Rotary joint for a robot hand and robot hand

Abstract

The present disclosure provides a rotary joint for a manipulator and the manipulator. The rotary joint comprises a first segment, a second segment and a driving assembly. The driving assembly is configured to drive the second segment to pivot relative to the first segment. The driving assembly comprises an electric motor and a transmission mechanism. The electric motor is disposed inside the first segment, and an output shaft of the electric motor is parallel to an extension direction of the first segment. The transmission mechanism is coupled to the output shaft of the electric motor. The transmission mechanism comprises a rotary shaft for output, and an axial direction of the rotary shaft is perpendicular to the direction of the output shaft of the electric motor. The transmission mechanism is configured to convert a motion of the output shaft of the electric motor into a motion of the rotary shaft. The transmission mechanism is connected to the second segment to drive the second segment to pivot relative to the first segment. The embodiments of the present disclosure are advantageous to improve the utilization of the internal space of the first segment, optimize the transmission mechanism, and improve the output torque and carrying capacity of the rotary joint.

Description

Technical Field

[0001] This disclosure relates to the field of mechanical transmission technology, and in particular to a rotary joint for a robotic arm and a robotic arm. Background Technology

[0002] A robotic hand includes at least one rotary joint, which is driven by an electric motor and a transmission mechanism. The robotic hand performs actions such as grasping and releasing through the rotary joint. With technological advancements and changing demands, the market increasingly requires robotic hands to be miniaturized, more flexible, and have a more consistent appearance. However, in existing designs, the rotary joints either have poor space utilization within the robotic hand or suffer from drawbacks such as low output torque and poor load-bearing capacity. Utility Model Content

[0003] To address one or more deficiencies in the prior art, this disclosure provides a rotary joint for a robotic arm, comprising a first segment, a second segment, and a drive assembly, wherein the drive assembly drives the second segment to pivot relative to the first segment; the drive assembly includes a motor and a transmission mechanism, wherein... The motor is disposed inside the first segment, and the output shaft of the motor is parallel to the extension direction of the first segment; The transmission mechanism is coupled to the output shaft of the motor; the transmission mechanism includes a rotating shaft for output, and the axial direction of the rotating shaft is perpendicular to the output shaft direction of the motor; the transmission mechanism is configured to convert the motion of the output shaft of the motor into the motion of the rotating shaft. The transmission mechanism is connected to the second segment to drive the second segment to pivot relative to the first segment.

[0004] Optionally, the second segment includes a first transmission assembly fixedly connected thereto, and the transmission mechanism engages with the first transmission assembly.

[0005] Optionally, the transmission mechanism includes a second transmission assembly and a reduction gearbox, wherein, The second transmission assembly is coupled to the output shaft of the motor; The gearbox is connected to the second transmission assembly.

[0006] Optionally, the second transmission assembly includes a first bevel gear, a second bevel gear, and a central gear, wherein, The first bevel gear is connected to the output shaft of the electric motor; The first bevel gear and the second bevel gear mesh, and the axial direction of the second bevel gear is parallel to the axial direction of the rotating shaft; The intermediate gear meshes with the second bevel gear, and the axial direction of the intermediate gear is parallel to the axial direction of the second bevel gear.

[0007] Optionally, the transmission mechanism includes a housing, a first planetary gear set, and an output end, wherein, The first planetary gear set is disposed inside the housing and meshes with the second transmission assembly; The output end is connected to the first planetary gear set and extends to the outside of the housing; the output end is connected to the second segment.

[0008] Optionally, the transmission mechanism further includes a second planetary gear set, which is disposed inside the housing and located between the first planetary gear set and the output end. The second planetary gear set is coaxially arranged with the first planetary gear set. The output end is connected to the first planetary gear set via the second planetary gear set.

[0009] Optionally, the reduction ratio of the transmission mechanism is in the range of 50-100, and the output torque is greater than 1 Nm.

[0010] Optionally, the dimension of the transmission mechanism in the axial direction of the rotating shaft is less than 18 mm, and the dimension in the radial direction of the rotating shaft is less than 18 mm.

[0011] Optionally, the second segment has multiple rotational degrees of freedom relative to the first segment; the rotational joint includes multiple drive components; each of the multiple drive components is drively connected to the first transmission component, and the multiple drive components are configured to drive the first segment and the second segment to rotate in two directions.

[0012] Optionally, the second segment has two rotational degrees of freedom relative to the first segment; the rotational joint includes two drive components; the two drive components are arranged side by side inside the first segment, and the first transmission component is configured to receive the output torque of the two drive components and drive the second segment to rotate in two directions relative to the first segment.

[0013] Optionally, the first transmission assembly includes a differential bevel gear set, which includes two third bevel gears and two fourth bevel gears, the two third bevel gears and the two fourth bevel gears being orthogonally meshed; the transmission mechanisms in the two drive assemblies are respectively connected to the two third bevel gears.

[0014] Optionally, this disclosure relates to a robotic arm including at least one rotary joint as described above.

[0015] Optionally, the robotic hand includes a plurality of rotary joints, including a first rotary joint having one degree of rotational freedom and a second rotary joint having multiple degrees of rotational freedom; the robotic hand also includes a first finger and a second finger, wherein at least one first rotary joint is disposed in the first finger and two second rotary joints are disposed in the second finger.

