Joint structure, mechanical arm and robot

Abstract

The utility model discloses a joint structure, mechanical arm and robot, include: joint module, the joint module includes output part and fixed part, the fixed part surrounds output part setting, adapter flange, the adapter flang is located output part, the adapter flange is set up and limit the groove, limit department, limit department is located fixed part, limit peg, limit peg is located limit the groove, and with limit the groove along the circumferential sliding connection of adapter flange, limit peg can be with limit department and abut. The technical scheme provided by the present application can make the output part rotate more than 360 degrees, thereby improving the movement flexibility of the mechanical arm, and the joint structure is simple in structure, low in cost and small in space occupation, can be arranged flexibly in a compact structure, and is higher in safety compared with electronic limit.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a joint structure, a robotic arm, and a robot. Background Technology

[0002] When joint modules are used in robotic arms, mechanical limiting is usually achieved by setting blocks or connecting limit blocks with screws. This can only limit the range of motion of the joint module's output end to about ±170°, and the output end cannot rotate more than 360°. However, the current range of motion is insufficient for situations where there are higher requirements for the robot's motion flexibility and motion precision. If the rotation range of the output end is limited by electronic limiters, failure due to power failure or software issues can easily break the internal cables of the joint module, leading to damage to the joint structure. Utility Model Content

[0003] The purpose of this application is to provide a joint structure, a robotic arm, and a robot.

[0004] According to a first aspect of the embodiments of this application, a joint structure is provided, comprising: A joint module, the joint module including an output part and a fixing part, the fixing part being disposed around the output part; An adapter flange is provided at the output section, and the adapter flange has a limit groove. A limiting part is provided on the fixing part; A limiting pin is provided in the limiting groove and is slidably connected to the limiting groove along the circumference of the transition flange. The limiting pin can abut against the limiting part.

[0005] Optionally, the limiting pin includes a first part and a second part connected together, wherein the outer diameter of the first part is larger than the outer diameter of the second part; The limiting groove includes a first section and a second section, which are arranged along the axial direction of the joint module. The inner diameter of the first section is greater than the inner diameter of the second section, and the inner diameter of the first section is greater than the outer diameter of the first part. The inner diameter of the second section is smaller than the outer diameter of the first part, and the inner diameter of the second section is greater than the outer diameter of the second part. The first part is located in the first segment, and the second part passes through the second segment and extends out of the limiting groove.

[0006] Optionally, the cross-sectional shape of the limiting groove is arc-shaped along the radial direction of the joint module.

[0007] Optionally, the radius of the limiting groove is 0-2π.

[0008] Optionally, the adapter flange is further provided with a first connecting part and a second connecting part, the first connecting part and the second connecting part being arranged radially spaced along the joint module, and the limiting groove being located between the first connecting part and the second connecting part; The first connecting part is connected to the output part.

[0009] Optionally, along the axial direction of the joint module, the output portion protrudes from the fixing portion, the limiting portion has a gap with the adapter flange, and the limiting groove corresponds to the fixing portion.

[0010] According to a second aspect of the embodiments of this application, a robotic arm is provided, comprising: Joint structure; A connecting arm, which is connected to the adapter flange.

[0011] Optionally, the connecting arm abuts against the end face of the adapter flange and covers the limiting groove.

[0012] Optionally, the connecting arm is connected to the second connecting portion of the adapter flange.

[0013] According to a third aspect of the embodiments of this application, a robot is provided, comprising: The aforementioned joint structure; or The aforementioned robotic arm.

[0014] One technical advantage of this application embodiment is that mechanical limiting is achieved by using an adapter flange, a limiting pin, and a limiting part, which enables the output part to rotate more than 360°, thereby improving the movement flexibility of the robotic arm. Furthermore, the joint structure is simple in structure, low in cost, occupies little space, and can be flexibly arranged in a compact structure. Compared with electronic limiting, it has higher safety.

