CN114932574A - Joint assembly and mechanical arm - Google Patents
Joint assembly and mechanical arm Download PDFInfo
- Publication number
- CN114932574A CN114932574A CN202210371463.3A CN202210371463A CN114932574A CN 114932574 A CN114932574 A CN 114932574A CN 202210371463 A CN202210371463 A CN 202210371463A CN 114932574 A CN114932574 A CN 114932574A
- Authority
- CN
- China
- Prior art keywords
- joint
- boss
- clamping
- wall
- cavity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000012212 insulator Substances 0.000 claims description 25
- 230000013011 mating Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 abstract description 9
- 238000000926 separation method Methods 0.000 abstract description 4
- 238000003825 pressing Methods 0.000 abstract description 2
- 230000007423 decrease Effects 0.000 description 4
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
Abstract
The invention relates to a joint assembly and a mechanical arm. The joint assembly comprises a first joint, a second joint and a limiting assembly; a first boss is convexly arranged on the outer wall of the output end of the first joint; a second boss is convexly arranged on the outer wall of the input end of the second joint; the limiting assembly comprises a first clamping piece and a second clamping piece, and a clamping cavity with a groove on the inner wall is formed when the first clamping piece and the second clamping piece are in a connected state; the first boss and the second boss are accommodated in the groove, the cavity wall of the clamping cavity is clamped at the output end and the input end, and the relative positions of the first joint and the second joint are limited by the cavity wall. The cavity wall through pressing from both sides tight chamber presss from both sides input and output tightly, holds through first boss and second boss again and locates in the recess for the relative position of first joint and second joint is injectd, when needs are dismantled, only need unpack first chucking spare and second chucking spare apart, can realize the separation of first joint and second joint, thereby has improved the installation and the dismantlement efficiency of joint subassembly.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a joint assembly and a mechanical arm.
Background
The arm comprises a plurality of joints and arm rods, each joint comprises an independent control motor, a drive controller, a speed reducer and the like, the joints are designed into a modular structure, flexible collocation with the arm rods can be realized, various arm type structures of the arm are realized, production, assembly and testing of joint components are facilitated, and replacement, maintenance, production and the like of the joint components are facilitated. In the prior art, joint components in the mechanical arm are more, and the joint components need to be connected and fastened with other joint components or an arm rod and a base, however, the existing connection mode is complex, and the installation and disassembly efficiency of the mechanical arm is affected.
Disclosure of Invention
Based on this, it is necessary to provide a joint subassembly and arm to the technical problem that the connection mode is comparatively complicated in the current joint module connection process, has influenced the installation of arm and has dismantled efficiency.
A joint assembly, comprising:
the first joint is provided with an output end, a first boss is convexly arranged on the outer wall of the output end along a first direction, the first joint is used for outputting rotary motion around a second direction, and the first direction is a direction from the center of the output end to the edge;
the second joint is provided with an input end, and a second boss is convexly arranged on the outer wall of the input end along the first direction;
the limiting assembly comprises a first clamping piece and a second clamping piece, a groove is formed in the inner wall of at least one of the first clamping piece and the second clamping piece along the first direction, and a clamping cavity is formed between the first clamping piece and the second clamping piece when the first clamping piece and the second clamping piece are in a connected state;
the first boss and the second boss are accommodated in the groove, the cavity wall of the clamping cavity is clamped between the output end and the input end, and the relative positions of the first joint and the second joint are limited by the cavity wall.
In one embodiment, the first boss and the second boss are annular, the axes of the first boss and the second boss extend along the second direction, and under the condition that the cavity wall of the clamping cavity is clamped between the output end and the input end, the sides of the first boss and the second boss, which are away from each other, abut against the inner wall of the groove.
In one embodiment, in a radial direction from inside to outside of the first boss, a distance between two side walls of the first boss and the second boss, which are away from each other in the second direction, in the second direction gradually decreases.
In one embodiment, the clamping device further comprises a locking member, one end of the locking member penetrates through the first clamping member along a direction perpendicular to the second direction, and the locking member is in threaded connection with the second clamping member.
In one embodiment, the first clamping member is provided with a first connecting hole, the locking member is arranged through the first connecting hole and connected to the second clamping member, and the first connecting hole penetrates through the outer wall of the first clamping member and is located outside the cavity wall of the clamping cavity.
In one embodiment, a plug is arranged on one end face of the output end or the input end, a jack is arranged on the other end face of the output end or the input end, the plug is inserted into the jack when the cavity wall of the clamping cavity is clamped on the output end or the input end, and the first joint and the second joint are limited to rotate relatively.
In one embodiment, the first joint includes a first electrical component disposed on an end surface of the output end, the second joint includes a second electrical component disposed on an end surface of the input end, one of the first electrical component and the second electrical component is provided with an electrical connection male head, the other is provided with an electrical connection female head, the electrical connection male head is inserted into the electrical connection female head in a state that the cavity wall of the clamping cavity is clamped between the output end and the input end, and the electrical connection male head is electrically connected with the electrical connection female head.