[0016] Optionally, the first finger is provided with two first rotational joints and one second rotational joint; wherein, in the first finger, the two first rotational joints correspond to the distal interphalangeal joint and the proximal interphalangeal joint of the first finger, respectively; the second rotational joint corresponds to the metacarpophalangeal joint of the first finger. The second finger is provided with one first rotary joint and two second rotary joints; wherein, within the second finger, one first rotary joint corresponds to the interphalangeal joint of the second finger; and the two second rotary joints respectively correspond to the metacarpophalangeal joint and the metacarpophalangeal joint of the second finger.

[0017] Compared to existing technologies, embodiments of this disclosure provide a rotary joint for a robotic arm, wherein a drive assembly drives a second segment to pivot relative to a first segment. The drive assembly includes a motor and a transmission mechanism. The motor is integrated inside the first segment, and the output shaft of the motor is parallel to the extension direction of the first segment. This simplifies the structure of the rotary joint, reduces external wiring, and improves the utilization of the internal space of the first segment. The perpendicularity between the output shaft of the motor and the rotation axis of the transmission mechanism in the drive assembly optimizes the transmission mechanism and enhances the output torque and load-bearing capacity of the rotary joint.

[0018] Embodiments of this disclosure also include a robotic arm that utilizes the rotary joints described above. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings:

[0020] Figure 1A A schematic diagram of an exemplary rotary joint consistent with some embodiments of this disclosure is shown; Figure 1B A schematic diagram of the structure of an exemplary driving component consistent with some embodiments of this disclosure is shown; Figure 2 A schematic diagram showing the cooperation of an exemplary drive assembly and a first transmission assembly consistent with some embodiments of this disclosure is shown; Figure 3 A cross-sectional view of an exemplary transmission mechanism consistent with some embodiments of this disclosure is shown; Figure 4 A cross-sectional view of an exemplary transmission mechanism consistent with other embodiments of this disclosure is shown; Figure 5 An exploded view of an exemplary transmission mechanism consistent with other embodiments of this disclosure is shown; Figure 6 A schematic diagram of an exemplary robotic arm consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are shown. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0022] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this disclosure 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, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0023] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections 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 disclosure according to the specific circumstances.

[0024] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature 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 includes the first feature 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.

[0025] The following disclosure provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this disclosure, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0026] The embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0027] Embodiments of this disclosure include a rotary joint for a robotic arm. The rotary joint includes a first segment, a second segment, and a drive assembly. The drive assembly can drive the second segment to pivot relative to the first segment. The drive assembly includes a motor and a transmission mechanism.

[0028] The electric motor is housed inside the first segment, and its output shaft is parallel to the extension direction of the first segment. A transmission mechanism is coupled to the motor's output shaft. The transmission mechanism includes a rotating shaft for output, and the axis of the rotating shaft is perpendicular to the direction of the motor's output shaft. The transmission structure converts the motion of the motor's output shaft into the motion of the rotating shaft. The transmission mechanism is connected to the second segment and can drive the second segment to pivot relative to the first segment.

[0029] In this disclosure, the electric motor is located inside the first segment of the finger, which reduces external wiring of the rotary joint, optimizes the appearance of the robotic hand, reduces external environmental interference, and improves structural stability. Furthermore, the output shaft of the electric motor is parallel to the extension direction of the first segment, which helps improve the space utilization of the electric motor within the finger joint and balances the center of gravity distribution of the rotary joint. The rotation shaft of the transmission mechanism is perpendicular to the output shaft of the electric motor, which helps optimize the layout of the transmission mechanism and improve the output torque and load-bearing capacity of the rotary joint.

[0030] Figure 1A The structure of an exemplary rotary joint 100 consistent with some embodiments of this disclosure is shown. The rotary joint 100 is used for a robotic hand. The robotic hand may include a palm and multiple fingers, such as four, five, etc. The palm or fingers may include multiple rotary joints. See also Figure 1A The rotating joint 100 includes a first segment 102, a second segment 104, and a drive assembly 106. The first segment 102 and the second segment 104 can be knuckles of a finger. Figure 1B The structure of an exemplary drive component 106 consistent with some embodiments of this disclosure is shown. The drive component 106 can be used to drive the second segment 104 to pivot relative to the first segment 102. The first segment 102 and the second segment 104 are only relative concepts and do not limit the upstream / downstream relationship between the first segment 102 and the second segment 104. The following description, in conjunction with... Figure 1A and Figure 1B The rotary joint 100 and the drive assembly 106 will be described.

[0031] See Figure 1A and Figure 1B The drive assembly 106 includes a motor 162 and a transmission mechanism 164. The motor 162 is disposed inside the first segment 102, and the output shaft of the motor 162 is parallel to the extending direction of the first segment 102, for example... Figure 1A In some embodiments, the structure of the robotic hand is similar to that of a human hand, with the first segment 102 corresponding, for example, to a knuckle in a human hand, and the output shaft direction of the motor 162 being parallel to the direction of the phalanx in the knuckle. In some embodiments, the cross-sectional shape of the first segment 102 is approximately circular or elliptical, and the shape of the motor 162 can be cylindrical. The coaxial arrangement of the motor 162 and the first segment 102 can make full use of the space within the first segment 102 and is beneficial for optimizing the center of gravity distribution in the rotational joint 100.

[0032] In some embodiments, the output shaft of the motor 162 coincides with or is adjacent to the shape center of the cross-sectional shape of the first segment 102 perpendicular to the axial direction. For example, the first segment 102 has a generally circular or elliptical cross-sectional shape perpendicular to the axial direction, and the output shaft of the motor 162 is close to the shape center of the circular or elliptical shape. When the motor 162 outputs torque, it helps to reduce the risk of vibration of the rotating joint 100 due to eccentricity.