[0015] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0017] Figure 1 This is a schematic diagram of the joint structure and connecting arm in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the adapter flange in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the adapter flange in the embodiments of this application; Figure 4 for Figure 3 A cross-sectional view at point AA; Figure 5 This is a schematic diagram of the structure of the limiting pin in the embodiments of this application.

[0018] Explanation of reference numerals in the attached figures: Joint module 1; Output unit 11; Fixing unit 12; Adapter flange 2; limiting groove 21; first section 211; second section 212; first connecting part 22; second connecting part 23; Limiting part 3; Limit pin 4; Part 1 41; Part 2 42; Connecting arm 5. Detailed Implementation

[0019] Various exemplary embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this application.

[0020] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0021] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0022] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0024] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention 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 invention.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] like Figures 1-5 As shown, according to a first aspect of the embodiments of this application, a joint structure is provided, including a joint module 1, a transition flange 2, a limiting part 3, and a limiting pin 4; the joint module 1 includes an output part 11 and a fixing part 12, the fixing part 12 being disposed around the output part 11; the transition flange 2 is disposed on the output part 11, and the transition flange 2 has a limiting groove 21; the limiting part 3 is disposed on the fixing part 12; the limiting pin 4 is disposed on the limiting groove 21 and is slidably connected to the limiting groove 21 along the circumference of the transition flange 2, the limiting pin 4 being able to abut against the limiting part 3.

[0028] like Figure 1 As shown, the joint structure includes a joint module 1, a connecting flange 2, a limiting part 3, and a limiting pin 4. The joint module 1 includes an output part 11 and a fixing part 12. The fixing part 12 is arranged around the output part 11, and the output part 11 can rotate relative to the fixing part 12. The connecting flange 2 is arranged on the output part 11 and is used to connect the connecting arm 5. Therefore, the joint module 1 drives the connecting arm 5 to rotate by driving the connecting flange 2 to rotate. The connecting flange 2 has a limiting groove 21, which extends through both ends of the connecting flange 2 along the axial direction of the joint module 1. The limiting pin 4 is arranged in the limiting groove 21 and is slidably connected to the limiting groove 21 along the circumference of the connecting flange 2. The limiting part 3 is arranged on the fixing part 12.

[0029] To further explain, when the adapter flange 2 rotates with the output section 11, the limiting pin 4 located in the limiting groove 21 will abut against one end of the limiting groove 21, and the adapter flange 2 will drive the limiting pin 4 to rotate together. When the limiting pin 4 abuts against the limiting part 3, the limiting part 3 will restrict the limiting pin 4 from continuing to rotate, while the adapter flange 2 can continue to rotate. The limiting pin 4 will move relative to the limiting groove 21, and the limiting pin 4 abuts against the other end of the limiting groove 21. At this time, the limiting pin 4 will restrict the adapter flange 2 from continuing to rotate. During this process, the output section 11 can rotate more than 360°.

[0030] The joint structure of this application achieves mechanical limiting through the adapter flange 2, the limiting pin 4 and the limiting part 3, which enables the output part 11 to rotate more than 360°, thereby improving the movement flexibility of the robotic arm. In addition, the joint structure is simple in structure, low in cost, occupies little space, and can be flexibly arranged in a compact structure. Compared with electronic limiting, it has higher safety.

[0031] The limiting part 3 can be cylindrical, prismatic or other shapes.