In one embodiment, the first electrical assembly includes a first insulator and a first elastic member, the male electrical connector is mounted on the first insulator and connected with the first insulator through the first elastic member, and the first elastic member is used for applying a force to the male electrical connector towards the female electrical connector.
In one embodiment, a first mating groove is formed in the first insulator, a first abutting block is arranged on the male electrical connector, one end of the male electrical connector, which is away from the female electrical connector, extends into the first mating groove and penetrates through the first elastic member, one end of the first abutting block abuts against the first elastic member, and the other end of the first abutting block abuts against a groove wall of the first mating groove.
The embodiment of the invention also provides a mechanical arm, which can solve at least one technical problem.
A mechanical arm comprises the joint assembly.
Has the beneficial effects that:
the joint assembly provided by the embodiment of the invention comprises a first joint, a second joint and a limiting assembly; the first joint is provided with an output end, a first boss is convexly arranged on the outer wall of the output end along a first direction, wherein the first joint is used for outputting rotary motion around a second direction, the first direction is vertical to the second direction, and the first direction is a direction from the center of the output end to the edge; the second joint is provided with an input end, and a second boss is convexly arranged on the outer wall of the input end along the first direction; the limiting assembly comprises a first clamping piece and a second clamping piece, a groove is formed in the inner wall of at least one of the first clamping piece and the second clamping piece along the first direction, and a clamping cavity is formed between the first clamping piece and the second clamping piece when the first clamping piece and the second clamping piece are in a connection state; the first boss and the second boss are accommodated in the groove, the cavity wall of the clamping cavity is clamped at the output end and the input end, and the relative positions of the first joint and the second joint are limited by the cavity wall. First chucking spare forms between the two when being in connected state with the second chucking spare in this application and presss from both sides tight chamber, then the chamber wall through pressing from both sides tight chamber presss from both sides input and output, hold through first boss and second boss again and locate in the recess for the relative position of first joint and second joint is injectd, when needs are dismantled, only need unpack first chucking spare and second chucking spare apart, can realize the separation of first joint and second joint, thereby the installation and the dismantlement efficiency of joint subassembly have been improved.
The mechanical arm provided by the embodiment of the invention comprises the joint assembly. The mechanical arm can solve at least one technical problem.
Drawings
FIG. 1 is a partially exploded view of a joint assembly in an embodiment of the present invention;
FIG. 2 is a schematic view of a joint assembly according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a joint assembly in an embodiment of the present invention;
FIG. 4 is an enlarged view taken at A in FIG. 3;
FIG. 5 is a schematic view of a first joint of the joint assembly in an embodiment of the present invention;
FIG. 6 is a front view of a first joint in the joint assembly in an embodiment of the present invention;
FIG. 7 is a schematic view of a first electrical component of the joint assembly in an embodiment of the present invention;
fig. 8 is a cross-sectional view of a first electrical component of the joint assembly in an embodiment of the present invention;
FIG. 9 is a schematic view of a second electrical component of the joint assembly in an embodiment of the present invention;
fig. 10 is a cross-sectional view of a second electrical component in the joint assembly in an embodiment of the present invention.
Reference numbers:
10-a first joint; 100-an output end; 110-a first boss; 111-a first side wall; 120-a plug; 130-electrically connecting the male connector; 131-a first abutment block; 133-a guide slot; 134-a first mounting groove; 150-a first insulator; 160-a first elastic member; 170-first mating groove; 171-step surface; 190-a first electrical component; 20-a second joint; 200-an input terminal; 210-a second boss; 211-a second side wall; 220-a jack; 230-electrically connecting the female terminals; 233-a second mounting groove; 250-a second insulator; 290-a second electrical component; 30-a spacing assembly; 310-a first clip; 311-first connection hole; 320-a second retainer; 321-a second connection hole; 340-grooves; 350-locking member.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.
Referring to fig. 1, 2, 3 and 4, fig. 1 is a partial exploded view of a joint assembly according to an embodiment of the present invention; FIG. 2 is a schematic view of a joint assembly according to an embodiment of the present invention; FIG. 3 is a cross-sectional view of a joint assembly in an embodiment of the present invention; fig. 4 is an enlarged view of a portion a in fig. 3. The joint assembly provided by one embodiment of the invention comprises a first joint 10, a second joint 20 and a limiting assembly 30; the first joint 10 has an output end 100, and a first boss 110 is convexly disposed on an outer wall of the output end 100 along a first direction, wherein the first joint 10 is configured to output a rotational motion around a second direction, the first direction is perpendicular to the second direction, and the first direction is a direction pointing from a center of the output end 100 to an edge; the second joint 20 has an input end 200, and a second boss 210 is convexly arranged on the outer wall of the input end 200 along the first direction; the spacing assembly 30 comprises a first clamping member 310 and a second clamping member 320, wherein at least one of the first clamping member 310 and the second clamping member 320 is provided with a groove 340 along the inner wall of the first direction, and a clamping cavity is formed between the first clamping member 310 and the second clamping member 320 when the first clamping member 310 and the second clamping member 320 are in a connection state; the first boss 110 and the second boss 210 are accommodated in the groove 340, and the cavity wall of the clamping cavity is in a state of being clamped between the output end 100 and the input end 200, and the relative positions of the first joint 10 and the second joint 20 are defined by the cavity wall.