[0033] In some embodiments, see Figure 1A and Figure 1B The output shafts of the transmission mechanism 164 and the motor 162 are coupled, for example, by gear connection, chain connection, rack and pinion connection, lead screw connection, etc.

[0034] In some embodiments, the transmission mechanism 164 includes a rotating shaft for output, for example... Figure 1A The vertical dashed line in the diagram. The axis of rotation is perpendicular to the output shaft of motor 162. Transmission mechanism 164 converts the motion of the output shaft of motor 162 into the motion of the rotation shaft. Transmission mechanism 164 can change the output direction of motor 162 to meet the pivoting requirement of the second segment 104 of transmission joint 100 relative to the first segment 102. For example, rotation joint 100 corresponds to two adjacent finger joints and the joint within them in a human hand; the motion of the rotation shaft in transmission mechanism 164 can correspond to the rotation axis of the finger joint. The specific structure of transmission mechanism 164 will be described in conjunction with the accompanying drawings in subsequent embodiments.

[0035] The transmission mechanism 164 is connected to the second segment 104 and can drive the second segment 104 to rotate relative to the first segment 102, for example, by driving the second segment 104 to rotate about a rotation axis in the transmission mechanism 164. In some embodiments, the transmission mechanism 164 may be fixedly connected to the housing of the second segment 104 or integrally formed therefrom.

[0036] The rotation axis of the transmission mechanism 164 is approximately perpendicular to the output axis of the motor 162, which is beneficial for optimizing the structural design of the transmission mechanism 164. Furthermore, the transmission mechanism 164 has more usable space, which increases the degree of freedom in the structural design of the transmission mechanism 164 and helps to improve the output torque or load-bearing capacity of the transmission joint 100.

[0037] In some embodiments, the transmission mechanism can drive the second segment to pivot relative to the first segment via other transmission machinery. For example, the second segment includes a first transmission assembly. The first transmission assembly is fixedly connected to the second segment, for example, fixedly connected to the housing of the second segment. The transmission mechanism engages with the first transmission assembly, driving the second segment to pivot relative to the first segment through the first transmission assembly. The first transmission assembly can be used to change the output torque, output direction, rotational speed, etc., of the transmission mechanism, and the structure and function of the first transmission assembly can be adjusted according to the actual needs of the rotating joint. The first transmission assembly includes, for example, a gear set, a connecting rod, a rack, etc.

[0038] In some embodiments, the second segment can have multiple degrees of freedom relative to the first segment, which is beneficial for improving the flexibility of the robotic hand. For example, the structure of a robotic hand is similar to that of a human hand, where the metacarpophalangeal joints and wrist joints have two degrees of freedom. In the rotational joints of the robotic hand corresponding to the metacarpophalangeal or wrist joints, the second segment can have two rotational degrees of freedom in different directions relative to the first segment. In some embodiments, the second segment can have two rotational degrees of freedom with rotational axes perpendicular to each other relative to the first segment.

[0039] In some embodiments, the rotary joint includes multiple drive components. Each drive component is drively connected to a first transmission component, and the multiple drive components can drive the second segment to rotate relative to the first segment in two directions. For example, if the second segment has two degrees of freedom relative to the first segment, the rotary joint includes two drive components, which can drive the second segment to rotate relative to the first segment in two directions.

[0040] Figure 2 A schematic diagram illustrating the interaction between an exemplary drive assembly 206 and a first transmission assembly 242, consistent with some embodiments of this disclosure. The drive assembly 206 may have the same or similar structure as the drive assembly 106 in the preceding embodiments. The transmission mechanism 264 may have the same or similar structure as the transmission mechanism 164 in the preceding embodiments. The first transmission assembly 242 may be fixedly connected to the housing of the second segment. The drive assembly 206 drives the second segment to pivot relative to the first segment by rotating the first transmission assembly 242.

[0041] In some embodiments, the second segment has two rotational degrees of freedom relative to the first segment. The rotary joint includes two drive components 206. See also Figure 2Both drive components 206 are drively connected to the first transmission component 242, for example, the two drive components 206 and the first transmission component 242 are meshed via gears. The first transmission component 242 can receive the output torque of the two drive components 206 and drive the second segment to rotate relative to the first segment in two directions. In some embodiments, the two drive components 206 can be controlled independently and can drive the second segment to rotate relative to the first segment in two directions via the first transmission component 242. In some embodiments, the two drive components 206 can be controlled jointly.

[0042] In some embodiments, the two drive components 206 are arranged side by side, for example, the two drive components 206 are arranged side by side inside the first segment. In some embodiments, the rotation directions of the transmission mechanisms in the two drive components 206 are parallel to each other, which helps to reduce the space occupied by the two drive components 206 and reduce the assembly difficulty of the rotating joint.

[0043] In some embodiments, see Figure 2 The first transmission assembly 242 may include a differential bevel gear set 244. The differential bevel gear set 244 includes two third bevel gears 246 (one of which is obscured and not shown) and two fourth bevel gears ( Figure 2 (Not shown in the diagram). Two third bevel gears 246 are arranged in parallel, and two fourth bevel gears are arranged in parallel, with the two third bevel gears 246 and the two fourth bevel gears meshing orthogonally, forming a four-bevel gear transmission structure. The rotation axes of the two third bevel gears 246 correspond to one rotation direction of the second segment relative to the first segment. The rotation axes of the two fourth bevel gears correspond to the other rotation direction of the second segment relative to the first segment. See also... Figure 2 In some embodiments, the transmission mechanisms 264 in the two drive assemblies 206 are respectively connected to two third bevel gears 246. The two drive assemblies 206 can drive the rotational degrees of freedom of the second segment relative to the first segment in two mutually perpendicular directions through the two third bevel gears 246 and the two fourth bevel gears.