[0032] like Figure 1 , Figure 4 and Figure 5 As shown, in an optional embodiment, the limiting pin 4 includes a first portion 41 and a second portion 42 connected together, the outer diameter of the first portion 41 being larger than the outer diameter of the second portion 42; the limiting groove 21 includes a first segment 211 and a second segment 212, the first segment 211 and the second segment 212 being arranged along the axial direction of the joint module 1, the inner diameter of the first segment 211 being larger than the inner diameter of the second segment 212, the inner diameter of the first segment 211 being larger than the outer diameter of the first portion 41, the inner diameter of the second segment 212 being smaller than the outer diameter of the first portion 41, and the inner diameter of the second segment 212 being larger than the outer diameter of the second portion 42; the first portion 41 is located in the first... The first part 41 is located in the first section 211, and the outer diameter of the first part 41 is larger than the outer diameter of the second section 212. The first part 41 will not extend into the second section 212, so it can provide a limiting support for the limiting pin 4. The inner diameter of the second section 212 is larger than the outer diameter of the second part 42, so the second part 42 can extend into the second section 212. The second part 42 can extend out of the limiting groove 21 at the end of the second section 212 away from the first section 211. When the adapter flange 2 rotates with the output part 11, the part of the second part 42 extending out of the limiting groove 21 can abut against the fixing part 12.

[0033] Among them, the first segment 211 is farther away from the output section 11 than the second segment 212.

[0034] The first part 41 is cylindrical, and the second part 42 is cylindrical.

[0035] like Figure 3 As shown, in an optional embodiment, the cross-sectional shape of the limiting groove 21 is arc-shaped along the radial direction of the joint module 1. Specifically, since the adapter flange 2 can rotate with the output part 11, that is, the rotating flange rotates around the axis of the output part 11, the rotation path of the rotating flange is arc-shaped or circular. Setting the cross-section of the limiting groove 21 to be arc-shaped allows the limiting pin 4 to slide more smoothly in the limiting groove 21, avoiding the problem of jamming.

[0036] Furthermore, a high-viscosity grease can be provided between the limiting pin 4 and the limiting groove 21 to prevent vibration and abnormal noise when the limiting pin 4 slides during the rotation of the transition flange 2; or, a certain gap can be provided between the limiting pin 4 and the limiting groove 21 to increase the damping of their relative movement and reduce vibration.

[0037] In one optional embodiment, the radius of the limiting groove 21 is 0-2π; specifically, the radius of the limiting groove 21 is 0-2π, excluding 0 and 2π; wherein, limiting the radius of the limiting groove 21 to between 0-2π allows the rotation angle of the adapter flange 2 to be between 0° and 720°, thereby enabling the robotic arm to operate flexibly. In this embodiment, the radius of the limiting groove 21 can be set as needed.

[0038] like Figure 1 , Figure 2 and Figure 3 As shown, in an optional embodiment, the adapter flange 2 is further provided with a first connecting portion 22 and a second connecting portion 23. The first connecting portion 22 and the second connecting portion 23 are arranged radially spaced along the joint module 1, and the limiting groove 21 is located between the first connecting portion 22 and the second connecting portion 23. The first connecting portion 22 is connected to the output portion 11. Specifically, the first connecting portion 22 can be a plurality of first connecting holes, which are arranged circumferentially around the adapter flange 2. Screws pass through the first connecting holes to fix the adapter flange 2 and the output portion 11 together.

[0039] like Figure 1As shown, in an optional embodiment, along the axial direction of the joint module 1, the output portion 11 protrudes beyond the fixed portion 12, a gap exists between the limiting portion 3 and the adapter flange 2, and the limiting groove 21 corresponds to the fixed portion 12; specifically, along the axial direction of the joint module 1, the output portion 11 protrudes beyond the fixed portion 12, that is, there is a height difference between the output portion 11 and the fixed portion 12, the adapter flange 2 is connected to the output portion 11, and the end face of the adapter flange 2 near the output portion 11 is connected to the fixed portion 12. There is a certain distance between the fixed parts 12; the limiting part 3 is provided on the fixed part 12, and there is also a moving gap between the limiting part 3 and the transition flange 2. When the transition flange 2 rotates with the output part 11, it can avoid mutual influence between the transition flange 2 and the limiting part 3; the limiting groove 21 corresponds to the fixed part 12, so when the limiting pin 4 extends out of the limiting groove 21, there is a certain space to accommodate the limiting pin 4. When the limiting pin 4 rotates with the transition flange 2 to the position of the limiting part 3, the limiting pin 4 can abut against the fixed part 12.