Specifically, in the present application, when the first clamping member 310 and the second clamping member 320 are in a connected state, a clamping cavity is formed therebetween, and then the input end 200 and the output end 100 are clamped by a cavity wall of the clamping cavity, so that the first joint 10 and the second joint 20 are limited from moving in the first direction, and the first boss 110 and the second boss 210 are accommodated in the groove 340, so that the first boss 110 and the second boss 210 are limited from moving relatively in the second direction, that is, the first joint 10 and the second joint 20 are limited from moving relatively in the second direction, so that the relative position of the first joint 10 and the second joint 20 is limited. That is, the stable connection of the first joint 10 and the second joint 20 is realized by the connection of the first clamping member 310 and the second clamping member 320 in the present application, and when the joint assembly needs to be disassembled, the separation of the first joint 10 and the second joint 20 can be realized only by disassembling the first clamping member 310 and the second clamping member 320, so that the assembly and disassembly efficiency of the joint assembly is improved.
The input end 200 and the output end 100 can be clamped by the cavity wall of the clamping cavity, and when the clamping of the input end 200 and the output end 100 by the cavity wall of the clamping cavity in the first direction is large enough, a large friction force exists between the cavity wall of the clamping cavity and the input end 200 and the output end 100, so that the first joint 10 and the second joint 20 are limited to rotate relatively through the friction force, and torque can be transmitted between the input end 200 and the output end 100.
For convenience of description, the XX 'direction is defined as a second direction, YY' and ZZ 'are both perpendicular to the XX' direction, and the first direction is located on a plane formed by the YY 'direction and the ZZ' direction, taking fig. 2 as an example in the specification. For convenience of description, the following description is made in both the first direction and the second direction.
Referring to fig. 5 and 6, in one embodiment, the first boss 110 and the second boss 210 are annular, the axes of the first boss 110 and the second boss 210 extend along the second direction, and in a state that the cavity wall of the clamping cavity is clamped between the output end 100 and the input end 200, both sides of the first boss 110 and the second boss 210 facing away from each other in the second direction abut against the inner wall of the groove 340.
Specifically, the first direction coincides with a radial direction of the first boss 110 and the second boss 210. Because the first boss 110 and the second boss 210 are annular, and the sides of the first boss 110 and the second boss 210 facing away from each other in the second direction are both abutted against the inner wall of the groove 340, the shape of the groove 340 is matched with the shape of the first boss 110 and the second boss 210, and the groove 340 is also annular, that is, the grooves 340 are both provided on the first clamping member 310 and the second clamping member 320. Because the first boss 110, the second boss 210 and the groove 340 are all annular, when the first boss 110 and the second boss 210 abut against the inner wall of the groove 340, the contact area between the first boss 110 and the side wall of the groove 340 and the contact area between the second boss 210 and the side wall of the groove 340 are increased, and in a state that the cavity wall of the clamping cavity is clamped between the output end 100 and the input end 200, the acting force applied by the cavity wall of the clamping cavity to the first boss 110 toward the second boss 210 is larger, and the acting force applied by the cavity wall of the clamping cavity to the second boss 210 toward the first boss 110 is larger, so that the relative movement of the first joint 10 and the second joint 20 in the second direction can be stably limited.
When the cavity wall of the clamping cavity clamps the output end 100 and the input end 200, the first boss 110 and the second boss 210 need to be accommodated in the groove 340 of the clamping cavity, and because the first boss 110, the second boss 210 and the groove 340 are annular, the groove 340 can be matched with the first boss 110 and the second boss 210 at any angle, so that the installation position between the limiting component 30 and the first joint 10 and the second joint 20 is not limited, and the matching between the cavity wall of the clamping cavity and the first boss 110 and the second boss 210 is facilitated.
In other embodiments, the first boss 110 and the second boss 210 may have other shapes, as long as the sides of the first boss 110 and the second boss 210 facing away from each other in the second direction abut against the inner wall of the groove 340 in a state that the cavity wall of the clamping cavity is clamped between the output end 100 and the input end 200.
With continued reference to fig. 3 and 4, in one embodiment, in a radial direction from inside to outside of the first boss 110, a distance between two side walls of the first boss 110 and the second boss 210 facing away from each other in the second direction is gradually decreased in the second direction.