[0044] In some embodiments, the first transmission component may also be a planetary gear set, a worm gear, a rack and pinion, or other similar forms. Those skilled in the art will understand that the structural form of the first transmission component is not limited to the differential bevel gear set 244 in the foregoing embodiments.

[0045] In some embodiments, the transmission mechanism includes a second transmission assembly and a reduction gearbox. The second transmission assembly is coupled to the output shaft of the motor. The reduction gearbox is connected to the second transmission assembly. The second transmission assembly can convert the rotation direction of the motor's output shaft to the rotation direction of the transmission mechanism's rotation shaft. The reduction gearbox can adjust the motor's output torque and rotation speed to meet the usage requirements of the rotating joint.

[0046] See Figure 1B In some embodiments, the transmission mechanism 164 includes a second transmission assembly 166 and a reduction gearbox 168. The second transmission assembly 166 includes a first bevel gear (not shown), a second bevel gear 1662, and a central gear 1664. The first bevel gear is connected to the output shaft of the motor 162. For example, the first bevel gear is axially fixedly connected to the output shaft of the motor 162. The motor 162 drives the first bevel gear to rotate.

[0047] The second bevel gear 1662 meshes with the first bevel gear, and the axial direction of the second bevel gear 1662 is parallel to the rotation axis of the transmission mechanism 164 and perpendicular to the output shaft of the motor 162. The first bevel gear and the second bevel gear 1662 cooperate to change the direction of motion (e.g., torque direction) of the output shaft of the motor 162 by 90°.

[0048] The intermediate gear 1664 is connected to the second bevel gear 1662 in a driving connection, and the axial direction of the intermediate gear 1664 is parallel to the axial direction of the second bevel gear 1662. The intermediate gear 1664 is disposed between the second bevel gear 1662 and the reduction gearbox 168. For example, the intermediate gear 1664 also meshes with a gear in the reduction gearbox 168.

[0049] In some embodiments, the intermediate gear 1664 may include a plurality of fixed-axis gears that mesh sequentially. The transmission ratio between the motor 162 and the reduction gearbox 168 can be changed by adjusting the gear ratio of the intermediate gear 1664. In some embodiments, the distance between the reduction gearbox 168 and the motor 162 can also be changed by adjusting the number, size, or position of the intermediate gear 1664.

[0050] When a rotary joint is used in a robot, the position of the rotation shaft of the transmission mechanism 164 in the rotary joint is preset. By adjusting the number, size, or position of the intermediate gears 1664, the position of the motor 162 in the first segment can be changed, improving the utilization rate of the internal space of the first segment. This is suitable for robot hands of different specifications or different joint positions in the same robot hand.

[0051] Figure 3 The structure of an exemplary transmission mechanism 364 consistent with some embodiments of the present disclosure is shown. The structure of the transmission mechanism 364 may be the same as or similar to the structure of the transmission mechanism 164 in the foregoing embodiments. The structure of the second transmission component 366 may be the same as or similar to the structure of the second transmission component 166 in the foregoing embodiments. Figure 3 The structure of the transmission mechanism 364 at different cross-sections is also shown below, in conjunction with... Figure 3 The transmission mechanism 364 is described below.

[0052] See Figure 3 In some embodiments, the transmission mechanism 364 includes a housing 3642, a first planetary gear set 3644, and an output end 3646.

[0053] The first planetary gear set 3644 is disposed inside the housing 3642 and meshes with the second transmission assembly 366. For example, the first planetary gear set 3644 meshes with the intermediate gear in the second transmission assembly 366. The motion of the motor output shaft is converted into the motion of the first planetary gear set 3644 through the second transmission assembly 366.

[0054] Output end 3646 is connected to the first planetary gear set 3644 via a transmission connection. For example, output end 3646 can be fixedly connected to the first planetary gear set 3644 and extend to the outside of housing 3642. Output end 3646 is connected to the second segment. For example, output end 3646 is fixedly connected to the second segment, or output end 3646 is connected to the first transmission assembly via a transmission connection, driving the second segment to move.

[0055] In some embodiments, the first planetary gear set includes a first sun gear, first planet gears, and a first fixed ring gear. There may be one or more first planet gears. For example, there may be 3, 4, or 5 first planet gears. Figure 3 As shown, the first planetary gear set 3644 includes a first sun gear 3652, three first planet gears 3654, and a first fixed gear ring 3656.

[0056] See Figure 3 The first sun gear 3652 meshes with the second transmission assembly 366, and the rotation axis of the transmission mechanism 364 is along the axial direction of the first sun gear 3652. Figure 3 The OO section shown is perpendicular to the plane of the paper. When the motor drives the second transmission assembly 366, the first sun gear 3652 rotates around the axial direction.

[0057] See Figure 3 A first fixed gear ring 3656 surrounds the circumference of the first sun gear 3652, and the first fixed gear ring 3656 and the first sun gear 3652 are coaxial. The first fixed gear ring 3656 is fixedly disposed relative to the outer casing 3642. A first planet gear 3654 is disposed between the first sun gear 3652 and the first fixed gear ring 3656, and the first planet gear 3654 meshes with the first sun gear 3652 and the first fixed gear ring 3656.

