 can be replaced with other rotary motors that can drive the main body to rotate along its own axis.

[0043] Furthermore, in some embodiments, Figure 1 and Figure 3 The structures within can be combined, specifically. Figure 3 The first support module 100 is installed in Figure 1 The outer shell is 400, at this time Figure 3 The harmonic motor 110 in the middle can drive Figure 3 The outer casing 400 rotates around the axis of the harmonic motor 110.

[0044] The harmonic motor 110 is a motor based on the harmonic drive principle. It can also use a harmonic reducer, which includes a steel wheel, a flexible wheel and a wave generator. The wave generator is installed on the output shaft of the motor and its outer edge is elliptical. As the wave generator rotates continuously, it forms a staggered tooth motion to achieve deceleration.

[0045] In the embodiments of this utility model, please refer to Figure 4 The support structure 210 includes a second mounting base 211, which is coaxially connected to the output end of the first support module 100. A support plate 212 is provided on both sides of the mounting base. The two ends of the second worm gear 250 are fixedly connected to the two support plates 212 respectively. The second mounting base 211 is a plate-shaped structure and is fixed to the output end of the first support module 100. If the first support module 100 uses a first drive motor 101, the second mounting base 211 is mounted on the first mounting base 300. The two support plates 212 extend in a direction away from the first mounting base 300, and the support plates 212 are provided with mounting holes 410. A gap is formed between the two support plates 212. The second worm gear 250 is fixed between the two support plates 212. Due to the fixation of the second worm gear 250, when the second worm 240 rotates, it will drive the second worm 240 and the second drive motor 220 to swing relative to the second worm gear 250, realizing the swinging process of the output component. When the first support module 100 uses a harmonic motor 110, the output shaft of the harmonic motor 110 is connected to a mounting plate, and the second mounting base 211 is coaxially mounted on the mounting plate so that the mounting plate rotates with the drive of the harmonic motor 110.

[0046] In one embodiment, such as Figure 4 As shown, end caps (not marked) are provided on the mounting holes 410 of the two support plates 212, and the second worm gear 250 is mounted on the two support plates 212 via ball bearings. Specifically, the ball bearings are mounted on the central shaft of the second worm gear 250 by interference fit. In addition, oil seals, such as rubber or polyurethane, are provided on the ball bearings to reduce friction and wear, and to reduce grease leakage and the entry of external impurities, ensuring good lubrication and extending service life. The ball bearings can effectively reduce the rotational friction of the second worm gear 250 and can withstand large radial and axial loads, ensuring the stability of joint movement.

[0047] In an embodiment of this utility model, the second support module 200 further includes a mounting shell 260, which includes a first shell 261 and a second shell 262 connected together. The first shell 261 forms a first channel, and the second shell 262 forms a second channel. The axes of the first channel and the second channel are perpendicular, and the first shell 261 and the second shell 262 are in communication. The two ends of the axis of the second shell 262 are respectively mounted on the support plate 212. The second worm gear 240 is disposed in the first shell 261 and is coaxially arranged with the first shell 261. The second worm wheel 250 is disposed in the second shell 262 and is coaxially arranged with the second shell 262.

[0048] Please refer to Figure 4 The inner wall of the first channel is provided with internal threads. When the second worm 240 is inserted into the first channel, it is screwed to the internal threads of the first channel through the pressure cap. A bearing sleeve is fixedly provided in the first channel and is fixedly connected to the pressure cap. The second worm 240 extends into the first channel from the pressure cap and rotates relative to the first channel within the bearing sleeve. Similar to the first channel, the second worm wheel 250 is installed in the second channel through the pressure cap and sealing ring. Since the first channel and the second channel are connected, the second worm 240 in the first channel meshes with the second worm wheel 250 in the second channel. When the second worm wheel 250 remains stationary relative to the second mounting seat 211, the second worm 240 can swing about the central axis of the second worm wheel 250.

[0049] In an embodiment of this utility model, the second drive motor 220 is covered with a housing 400. The housing 400 is hollowed out with multiple mounting holes 410. The housing 400 can protect the internal second drive motor 220. To improve the protection, the housing 400 can be made of aluminum alloy. Aluminum alloy has good wear resistance and impact resistance, can withstand the torque and inertial force generated during rotation, and can reduce the weight of the joint assembly and improve operating efficiency. The material of the housing 400 is not limited here. Multiple mounting holes 410 are provided at intervals on the housing 400. The installation of mounting holes 410 can make the entire joint assembly lighter.