Specifically, for convenience of description, the first sidewall 111 is defined as a sidewall of the first boss 110 facing away from the second boss 210 in the second direction, that is, facing the groove wall of the groove 340, and the second sidewall 211 is defined as a sidewall of the second boss 210 facing away from the first boss 110 in the second direction, that is, facing the groove wall of the groove 340. Since the sides of the first boss 110 and the second boss 210 facing away from each other are abutted against the inner wall of the groove 340, the groove wall of the groove 340 is fitted with the first side wall 111 and the second side wall 211. Since the distance between the two side walls of the first boss 110 and the second boss 210 facing away from each other in the second direction gradually decreases in the radial direction from the inside to the outside of the first boss 110, that is, the distance between the first side wall 111 and the second side wall 211 in the second direction gradually decreases, at least one of the first side wall 111 and the second side wall 211 is an inclined surface. Since at least one of the first side wall 111 and the second side wall 211 is an inclined surface, as can be seen from the foregoing description, the groove wall of the groove 340 is matched with the first side wall 111 and the second side wall 211, and the groove wall of the side of the groove 340 abutting against the inclined surface in the second direction is also an inclined surface, when the distance between the first clamping member 310 and the second clamping member 320 is reduced to reduce the size of the clamping cavity, the cavity wall of the clamping cavity has a component force to the inclined surface in the second direction, so that the first boss 110 and the second boss 210 abut against each other more tightly. Preferably, the first sidewall 111 and the second sidewall 211 are both inclined, and two groove walls of the groove 340 along the second direction are also inclined.
In the second direction, because the distance between the two side walls of the first boss 110 and the second boss 210, which are away from each other, in the second direction gradually decreases, the distance between the first side wall 111 and the second side wall 211 in the radial direction of the first boss 110 is the smallest, and the opening of the groove 340 is matched with the first side wall 111 and the second side wall 211 in the radial direction of the first boss 110, and then the opening of the groove 340 is greater than the distance between the first side wall 111 and the second side wall 211 in the radial direction of the first boss 110, so that the first boss 110 and the second boss 210 can extend into the groove 340, and the installation of the limiting component 30 is facilitated.
Further, the opposite sides of the first boss 110 and the second boss 210 abut against each other, so that the first boss 110 and the second boss 210 can be stably clamped by the side wall of the groove 340, thereby restricting the relative movement of the first joint 10 and the second joint 20 in the second direction. Meanwhile, the opposite sides of the first boss 110 and the second boss 210 abut against each other, which facilitates machining.
Referring to fig. 1 and 2, in one embodiment, the joint assembly further includes a locking member 350, one end of the locking member 350 passing through the first clamping member 310 in a direction perpendicular to the second direction and being threadedly coupled to the second clamping member 320.
Specifically, the retaining member 350 passes through the first retaining member 310 in a first direction and is threaded to the second retaining member 320, enabling attachment of the first retaining member 310 and the second retaining member 320. Because the retaining member 350 passes through the first retaining member 310 along the direction perpendicular to the second direction, compared with the prior art, the input end 200 is connected with another connecting portion through the output end 100, and then the connection is realized by passing through the connecting portion along the second direction through the area of the connecting portion outside the input end 200 and the output end 100 through a plurality of screws and the like, this fixing mode in the present application does not need to be matched by an additional connecting part larger than the joint assembly, so that the size of the whole joint assembly can be reduced, meanwhile, a larger operation space is provided when the retaining member 350 is installed and disassembled, thereby facilitating the operation, and in addition, the connection of the first retaining member 310 and the second retaining member 320 can be realized through one retaining member 350, thereby facilitating the installation and disassembly of the first joint 10 and the second joint 20. Wherein, by rotating the locking piece 350, the distance between the first clamping piece 310 and the second clamping piece 320 can be adjusted, i.e. the adjustment of the radial dimension of the clamping cavity is realized, thereby improving the adaptability of the limiting assembly 30. Wherein, the locking member 350 may be a bolt.
Referring to fig. 1, 2, 3 and 4, in one embodiment, the first clamping member 310 is provided with a first connecting hole 311, the locking member 350 is connected to the second clamping member 320 through the first connecting hole 311, and the first connecting hole 311 penetrates through the outer wall of the first clamping member 310 and is located outside the wall of the clamping chamber.
Specifically, since the first connection hole 311 passes through the outer wall of the first clamping member 310 and is located outside the wall of the clamping chamber, when the first clamping member 310 and the second clamping member 320 are connected by the locking member 350, the locking member 350 is not in contact with the first joint 10 and the second joint 20, so that the locking member 350 can be prevented from having positional interference with the output terminal 100 and the input terminal 200. In a state where the cavity walls of the clamping cavity clamp the output end 100 and the input end 200, since the locker 350 does not contact the first joint 10 and the second joint 20, that is, the locker 350 does not interfere with the positions of the output end 100 and the input end 200, the installation position of the position limiting assembly 30 with respect to the first joint 10 and the second joint 20 is not limited.
Further, first chucking piece 310 all is equipped with first connecting hole 311 along both ends on the first direction on the terminal surface, and second chucking piece 320 all is equipped with second connecting hole 321 along both ends on the first direction on the terminal surface, connects the both ends of first chucking piece 310 and second chucking piece 320 respectively through retaining member 350 to be convenient for through rotating retaining member 350, realize the distance between first chucking piece 310 and the second chucking piece 320, realize the regulation of the radial dimension who presss from both sides tight chamber promptly.