[0058] When the first sun gear 3652 rotates about its axial direction, the first planet gear 3654 is driven by the first sun gear 3652 and rotates within the range of the first fixed gear ring 3656. In some embodiments, the first planetary gear set 3644 includes a plurality of first planet gears 3654, for example... Figure 3The three or more first planetary gears 3654 shown are evenly arranged circumferentially around the first sun gear 3652. This helps to improve the structural stability of the transmission mechanism 364.

[0059] See Figure 3 In some embodiments, the output terminal 3646 includes a movable gear ring 3648. For example, the movable gear ring 3648 is fixedly connected to the second segment. The movable gear ring 3648 is circumferentially disposed around the first sun gear 3652 and is coaxial with the first sun gear 3652. The movable gear ring 3648 is rotatable relative to the housing 3642. The first planetary gear 3654 extends axially to the outside of the first fixed gear ring 3656 and meshes with the movable gear ring 3648, for example, the outer edges of the movable gear ring 3648 and the first fixed gear ring 3656 are aligned.

[0060] When the first planetary gear 3654 rotates around the first sun gear 3652, the first planetary gear 3654 drives the movable ring gear 3648 to rotate, and the movable ring gear 3648 drives the second segment to rotate relative to the first segment. The first planetary gear set 3644 can be a transmission mechanism 364 to achieve a high reduction ratio and high load-bearing capacity. By adjusting the gear ratios of the first sun gear 3652, the three first planetary gears 3654, and the first fixed ring gear 3656 in the first planetary gear set 3644, the reduction ratio and output torque of the transmission mechanism 364 are adjusted to meet the usage requirements of the rotating joint.

[0061] In some embodiments, a rotary joint is applied to a robotic hand. For example, a rotary joint can correspond to the interphalangeal joints of a human hand. Figure 3 The transmission mechanism 364 shown drives the second segment to rotate with a single degree of freedom relative to the first segment. The rotational stroke of the transmission mechanism 364 can be slightly greater than 90°, which matches the rotational range of human finger joints and improves the flexibility of the robotic hand.

[0062] Figure 4 The structure of an exemplary transmission mechanism 464 consistent with some embodiments of this disclosure is shown. The structure of transmission mechanism 464 may be the same as or similar to the structure of transmission mechanism 164 in the foregoing embodiments. The structure of the second transmission component 466 may be the same as or similar to the structure of the second transmission component 166 or the second transmission component 366 in the foregoing embodiments. The structure of the first planetary gear set 4644 may be the same as or similar to the structure of the first planetary gear set 3644 in the foregoing embodiments. The structure of the first sun gear 4652 may be the same as or similar to the structure of the first sun gear 3652 in the foregoing embodiments. The structure of the first planetary gear 4654 may be the same as or similar to the structure of the first planetary gear 3654 in the foregoing embodiments. The structure of the first fixed gear ring 4656 may be the same as or similar to the structure of the first fixed gear ring 3656 in the foregoing embodiments. The structure of the housing 4642 may be the same as or similar to the structure of the housing 3642 in the foregoing embodiments. Figure 4 The structure of the transmission mechanism 464 at different cross-sections is also shown below, in conjunction with... Figure 4 The transmission mechanism 464 is described below.

[0063] See Figure 4 The first planetary gear set 4644 includes a first sun gear 4652, three first planet gears 4654, and a first fixed ring gear 4656. The first sun gear 4652 meshes with the second transmission assembly 466, and the rotation axis of the transmission mechanism 464 is along the axial direction of the first sun gear 4652. Figure 4 The NN section shown is perpendicular to the plane of the paper. When the motor drives the second transmission assembly 466, the first sun gear 4652 rotates about the axial direction.

[0064] A first fixed gear ring 4656 surrounds the first sun gear 4652 circumferentially, and the first fixed gear ring 4656 and the first sun gear 4652 are coaxial. The first fixed gear ring 4656 is fixedly disposed relative to the outer casing 4642. A first planet gear 4654 is disposed between the first sun gear 4652 and the first fixed gear ring 4656, and the first planet gear 4654 meshes with the first sun gear 4652 and the first fixed gear ring 4656.

[0065] See Figure 4 In some embodiments, the output end 4646 includes an output gear 4648, which can be connected to the second segment via a first transmission assembly. The output gear 4648 is connected to a first planetary gear 4654, and the output gear 4648 and the first sun gear 4652 are coaxial. The first planetary gear 4654 can drive the output gear 4648 to rotate, which in turn drives the second segment to rotate relative to the first segment. For example, the first planetary gear 4654 drives the output gear 4648 to rotate via a planet carrier, a movable ring gear, etc.

[0066] The output gear 4648 drives the second segment to rotate relative to the first segment. This can cooperate with the first transmission component; for example, multiple output components can be used to drive the second segment to rotate relative to the first segment in multiple directions. In some embodiments, the rotary joint is applied to a robotic hand, which has a structure similar to a human hand. The rotary joint can correspond to the metacarpophalangeal joints or wrist joints in a human hand, utilizing two… Figure 4 The transmission mechanism 464 shown can drive the second segment to rotate in two directions relative to the first segment. For example, the transmission mechanism 464 can cooperate with the first transmission assembly to drive the second segment to rotate in two mutually perpendicular directions relative to the first segment.

[0067] In some embodiments, the output gear 4648 is fixed within the housing 4642 of the transmission mechanism 464 by a bearing, and the bearing can be a sliding bearing. This can reduce the impact of the radial load generated by the output gear 4648 when it drives the second segment to rotate relative to the first segment on the bearing, and reduce the risk of deflection of the output gear 4648.