[0040] like Figure 1 As shown, according to a second aspect of the embodiments of this application, a robotic arm is provided, including a joint structure and a connecting arm 5, the connecting arm 5 being connected to the adapter flange 2; when the joint module 1 drives the adapter flange 2 to rotate through the output part 11, the connecting arm 5 can be driven to rotate; the rotation angle of the connecting arm 5 is limited by the fixing part 12 and the limiting pin 4, thereby preventing the internal cable from breaking due to excessive rotation angle of the connecting arm 5.

[0041] like Figure 1 As shown, in an optional embodiment, the connecting arm 5 abuts against the end face of the adapter flange 2 and covers the limiting groove 21; specifically, the connecting arm 5 abuts against the end face of the adapter flange 2 away from the output part 11 and can cover the limiting groove 21, thereby preventing the limiting pin 4 from dislodging from the limiting groove 21.

[0042] like Figure 1 As shown, in an optional embodiment, the connecting arm 5 is connected to the second connecting portion 23 of the adapter flange 2; the connecting arm 5 is connected to the second connecting portion 23 of the adapter flange 2 by screws, and the second connecting portion 23 can be a plurality of second connecting holes, which are circumferentially spaced around the adapter flange 2, and the screws pass through the second connecting holes to fix the adapter flange 2 and the connecting arm 5 together.

[0043] According to a third aspect of the embodiments of this application, a robot is provided, comprising: Such as the joint structure described above; or As mentioned above, this is a robotic arm.

[0044] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A joint structure, characterized in that, include: A joint module, the joint module including an output part and a fixing part, the fixing part being disposed around the output part; An adapter flange is provided at the output section, and the adapter flange has a limit groove. A limiting part is provided on the fixing part; A limiting pin is provided in the limiting groove and is slidably connected to the limiting groove along the circumference of the transition flange. The limiting pin can abut against the limiting part.

2. The joint structure according to claim 1, characterized in that, The limiting pin includes a first part and a second part connected together, wherein the outer diameter of the first part is larger than the outer diameter of the second part; The limiting groove includes a first section and a second section, which are arranged along the axial direction of the joint module. The inner diameter of the first section is greater than the inner diameter of the second section, and the inner diameter of the first section is greater than the outer diameter of the first part. The inner diameter of the second section is smaller than the outer diameter of the first part, and the inner diameter of the second section is greater than the outer diameter of the second part. The first part is located in the first segment, and the second part passes through the second segment and extends out of the limiting groove.

3. The joint structure according to claim 1, characterized in that, Along the radial direction of the joint module, the cross-sectional shape of the limiting groove is arc-shaped.

4. The joint structure according to claim 3, characterized in that, The radius of the limiting groove is 0-2π.

5. The joint structure according to claim 1, characterized in that, The adapter flange is further provided with a first connecting part and a second connecting part, the first connecting part and the second connecting part are arranged radially spaced along the joint module, and the limiting groove is located between the first connecting part and the second connecting part; The first connecting part is connected to the output part.

6. The joint structure according to claim 1, characterized in that, Along the axial direction of the joint module, the output part protrudes from the fixed part, there is a gap between the limiting part and the adapter flange, and the limiting groove corresponds to the fixed part.

7. A robotic arm, characterized in that, include: The joint structure as described in any one of claims 1-6; A connecting arm, which is connected to the adapter flange.

8. The robotic arm according to claim 7, characterized in that, The connecting arm abuts against the end face of the adapter flange and covers the limiting groove.

9. The robotic arm according to claim 7, characterized in that, The connecting arm is connected to the second connecting part of the adapter flange.

10. A robot, characterized in that, include: The joint structure as described in any one of claims 1-6; or The robotic arm as described in any one of claims 7-9.

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