Referring to fig. 1, 3 and 4, in one embodiment, one of the output end 100 and the input end 200 has a plug 120 on its end surface, and the other has a socket 220 on its end surface, and the plug 120 is inserted into the socket 220 to limit the relative rotation between the first joint 10 and the second joint 20 when the cavity wall of the clamping cavity is clamped between the output end 100 and the input end 200.
Specifically, in a state where the cavity walls of the clamping cavity are clamped between the output end 100 and the input end 200, the plug 120 is inserted into the insertion hole 220, so that the first joint 10 and the second joint 20 can be restricted from rotating relative to each other, and the output end 100 can transmit torque to the input end 200.
Further, the plug 120 is disposed at the output end 100, and the jack 220 is disposed at the input end 200, in other embodiments, the plug 120 may be disposed at the input end 200, and the jack 220 is disposed at the output end 100, as long as it can limit the relative rotation between the first joint 10 and the second joint 20.
Furthermore, the end face of the output end 100 is provided with a plurality of plugs 120 uniformly arranged at intervals along the circumferential direction, and the insertion holes 220 are arranged at positions corresponding to the end face of the input end 200, so that the relative rotation between the first joint 10 and the second joint 20 can be stably limited, and meanwhile, the relative movement between the first joint 10 and the second joint 20 along the second direction can be limited. In other embodiments, at least one plug 120 may be disposed on the radially outer side of the end surface of the output end 100, and the insertion hole 220 may be disposed at a position corresponding to the end surface of the input end 200, as long as the relative rotation between the first joint 10 and the second joint 20 can be limited.
Referring to fig. 1, 5 and 6, fig. 5 is a schematic view of a first joint of a joint assembly according to an embodiment of the present invention; figure 6 is a front view of a first joint in the joint assembly of an embodiment of the present invention. In one embodiment, the first joint 10 includes a first electrical component 190, the first electrical component 190 is disposed on the end surface of the output end 100, the second joint 20 includes a second electrical component 290, the second electrical component 290 is disposed on the end surface of the input end 200, one of the first electrical component 190 and the second electrical component 290 is provided with an electrical connection male head 130, the other is provided with an electrical connection female head 230, in a state that the cavity wall of the clamping cavity is clamped between the output end 100 and the input end 200, the electrical connection male head 130 is inserted into the electrical connection female head 230, and the electrical connection male head 130 and the electrical connection female head 230 are electrically connected.
Specifically, in a state that the cavity wall of the clamping cavity is clamped between the output end 100 and the input end 200, the output end 100 and the input end 200 are electrically connected stably by inserting the electrical connection male connector 130 and the electrical connection female connector 230.
Further, the male electrical connection head 130 is disposed on the end surface and located radially inside the plug 120, when one of the input end 200 and the output end 100 is subjected to an external force in the radial direction, the plug 120 and the receptacle 220 are engaged to protect the male electrical connection head 130 and the female electrical connection head 230 from being plugged, so as to prevent the male electrical connection head 130 and the female electrical connection head 230 from being damaged by the external force in the first direction.
Furthermore, the number of the male electrical connection heads 130 is plural, and the plural male electrical connection heads 130 are uniformly arranged at the central position of the end surface of the output end 100 along the circumferential direction, and the arrangement of the female electrical connection head 230 corresponds to the male electrical connection head 130, so that the male electrical connection head 130 and the female electrical connection head 230 are more stably connected.
Referring to fig. 5, 7 and 8, fig. 7 is a schematic view of a first electrical component of the joint component according to the embodiment of the present invention; fig. 8 is a cross-sectional view of a first electrical component of the joint assembly in an embodiment of the present invention. In one embodiment, the first electrical assembly 190 includes a first insulator 150 and a first elastic member 160, the male electrical connector 130 is mounted on the first insulator 150 and connected to the first insulator 150 by the first elastic member 160, and the first elastic member 160 is used for applying a force to the male electrical connector 130 toward the female electrical connector 230.
Specifically, the first insulator 150 is mounted on the end surface of the output terminal 100, and the second insulator 250 is mounted on the end surface of the input terminal 200. Since the male electrical connector 130 is connected to the first insulator 150 through the first elastic member 160, and the first elastic member 160 can apply a force to the male electrical connector 130 toward the female electrical connector 230, when the male electrical connector 130 is connected to the female electrical connector 230, the male electrical connector 130 can be stably pressed against the female electrical connector 230. When there is assembly error between first joint 10, second joint 20 and the spacing subassembly 30 and make to have the clearance between output 100 and the input 200, through first elastic component 160, can make public head 130 of electric connection and electric connection female 230 remain stable connection throughout to first joint 10 and second joint 20 electric connection's stability has been improved.
Further, the middle part of the end surface of the output end 100 is provided with a first mounting groove 134, the middle part of the end surface of the input end 200 is provided with a second mounting groove 233, the first insulator 150 is accommodated in the first mounting groove 134, and the second insulator 250 is accommodated in the second mounting groove 233, so that the end surface of the output end 100 can be attached to the end surface of the input end 200 in a state that the cavity wall of the clamping cavity is clamped between the output end 100 and the input end 200, and the connection stability of the first joint 10 and the second joint 20 is improved. Preferably, the first elastic member 160 is a spring.