[0068] In some embodiments, the transmission mechanism further includes a second planetary gear set. The second planetary gear set is disposed inside the housing and located between the first planetary gear set and the output end. The second planetary gear set and the first planetary gear set are coaxially arranged. The output end is connected to the first planetary gear set via the second planetary gear set.

[0069] The first and second planetary gear sets work together to reduce the risk of locking up when the rotary joint rotates in the opposite direction, and to prevent structural damage. In some embodiments, the rotary joint is used in a robot hand. The rotary joint can support the second segment to rotate in the opposite direction (opposite to the driving direction of the motor) relative to the first segment. For example, pressure feedback can be obtained through the reverse rotation angle of the second segment and transmitted to the motor in the opposite direction, which is beneficial for realizing intelligent control of the robot hand.

[0070] In some embodiments, the second planetary gear set and the first planetary gear set may share some structures, which helps to simplify the structure of the transmission mechanism. Figure 5 The structure of an exemplary transmission mechanism 564 consistent with some embodiments of this disclosure is shown below. (See below for details.) Figure 5 The transmission mechanism 564 is described below.

[0071] Figure 5 The structure of the transmission mechanism 564 shown is the same as or similar to the structure of the transmission mechanism 164 in the aforementioned embodiment. The second transmission component 566 may have the same or similar structure as the second transmission component 166, second transmission component 366, or second transmission component 466 in the aforementioned embodiment. The first planetary gear set 5644 may have the same or similar structure as the first planetary gear set 3644 or first planetary gear set 4644 in the aforementioned embodiment. The first sun gear 5652 may have the same or similar structure as the first sun gear 3652 or first sun gear 4652 in the aforementioned embodiment. The first planetary gear 5654 may have the same or similar structure as the first planetary gear 3654 or first planetary gear 4654 in the aforementioned embodiment. The first fixed gear ring 5656 may have the same or similar structure as the first fixed gear ring 3656 or first fixed gear ring 4656 in the aforementioned embodiment. The housing 5642 may have the same or similar structure as the housing 3642 or housing 4642 in the aforementioned embodiment.

[0072] See Figure 5The transmission mechanism 564 further includes a second planetary gear set 5646. The second planetary gear set 5646 includes a second sun gear 5672, at least one second planetary gear 5674, and a second fixed ring gear 5676. The first planetary gear set 5644 includes a plurality of first planetary gears 5654, and the first planetary gear set 5644 also includes a first planet carrier 5658.

[0073] The first planetary carrier 5658 and the axles of the multiple first planetary gears 5654 are rotatably connected, for example Figure 5 As shown, the first planetary gear set 5644 includes three first planetary gears 5654, and the first planetary carrier 5658 includes three shafts, the positions of which correspond to the shafts of the three first planetary gears 5654. When the three first planetary gears 5654 rotate around the first sun gear 5652, they drive the first planetary carrier 5658 to rotate around the first sun gear 5652 as an axis.

[0074] The second sun gear 5672 is coaxial with the first sun gear 5652, and is connected to the first planet carrier 5658. The first planet carrier 5658 can drive the second sun gear 5672 to rotate around the first sun gear 5652. The second fixed gear ring 5676 is disposed circumferentially around the second sun gear 5672 and is fixedly connected to the outer casing 5642. The second planet gear 5674 is disposed between the second sun gear 5672 and the second fixed gear ring 5676, and both the second sun gear 5672 and the second fixed gear ring 5676 are meshed. When the second sun gear 5672 rotates, the second planet gear 5674 rotates around the second sun gear 5672.

[0075] In some embodiments, the second sun gear 5672 can drive the output end to rotate via a movable ring gear or an output gear, and the output end drives the second segment to rotate relative to the first segment. The meshing relationship between the movable ring gear and the second sun gear 5672 is, for example, the same as or similar to the meshing relationship between the first sun gear 3652 and the movable ring gear 3648 described in the foregoing embodiments. Alternatively, in some embodiments, the meshing relationship between the output gear and the second sun gear 5672 is, for example, the same as or similar to the meshing relationship between the first sun gear 4652 and the output gear 4648 described in the foregoing embodiments. Those skilled in the art will understand that the transmission mechanism can also be provided with a third-stage planetary gear set, or more stages of planetary gear sets, which will not be elaborated here.

[0076] In some embodiments, the second fixed gear ring 5676 and the first fixed gear ring 5656 remain fixed, for example, the second fixed gear ring 5676 and the first fixed gear ring 5656 are integrally formed.

[0077] In some embodiments, a rotary joint is applied to a robotic hand, and the structure of the robotic hand is similar to that of a human hand. The reduction ratio of the transmission mechanism ranges from 50 to 100, for example, 50, 70, 80, 100, etc. The output torque of the transmission mechanism is greater than 1 Nm, for example, 1.2 Nm, 1.5 Nm, 2 Nm, etc. In some embodiments, the reduction ratio of the transmission mechanism can be determined by adjusting the gear structure and gear ratio, for example, by adjusting the second transmission component, the first planetary gear set, or the second planetary gear set in the foregoing embodiments.