[0050] In this embodiment of the invention, the mounting hole 410 has a triangular cross-sectional shape. The triangular mounting hole 410 not only reduces the weight of the housing 400, ensuring the lightweight design of the joint assembly, but also provides greater structural stability. In some other embodiments, the mounting hole 410 may also have a rectangular, square, circular, or linear irregular shape, which is not limited here.

[0051] This utility model also provides a robotic arm, which includes a robotic hand and a joint assembly. The specific structure of the joint assembly is as described in the above embodiments. Since this robotic arm adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. Among them, the robotic hand is an output component and is installed on the second output end of the joint assembly.

[0052] This utility model also provides a mobile robot, which includes a torso, a mobile base, and robotic arms. The specific structure of the robotic arms is as described in the above embodiment. The torso is mounted on the top of the base, and a robotic arm is mounted on each side of the torso. The robotic arms are symmetrically arranged on both sides. By performing rotation and swinging movements, the robot can flexibly adjust its posture and perform fine operations. The robot in this embodiment can be applied to automobile manufacturing or electronic equipment production, as well as to logistics, warehousing, medical or food processing industries, etc., without limitation.

[0053] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A joint assembly for connecting an output component; characterized in that, The joint assembly includes: First support module; The second support module is driven to rotate, and the first support module is driven to rotate. The second support module is driven to rotate, and the output component is driven to flip, so that the output component completes the rotation and swinging action.

2. The joint assembly as claimed in claim 1, characterized in that, The second support module includes a support structure, a second drive motor, a second worm gear, and a second worm wheel. The support structure is installed on the first support module, and the second worm wheel is fixedly installed on the support structure. The output component is installed on the second drive motor. The second drive motor is drivenly connected to the second worm gear to drive the second worm gear to rotate. The second worm gear meshes with the second worm wheel so that the rotation of the second worm gear causes the second worm gear and the second drive motor to rotate about the central axis of the second worm wheel.

3. The joint assembly as claimed in claim 2, characterized in that, The joint assembly includes a first mounting base, and the support structure is mounted on the first mounting base; The first support module includes a first drive motor, a first worm gear, and a first worm wheel. The first worm gear extends along a first direction, and the axis of the first worm wheel extends along a second direction. The first worm wheel is coaxially mounted on the first mounting base. The first drive motor is driven to the first worm gear to drive the first worm gear to rotate. The first worm gear meshes with the first worm wheel so that the rotation of the first worm gear causes the first worm wheel to rotate, thereby driving the first mounting base and the second support module to rotate about the second direction as the axis.

4. The joint assembly as claimed in claim 2, characterized in that, The first support module uses a harmonic motor, and the output shaft of the harmonic motor is driven to the second support module to drive the second support module to rotate in the second direction.

5. The joint assembly as claimed in claim 3 or 4, characterized in that, The support structure includes a second mounting base, which is coaxially connected to the output end of the first support module. A support plate is provided on each side of the mounting base, and the two ends of the second worm gear are fixedly connected to the two support plates respectively.

6. The joint assembly as claimed in claim 5, characterized in that, The second support module further includes a mounting shell, which includes a first shell and a second shell connected together. The first shell forms a first channel, and the second shell forms a second channel. The axis of the first channel is perpendicular to that of the second channel, and the first shell and the second shell are connected. The two ends of the axis of the second shell are respectively mounted on the support plate. The second worm is disposed in the first shell and is coaxially arranged with the first shell. The second worm wheel is disposed in the second shell and is coaxially arranged with the second shell.

7. The joint assembly as claimed in claim 2, characterized in that, The second drive motor is covered with a housing, which has multiple mounting holes.

8. The joint assembly as claimed in claim 7, characterized in that, The cross-sectional shape of the mounting hole is triangular.

9. A robotic arm, characterized in that, Includes the joint assembly as described in any one of claims 1 to 8.

10. A mobile robot, characterized in that, Including the robotic arm as described in claim 9.

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