With reference to fig. 5, fig. 7 and fig. 8, in one embodiment, a first mating groove 170 is formed in the first insulator 150, an abutting block 131 is disposed on the male electrical connector 130, one end of the male electrical connector 130, which is away from the female electrical connector 230, extends into the first mating groove 170 and penetrates through the first elastic member 160, one end of the abutting block 131 abuts against the first elastic member 160, and the other end abuts against a groove wall of the first mating groove 170.
Specifically, the first elastic member 160 is accommodated in the first matching groove 170, the first elastic member 160 is sleeved on the male electrical connection head 130, one end of the first elastic member 160 abuts against a groove wall of the first matching groove 170, and the other end of the first elastic member 160 abuts against the abutting block 131, so that the compression of the first elastic member 160 is guided, and the first elastic member 160 can stably apply an acting force towards the female electrical connection head 230 along the second direction to the male electrical connection head 130.
Further, the first mating groove 170 includes a stepped groove having a stepped surface 171, and the stepped surface 171 is located on a side of the abutting block 131 departing from the first elastic member 160, so that the stepped surface 171 can limit the abutting block 131, and the male electrical connector 130 is prevented from extending out of the first mating groove 170 under the action of the first elastic member 160.
It should be noted that one end of the first elastic member 160 may be connected to the side of the first insulator 150 facing the input end 200, and the other end is connected to the male electrical connection head 130, as long as the first elastic member 160 can apply a force to the male electrical connection head 130 to face the female electrical connection head 230.
In another embodiment, the second electrical assembly 290 includes a second insulator 250 and a second elastic member, wherein the connection manner of the electrical connection female 230 and the second insulator 250 and the second elastic member is the same as the connection manner of the electrical connection male 130 and the first insulator 150 and the first elastic member 160 in the above embodiments, and therefore, the description thereof is omitted. The arrangement is such that the electrical connection male connector 130 and the electrical connection female connector 230 can maintain stable connection in a state where the cavity walls of the clamping cavity are clamped to the output terminal 100 and the input terminal 200.
In another embodiment, the first electrical component 190 includes a first insulator 150 and a first elastic member 160, and the second electrical component 290 includes a second insulator 250 and a second elastic member, and the connection manner is the same as above, and therefore, the detailed description thereof is omitted.
Referring to fig. 5, 9 and 10, fig. 9 is a schematic view of a second electrical component of the joint assembly in accordance with an embodiment of the present invention; fig. 10 is a cross-sectional view of a second electrical component of the joint assembly in an embodiment of the present invention. An embodiment of the present invention provides a robot arm, including the above joint assembly. The stable connection of first joint 10 and second joint 20 has been realized through the connection of first chucking piece 310 and second chucking piece 320 in the joint subassembly in this application, when needs are dismantled, only need take apart first chucking piece 310 and second chucking piece 320, can realize the separation of first joint 10 and second joint 20 to the installation and the dismantlement efficiency of joint subassembly have been improved.
Further, the first joint 10 also has an input end 200, the second joint 20 also has an output end 100, and the number of joints in the joint assembly can be multiple, and in multiple joints, the output ends 100 of adjacent joints are connected with the input end 200 and clamped through the cavity wall of the clamping cavity, so that the joint assembly can be quickly mounted and dismounted while torque transmission is achieved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A joint assembly, comprising:
the first joint is provided with an output end, a first boss is convexly arranged on the outer wall of the output end along a first direction, the first joint is used for outputting rotary motion around a second direction, the first direction is vertical to the second direction, and the first direction is a direction from the center of the output end to the edge;
the second joint is provided with an input end, and a second boss is convexly arranged on the outer wall of the input end along the first direction;
the limiting assembly comprises a first clamping piece and a second clamping piece, a groove is formed in the inner wall of at least one of the first clamping piece and the second clamping piece along the first direction, and a clamping cavity is formed between the first clamping piece and the second clamping piece when the first clamping piece and the second clamping piece are in a connected state;
the first boss and the second boss are accommodated in the groove, the cavity wall of the clamping cavity is clamped between the output end and the input end, and the relative positions of the first joint and the second joint are limited by the cavity wall.
2. The joint assembly of claim 1, wherein the first boss and the second boss are annular, and axes of the first boss and the second boss extend in the second direction, and wherein sides of the first boss and the second boss that face away from each other in the second direction both abut against an inner wall of the recess in a state where the cavity wall of the clamping cavity is clamped between the output end and the input end.
3. The joint assembly of claim 2, wherein in a radial direction from inside to outside of the first boss, a distance between two side walls of the first boss and the second boss facing away from each other in the second direction is gradually reduced in the second direction.
4. The joint assembly of claim 1, further comprising a retaining member having one end that passes through the first retaining member in a direction perpendicular to the second direction and is threadably coupled to the second retaining member.
5. The joint assembly of claim 4, wherein the first clamping member has a first connecting hole formed therein, the locking member is connected to the second clamping member through the first connecting hole, and the first connecting hole passes through an outer wall of the first clamping member and is located outside a wall of the clamping chamber.