[0078] In some embodiments, the axial dimension of the transmission mechanism on the rotating shaft is less than 18 mm. For example, the axial dimension of the transmission mechanism on the rotating shaft is 17 mm, 16 mm, 15 mm, 14 mm, 13 mm, 12 mm, 10 mm, etc. In some embodiments, the radial dimension of the transmission mechanism on the rotating shaft is less than 18 mm. For example, the radial dimension of the transmission mechanism on the rotating shaft is 17 mm, 16 mm, 15 mm, 14 mm, 13 mm, 12 mm, 10 mm, etc. In some embodiments, reducing the size of the transmission mechanism is beneficial for reducing the overall size of the robot and improving the robot's flexibility. For example, the structure of the robot is similar to that of a human hand. The size of the robot is similar to that of a human hand.

[0079] Embodiments of this disclosure also relate to a robotic arm that utilizes the rotary joints described in the foregoing embodiments. Figure 6 The structure of a robotic arm 600 consistent with some embodiments of this disclosure is shown, the robotic arm 600 including at least one rotary joint 602. The rotary joint 602 is, for example, the same as or similar in structure to the rotary joint 100 described in the foregoing embodiments.

[0080] See Figure 6 In some embodiments, the structure of the robotic hand 600 is the same as or similar to that of a human hand. For example, the robotic hand 600 includes a first finger 604 and a second finger 606. The first finger 604 corresponds, for example, to the index finger, middle finger, ring finger, or little finger of a human hand, and the second finger 606 corresponds, for example, to the thumb of a human hand. In some embodiments, the robotic hand 600 also includes structures corresponding to the palm, wrist, or arm of a human hand.

[0081] See Figure 6In some embodiments, the robotic arm 600 includes multiple rotary joints 602. Each rotary joint 602 corresponds to a joint in the human hand. For example, one rotary joint 602 may correspond to one joint in the human hand. Each rotary joint 602 has an independent drive assembly, allowing the multiple rotary joints 602 to move relatively independently. This enables active drive of each joint, reduces coupling interference between joints, and achieves dexterity, versatility, and smoothness of movement for the robotic arm 600, simulating the natural movement trajectory of the human hand. The multiple rotary joints 602 include a first rotary joint 602-1 and a second rotary joint 602-2. The first rotary joint 602-1 has one rotational degree of freedom. The second rotary joint 602-2 has multiple rotational degrees of freedom. For example, the second rotary joint 602-2 may have two, three, or more degrees of freedom. The first rotary joint 602-1 and the second rotary joint 602-2 correspond to different joints in the human hand.

[0082] In some embodiments, the first finger 604 is provided with at least one first rotational joint 602-1, for example, the first rotational joint 602-1 corresponds to the interphalangeal joint in a human hand, which can realize one degree of rotational freedom between the finger joints. The second finger 606 is provided with two second rotational joints 602-2. The two second rotational joints 602-2 correspond to the metacarpophalangeal joint and the metacarpophalangeal joint in a human hand, respectively.

[0083] See Figure 6 In some embodiments, the first finger 604 may have at least four degrees of freedom. For example, the first finger 604 has two first rotational joints 602-1 and one second rotational joint 604-2. The first finger 604, for example, corresponds to the index, middle, ring, or little finger of a person's hand, and has a distal interphalangeal joint, a proximal interphalangeal joint, and a metacarpophalangeal joint. Within the first finger 604, the two first rotational joints 602-1 correspond to the distal and proximal interphalangeal joints of the first finger 604, respectively. The second rotational joint 602-2 corresponds to the metacarpophalangeal joint of the first finger 604.

[0084] In some embodiments, the second finger 606 may have at least five degrees of freedom. For example, the second finger 606 may have one first rotary joint 602-1 and two second rotary joints 602-2. The second finger 606 may correspond, for example, to the thumb in a human hand. Within the second finger 606, the first rotary joint 602-1 corresponds to the interphalangeal joint in a human hand. The two second rotary joints 602-2 correspond to the metacarpophalangeal joint and the metacarpophalangeal joint in the second finger 606, respectively. See also the following embodiments. Figure 6The robotic arm 600 may include 16 rotary joints 602. These 16 rotary joints 602 may include 10 first rotary joints 602-1 and 6 second rotary joints 602-2. Each second rotary joint 602-2 includes two drive components capable of driving the second segment to rotate in two directions relative to the first segment. See also... Figure 6 The 16 rotating joints 602 provide the robotic arm 600 with 22 degrees of freedom, which is close to the degrees of freedom of a human hand. The robotic arm 600 can perform movements that are close to the dexterity of a human hand.

[0085] In some embodiments, the robotic hand may include one or more wrist-palm joints. The wrist-palm joint may include a first rotary joint 602-1 or a second rotary joint 602-2. For example, the robotic hand may include 1-5 wrist-palm joints. For instance, the wrist-palm joint may include a first rotary joint 602-1. For example, the wrist-palm joint may provide 1-5 degrees of freedom for the robotic hand.

[0086] In some embodiments, the robotic hand may include one or more intermechatronic joints. The intermechatronic joints may include a first rotary joint 602-1 or a second rotary joint 602-2. For example, the robotic hand may include 1-3 intermechatronic joints. For instance, the intermechatronic joints may include a first rotary joint 602-1. For example, the intermechatronic joints may provide 1-3 degrees of freedom for the robotic hand.

[0087] In some embodiments, the robotic hand may include a wrist joint. For example, the wrist joint may include a first rotary joint 602-1 and / or a second rotary joint 602-2. As another example, the wrist joint may include a third rotary joint. The third rotary joint may include three drive components that can drive the second segment to rotate relative to the first segment in three directions. The third rotary joint may include three degrees of freedom. For example, the wrist joint may provide 1-3 degrees of freedom for the robotic hand.

[0088] In some embodiments, the robotic arm may include more than 17 rotational joints 602. For example, the robotic arm may include 17-20 rotational joints 602. More rotational joints 602 can provide the robotic arm with more than 23 degrees of freedom. For example, 23, 24, 25, 26, or 27 degrees of freedom.

[0089] In some embodiments, the plurality of rotary joints 602 in the robotic arm 600 may have different rotation ranges. For example, the rotation range of the second rotary joint 602-2 in the first finger 604 may be greater than the rotation range of the first rotary joint 602-1 in the first finger 604. As another example, the rotation range of the second rotary joint 602-2 in the second finger 606 may be greater than the rotation range of the first rotary joint 602-1 in the second finger 606. As another example, the rotation range of the joints in the second finger 606 may be greater than the rotation range of the intermechatronic joints. As another example, the rotation range of the joints in the second finger 606 may be greater than the rotation range of the intermechatronic joints.

[0090] Finally, it should be noted that the above descriptions are merely embodiments of this disclosure and are not intended to limit this disclosure. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A rotary joint for a robotic arm, characterized in that, The system includes a first segment, a second segment, and a drive assembly, the drive assembly being used to drive the second segment to pivot relative to the first segment; the drive assembly includes a motor and a transmission mechanism, wherein... The motor is disposed inside the first segment, and the output shaft of the motor is parallel to the extension direction of the first segment; The transmission mechanism is coupled to the output shaft of the motor; the transmission mechanism includes a rotating shaft for output, and the axial direction of the rotating shaft is perpendicular to the output shaft direction of the motor; the transmission mechanism is configured to convert the motion of the output shaft of the motor into the motion of the rotating shaft. The transmission mechanism is connected to the second segment to drive the second segment to pivot relative to the first segment.

2. The rotary joint according to claim 1, characterized in that, The second segment includes a first transmission assembly fixedly connected thereto, and the transmission mechanism engages with the first transmission assembly.

3. The rotary joint according to claim 1 or 2, characterized in that, The transmission mechanism includes a second transmission assembly and a reduction gearbox, wherein... The second transmission assembly is coupled to the output shaft of the motor; The gearbox is connected to the second transmission assembly.

4. The rotary joint according to claim 3, characterized in that, The second transmission assembly includes a first bevel gear, a second bevel gear, and a central rotating gear, wherein, The first bevel gear is connected to the output shaft of the electric motor; The first bevel gear and the second bevel gear mesh, and the axial direction of the second bevel gear is parallel to the axial direction of the rotating shaft; The intermediate gear meshes with the second bevel gear, and the axial direction of the intermediate gear is parallel to the axial direction of the second bevel gear.

5. The rotary joint according to claim 3, characterized in that, The transmission mechanism includes a housing, a first planetary gear set, and an output end, wherein... The first planetary gear set is disposed inside the housing and meshes with the second transmission assembly; The output end is connected to the first planetary gear set and extends to the outside of the housing; the output end is connected to the second segment.

6. The rotary joint according to claim 5, characterized in that, The transmission mechanism further includes a second planetary gear set, which is disposed inside the housing and located between the first planetary gear set and the output end. The second planetary gear set is coaxially arranged with the first planetary gear set. The output end is connected to the first planetary gear set via the second planetary gear set.

7. The rotary joint according to claim 1 or 2, characterized in that, The reduction ratio of the transmission mechanism is in the range of 50-100, and the output torque is greater than 1 Nm.

8. The rotary joint according to claim 1 or 2, characterized in that, The dimension of the transmission mechanism in the axial direction of the rotating shaft is less than 18 mm, and the dimension in the radial direction of the rotating shaft is less than 18 mm.

9. The rotary joint according to claim 2, characterized in that, The second segment has multiple rotational degrees of freedom relative to the first segment; the rotational joint includes multiple drive components; each of the multiple drive components is drively connected to the first transmission component, and the multiple drive components are configured to drive the first segment and the second segment to rotate in two directions.

10. The rotary joint according to claim 9, characterized in that, The second segment has two rotational degrees of freedom relative to the first segment; the rotational joint includes two drive components; the two drive components are arranged side by side inside the first segment, and the first transmission component is configured to receive the output torque of the two drive components and drive the second segment to rotate in two directions relative to the first segment.

11. The rotary joint according to claim 10, characterized in that, The first transmission assembly includes a differential bevel gear set, which includes two third bevel gears and two fourth bevel gears, and the two third bevel gears and the two fourth bevel gears are orthogonally meshed; the transmission mechanisms in the two drive assemblies are respectively connected to the two third bevel gears.

12. A robotic arm, characterized in that, It includes at least one rotary joint as described in any one of claims 1-11.

13. The robotic arm according to claim 12, characterized in that, The robotic hand includes a plurality of rotary joints, including a first rotary joint having one degree of rotational freedom and a second rotary joint having multiple degrees of rotational freedom; the robotic hand also includes a first finger and a second finger, wherein at least one first rotary joint is disposed in the first finger and two second rotary joints are disposed in the second finger.

14. The robotic arm according to claim 13, characterized in that, The first finger has two first rotational joints and one second rotational joint; wherein, within the first finger, the two first rotational joints correspond to the distal interphalangeal joint and the proximal interphalangeal joint of the first finger, respectively; the second rotational joint corresponds to the metacarpophalangeal joint of the first finger. The second finger is provided with one first rotary joint and two second rotary joints; wherein, within the second finger, one first rotary joint corresponds to the interphalangeal joint of the second finger; and the two second rotary joints respectively correspond to the metacarpophalangeal joint and the metacarpophalangeal joint of the second finger.

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