6. The joint assembly of claim 1, wherein one of the output end and the input end has a plug at an end surface thereof, and the other has a socket at an end surface thereof, and the cavity wall of the clamping cavity is clamped between the output end and the input end, and the plug is inserted into the socket to restrict the first joint and the second joint from rotating relative to each other.
7. The joint assembly according to claim 1, wherein the first joint includes a first electrical component disposed on an end surface of the output end, the second joint includes a second electrical component disposed on an end surface of the input end, one of the first electrical component and the second electrical component is provided with an electrical connection male head, the other one of the first electrical component and the second electrical component is provided with an electrical connection female head, the electrical connection male head is inserted into the electrical connection female head in a state where the cavity wall of the clamping cavity is clamped between the output end and the input end, and the electrical connection male head and the electrical connection female head are electrically connected.
8. The joint assembly of claim 7, wherein the first electrical assembly comprises a first insulator and a first resilient member, the male electrical connector being mounted to the first insulator and being connected to the first insulator by the first resilient member, the first resilient member being configured to apply a force to the male electrical connector toward the female electrical connector.
9. The joint assembly of claim 8, wherein a first mating groove is formed in the first insulator, a first abutting block is disposed on the male electrical connector, one end of the male electrical connector, which is away from the female electrical connector, extends into the first mating groove and penetrates through the first elastic member, one end of the first abutting block abuts against the first elastic member, and the other end of the first abutting block abuts against a groove wall of the first mating groove.
10. A robotic arm comprising a joint assembly as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210371463.3A CN114932574A (en) | 2022-04-11 | 2022-04-11 | Joint assembly and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210371463.3A CN114932574A (en) | 2022-04-11 | 2022-04-11 | Joint assembly and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114932574A true CN114932574A (en) | 2022-08-23 |
Family
ID=82862302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210371463.3A Pending CN114932574A (en) | 2022-04-11 | 2022-04-11 | Joint assembly and mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114932574A (en) |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002239966A (en) * | 2001-02-16 | 2002-08-28 | Denso Corp | Articulation device for robot and its assembling method |
| JP2005161447A (en) * | 2003-12-01 | 2005-06-23 | Kawada Kogyo Kk | Modularization structure of walking robot |
| DE102010054739A1 (en) * | 2010-12-16 | 2012-06-21 | Andreas Reichert | Adaptive handling apparatus for handling larger components used in automotive industry, has arms that are clamped in joint head, whose angle is adjusted, so that arms are fixed in its angular position |
| KR101230978B1 (en) * | 2011-08-12 | 2013-02-07 | (주)기가레인 | Connector for compensating combination position |
| US20130076902A1 (en) * | 2011-09-26 | 2013-03-28 | Universite Laval | Robotically operated vehicle charging station |
| CN105345815A (en) * | 2015-11-19 | 2016-02-24 | 珠海格力电器股份有限公司 | Joint connector and robot |
| JP2016190282A (en) * | 2015-03-31 | 2016-11-10 | カワダロボティクス株式会社 | Multi-articulated type robot |
| CN205693098U (en) * | 2016-06-22 | 2016-11-16 | 山东龙翼航空科技有限公司 | A kind of intraarticular plug |
| US9505136B1 (en) * | 2013-06-24 | 2016-11-29 | Redwood Robotics | Precision assembly of robotic components |
| CN106541398A (en) * | 2015-09-21 | 2017-03-29 | 深圳市恒科通机器人有限公司 | Combination humanoid robot and its Movable joint mechanism |
| CN107775662A (en) * | 2017-10-20 | 2018-03-09 | 大族激光科技产业集团股份有限公司 | A kind of articulated robot and the module for building articulated robot |
| US20180123306A1 (en) * | 2016-11-02 | 2018-05-03 | Panasonic Intellectual Property Management Co., Ltd. | Electronic equipment assembly apparatus and electronic equipment assembly method |
| CN109093643A (en) * | 2018-09-19 | 2018-12-28 | 广东工业大学 | A kind of robot connection component of opposite opened semiellipse snap ring |
| CN110167725A (en) * | 2017-01-13 | 2019-08-23 | 优傲机器人公司 | Fixture type bamp joint |
| US20200269417A1 (en) * | 2017-10-27 | 2020-08-27 | Festo Se & Co. Kg | Hardware module for a robotic system, and mechanical coupling |
| CN211480440U (en) * | 2020-03-20 | 2020-09-11 | 深圳市赛为智能股份有限公司 | Unmanned aerial vehicle horn connection structure with electrical connecting piece |
| CN211682202U (en) * | 2020-02-27 | 2020-10-16 | 成都卡诺普自动化控制技术有限公司 | Joint connection mode of cooperative robot |
| CN216030915U (en) * | 2021-12-09 | 2022-03-15 | 科大讯飞(苏州)科技有限公司 | Robot arm and robot |
-
2022
- 2022-04-11 CN CN202210371463.3A patent/CN114932574A/en active Pending
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002239966A (en) * | 2001-02-16 | 2002-08-28 | Denso Corp | Articulation device for robot and its assembling method |
| JP2005161447A (en) * | 2003-12-01 | 2005-06-23 | Kawada Kogyo Kk | Modularization structure of walking robot |
| DE102010054739A1 (en) * | 2010-12-16 | 2012-06-21 | Andreas Reichert | Adaptive handling apparatus for handling larger components used in automotive industry, has arms that are clamped in joint head, whose angle is adjusted, so that arms are fixed in its angular position |
| KR101230978B1 (en) * | 2011-08-12 | 2013-02-07 | (주)기가레인 | Connector for compensating combination position |
| US20130076902A1 (en) * | 2011-09-26 | 2013-03-28 | Universite Laval | Robotically operated vehicle charging station |
| US9505136B1 (en) * | 2013-06-24 | 2016-11-29 | Redwood Robotics | Precision assembly of robotic components |
| JP2016190282A (en) * | 2015-03-31 | 2016-11-10 | カワダロボティクス株式会社 | Multi-articulated type robot |
| CN106541398A (en) * | 2015-09-21 | 2017-03-29 | 深圳市恒科通机器人有限公司 | Combination humanoid robot and its Movable joint mechanism |
| CN105345815A (en) * | 2015-11-19 | 2016-02-24 | 珠海格力电器股份有限公司 | Joint connector and robot |
| CN205693098U (en) * | 2016-06-22 | 2016-11-16 | 山东龙翼航空科技有限公司 | A kind of intraarticular plug |
| US20180123306A1 (en) * | 2016-11-02 | 2018-05-03 | Panasonic Intellectual Property Management Co., Ltd. | Electronic equipment assembly apparatus and electronic equipment assembly method |
| CN110167725A (en) * | 2017-01-13 | 2019-08-23 | 优傲机器人公司 | Fixture type bamp joint |
| CN107775662A (en) * | 2017-10-20 | 2018-03-09 | 大族激光科技产业集团股份有限公司 | A kind of articulated robot and the module for building articulated robot |
| US20200269417A1 (en) * | 2017-10-27 | 2020-08-27 | Festo Se & Co. Kg | Hardware module for a robotic system, and mechanical coupling |
| CN109093643A (en) * | 2018-09-19 | 2018-12-28 | 广东工业大学 | A kind of robot connection component of opposite opened semiellipse snap ring |
| CN211682202U (en) * | 2020-02-27 | 2020-10-16 | 成都卡诺普自动化控制技术有限公司 | Joint connection mode of cooperative robot |
| CN211480440U (en) * | 2020-03-20 | 2020-09-11 | 深圳市赛为智能股份有限公司 | Unmanned aerial vehicle horn connection structure with electrical connecting piece |
| CN216030915U (en) * | 2021-12-09 | 2022-03-15 | 科大讯飞(苏州)科技有限公司 | Robot arm and robot |
Non-Patent Citations (2)
| Title |
|---|
| 史士财;何阳;李荣;刘宏;: "空间机械臂关节快换接口结构设计与分析", 宇航学报, no. 08, pages 125 - 132 * |
| 强艳辉;杨侃;: "利用DSP实现工业机器人关节电机绝对位置测量", 组合机床与自动化加工技术, no. 09, pages 108 - 111 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111641078B (en) | Elastic sheet locking type push-pull self-locking connector | |
| WO2012086267A1 (en) | Connector | |
| CN111641080B (en) | Spring plate locking type push-pull connector | |
| US11721929B2 (en) | Electrical connector with modular housing for accommodating various contact layouts | |
| US8851934B2 (en) | Electrical module housing | |
| CN101350483A (en) | Plate-to-plate concentration mounting type RF coaxial connector | |
| US20220209462A1 (en) | Methods and apparatuses for aligning and coupling a circuit board with a chassis and another circuit board | |
| GB2469855A (en) | Locking apparatus for electrical connectors | |
| WO2019175847A1 (en) | Electric connector | |
| US20080299832A1 (en) | Connector | |
| US6736659B1 (en) | Cable connector assembly | |
| EP2180559B1 (en) | A quick lock connector assembly and a process for coupling and uncoupling such assembly | |
| CN217087067U (en) | Connector switching device and connector assembly | |
| US20110086555A1 (en) | Electrical terminal blocks and assemblies thereof | |
| EP3596785B1 (en) | Blind mate connector housing and electronics system | |
| CN114932574A (en) | Joint assembly and mechanical arm | |
| CN112086815A (en) | Axial line deflectable connector | |
| CN218828159U (en) | Socket and connector | |
| JP7405798B2 (en) | connector | |
| US20230369816A1 (en) | Connector and Connector Assembly | |
| CN218456176U (en) | Novel direct-insertion multi-core connector | |
| CN221150472U (en) | Electric connector | |
| CN216872333U (en) | Plug-in connector and high-frequency digital electroencephalograph | |
| CN220021781U (en) | Connector housing assembly, connector and connector assembly | |
| CN221427580U (en) | Conductor assembly and switch with same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |