CN217256391U - Mechanical shoulder joint, mechanical arm and robot - Google Patents

Abstract

The utility model provides a machinery shoulder joint, arm and robot relates to the robotechnology field. The mechanical shoulder joint comprises: the differential driving device comprises a fixed base, a differential driving module and a first movable piece; the differential driving module comprises a driver, a driving roller, a differential rope wheel, a differential shaft and a driving rope; the driver is connected with the driving roller; the differential shaft is positioned in the fixed seat body and connected with the differential rope wheel and the first movable piece; the peripheral surface of the driving roller is provided with a spiral rope groove, a driving rope is wound on the driving roller along the rope groove, and the driving rope is connected between the driving roller and the difference rope wheel. The shoulder joint can avoid the problems of overlapping and biting of the driving rope and the like, and ensures the working reliability of the mechanical shoulder joint; the driving rope is wound along the rope groove, the retraction size of the driving rope is better consistent with the movement stroke of the mechanical shoulder joint, and the rope driving precision is favorably improved.

Description

Mechanical shoulder joint, mechanical arm and robot

Technical Field

The disclosure relates to the technical field of robots, in particular to a mechanical shoulder joint, a mechanical arm and a robot.

Background

With the development of robotics and the diffusion of applicable fields, robots have become irreplaceable tools in the fields of production, service and the like. The articulated robot Driven by a rope (called "Tendon drive") is widely applied due to the advantages of flexible movement, compact structure and the like.

The robot in the related art generally includes a mechanical shoulder joint for simulating the shoulder of a human body, and supports a mechanical arm to perform lifting, rotating and other actions.

However, since the driving elements such as the motor and the speed reducer are disposed in the mechanical shoulder joint, the mechanical shoulder joint has a heavy weight and an excessively large moment of inertia, and thus cannot perform high-speed and high-precision motion.

SUMMERY OF THE UTILITY MODEL

The utility model provides a machinery shoulder joint, arm and robot can solve machinery shoulder joint weight great, and inertia is too big, can't realize the problem of high-speed, high accuracy motion.

The technical scheme is as follows:

in one aspect, there is provided a mechanical shoulder joint comprising: the differential driving module comprises a fixed base, a differential driving module and a first movable part;

the differential driving module comprises a driver, a driving roller, a differential rope wheel, a differential shaft and a driving rope;

the driver is connected with the driving roller;

the differential shaft is positioned in the fixed seat body and connected with the differential rope wheel and the first movable piece;

the peripheral surface of the driving roller is provided with a spiral rope groove, the driving rope is wound on the driving roller along the rope groove, and the driving rope is connected between the driving roller and the difference rope wheel.

In another aspect, a robot arm is provided, the robot arm comprising a robot shoulder joint according to the present disclosure, and a robot elbow joint, an elbow drive module, a robot wrist joint and a wrist drive module; the mechanical shoulder joint comprises a second movable piece;

the mechanical elbow joint is connected with the second moving piece, the elbow driving module is located in the second moving piece, and the elbow driving module is used for driving the mechanical elbow joint;

the mechanical wrist joint is connected with the mechanical elbow joint, the wrist driving module is located in the second moving part, and the wrist driving module is used for driving the mechanical wrist joint.

In another aspect, a robot is provided, the robot comprising a mechanical shoulder joint according to the present disclosure, or a mechanical arm according to the present disclosure.

The beneficial effect that technical scheme that this disclosure provided brought includes at least:

the mechanical shoulder joint comprises a fixed base, a first moving part and a differential drive module; the differential driving module comprises a driver, a driving roller, a differential rope wheel, a differential shaft and a driving rope, the differential shaft is positioned in the fixed seat body, the driving rope is wound and connected between the driving roller and the differential rope wheel which are arranged in parallel, a spiral rope groove is formed in the outer peripheral surface of the driving roller, the driving rope is wound on the driving roller along the rope groove, the problems that the driving rope is overlapped and bites the rope and the like can be avoided, and the working reliability of the mechanical shoulder joint is ensured; the driving rope is wound along the rope groove, the folding and unfolding size of the driving rope is better consistent with the movement stroke of the mechanical shoulder joint, and the rope driving precision is favorably improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

FIG. 1 is a schematic structural view of a mechanical shoulder joint provided by an embodiment of the present disclosure;

FIG. 2 is a schematic view of the drive roll and drive cable connection provided by an embodiment of the present disclosure;

FIG. 3 is a cross-sectional view of a drive roll configuration provided by an embodiment of the present disclosure;

fig. 4 is a schematic view of the connection of the differential sheave, the drive rope and the drive roller provided by the embodiment of the present disclosure;

FIG. 5 is an enlarged view of a portion A of FIG. 4;

FIG. 6 is a partial schematic structural view of a mechanical shoulder joint provided by an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a robotic arm provided in an embodiment of the present disclosure.

The reference numerals in the figures are denoted respectively by:

10. a mechanical shoulder joint; 20. a mechanical elbow joint; 30. a robotic wrist joint;

1. fixing the base; 11. a top plate; 12. a base plate; 13. a column; 14. a fixing member; 15. a guard;

2. a differential drive module; 21. a driver; 22. a drive roll; 221. rope grooves; 222. a first rope fixing portion; 2221. avoiding holes; 2222. a blocking hole; 23. a differential sheave; 231. a second rope fixing portion; 2311. a pre-tightening device; 232. pre-tightening a groove; 24. a differential shaft; 25. a drive rope; 251. a ball head; 26. a speed reducer;

3. a first movable member;

4. a second movable member;

5. a rotation driving module;

6. an elbow driving module;

7. a wrist driving module.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

In the description of the disclosure, the terms "central," "longitudinal," "lateral," "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 an orientation or positional relationship indicated in the drawings for convenience in describing and simplifying the disclosure, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the disclosure.

Unless defined otherwise, all technical terms used in the embodiments of the present disclosure have the same meaning as commonly understood by one of ordinary skill in the art.

With the wide application of the robot technology in the service industry, it is important to develop a mechanical arm suitable for human-computer interaction, and a shoulder joint of the conventional mechanical arm is usually driven by a motor and a harmonic reducer, so that adverse effects are generated on the motion of the robot, the rotational inertia of the shoulder joint is increased, and the motion precision of the shoulder joint is influenced.

The motor and the harmonic reducer directly drive the rope wheel, and the rope driving has objective problems of flexibility, peristalsis and the like, so that the transmission precision of the shoulder joint is low, and the working precision of the robot is influenced.

Therefore, the mechanical shoulder joint provided by the disclosure can avoid the problems that a driving rope is overlapped and bites the rope and the like, and ensures the working reliability of the mechanical shoulder joint; the driving rope is wound along the rope groove, the folding and unfolding size of the driving rope is better consistent with the movement stroke of the mechanical shoulder joint, and the rope driving precision is favorably improved.

It should be understood that the mechanical shoulder joint provided by the application can be applied to mechanical arms and robot scenes in the fields of cloud technology, artificial intelligence, intelligent traffic and the like, and is realized in the scenes of human-computer interaction and service of people in daily life and the like through the mechanical arms and the robot.

Artificial intelligence is a theory, method, technique and application system that uses a mathematical computer or a machine controlled by a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.

The artificial intelligence is a comprehensive subject, and relates to a wide field, namely a hardware level technology and a software level technology. The basic technologies of artificial intelligence generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, and mechatronics. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.

It can be understood that an Intelligent Transportation System (ITS) applied in the field of Intelligent Transportation is also called an Intelligent Transportation System (Intelligent Transportation System), and is a comprehensive Transportation System which effectively and comprehensively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation research, artificial intelligence and the like) to Transportation, service control and vehicle manufacturing, strengthens the relation among vehicles, roads and users, thereby forming a comprehensive Transportation System which ensures safety, improves efficiency, improves environment and saves energy.

To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic structural view of a mechanical shoulder joint 10 provided in an embodiment of the present disclosure.

In one aspect, as shown in fig. 1, the present embodiment provides a mechanical shoulder joint 10, where the mechanical shoulder joint 10 includes: the device comprises a fixed base 1, a differential drive module 2 and a first movable part 3.

The differential drive module 2 comprises a driver 21, a drive roller 22, a differential rope wheel 23, a differential shaft 24 and a drive rope 25;

the driver 21 is connected with the driving roller 22; the differential shaft 24 is positioned in the fixed base body 1, and the differential shaft 24 is connected with the differential rope wheel 23 and the first movable part 3; the outer circumferential surface of the drive roller 22 is provided with a spiral rope groove 221, the drive rope 25 is wound around the drive roller 22 along the rope groove 221, and the drive rope 25 is connected between the drive roller 22 and the differential sheave 23.

The mechanical shoulder joint 10 of the present embodiment includes a fixed base 1, a first movable member 3, and a differential driving module 2; the differential driving module 2 comprises a driver 21, a driving roller 22, a differential rope pulley 23, a differential shaft 24 and a driving rope 25, wherein the differential shaft 24 is positioned in the fixed base 1, the driving rope 25 is wound and connected between the driving roller 22 and the differential rope pulley 23 which are arranged in parallel, a spiral rope groove 221 is formed in the outer peripheral surface of the driving roller 22, the driving rope 25 is wound on the driving roller 22 along the rope groove 221, the problems that the driving rope 25 is overlapped and bites the rope and the like can be avoided, and the working reliability of the mechanical shoulder joint 10 is ensured.

In addition, the driving rope 25 is wound along the rope groove 221, and the folding and unfolding size of the driving rope 25 is better consistent with the movement stroke of the mechanical shoulder joint 10, so that the rope driving precision is improved.

In some possible implementations, the drive 21 comprises an electric motor comprising an output shaft to which the drive roll 22 is directly or indirectly connected.

For example, the driving roller 22 is axially sleeved on the output rotating shaft to realize direct connection; or, the driving roller 22 and the output rotating shaft are indirectly connected through a transmission structure such as a coupler, a universal joint and the like.

In other possible implementations, the driver 21 includes a motor and a reducer 26, an output rotating shaft of the motor is connected to an input end of the reducer 26, the drive roll 22 is connected to an output end of the reducer 26, and a torque output by the motor is transmitted to the drive roll 22 after being adjusted in rotation speed and torque by the reducer.

Illustratively, the reducer 26 is a Harmonic Drive reducer (Harmonic Gear Drive) including a wave generator, a compliant Gear, a compliant bearing, and a rigid Gear, wherein the compliant Gear is controllably elastically deformed by the wave generator when the compliant bearing is attached to the wave generator, and is engaged with the rigid Gear to transmit motion and power. The harmonic drive reducer has the advantages of large speed ratio, high precision, high efficiency, light weight and the like.

In another possible implementation, the arrangement of the axis of the driver 21 coinciding with the axis of the drive roll 22 at the edge of the fixed base 1 facilitates the installation of the driver 21 and the drive roll 22, as well as the routing of the power supply and control circuits of the driver 21.

In other possible implementations, as shown in fig. 6 and 1, the fixed base 1 includes a bottom plate 12, a top plate 11, and a pillar 13 supported between the bottom plate 12 and the top plate 11. The fixed seat body 1 has the advantages of simple structure, light weight, large internal accommodating space and the like. In addition, the frame-type design facilitates assembly and maintenance of the internal structure and heat dissipation of the working components such as the driver 21.

The column 13 is connected with a fixing member 14, and the fixing member 14 is used for fixing and supporting a driver 21 and a driving roller 22. Illustratively, the driver 21 and the driving roller 22 are respectively located at the upper and lower sides of the fixed member 14, and the fixed member 14 is provided with a shaft hole for connecting the two.

In another exemplary embodiment, a protection member 15 is further provided outside the driver 21, the protection member 15 encloses the driver 21 to protect the driver 21, and the protection member 15 is connected to the pillar 13.

Further, the fixing member 14 and/or the protection member 15 are connected to the upright 13 by means of screws, welding, or the like, so as to ensure the structural stability of the driver 21 and the driving roller 22 in the mechanical shoulder joint 10 during the movement of the mechanical arm, and ensure the transmission accuracy and the operational reliability of the mechanical shoulder joint 10.

Fig. 2 is a schematic view of the connection of the drive roll 22 and the drive rope 25 provided by the embodiment of the present disclosure.

As shown in connection with fig. 2, in some embodiments, the drive roller 22 includes a first rope fixing portion 222; the first rope fixing portion 222 is located at the axial middle portion of the outer peripheral surface of the drive roller 22; the first rope fixing portion 222 communicates with the rope groove 221, and the drive rope 25 is wound around the first rope fixing portion 222 along the rope groove 221 toward the axial end of the drive roller 22.

In the mechanical shoulder joint 10 of the embodiment, the drive roll 22 realizes the fixation of the drive rope 25 through the first rope fixing portion 222 at the middle part in the axial direction, in the rotating working process of the drive roll 22, the drive rope 25 is limited by the fixation of the first rope fixing portion 222 and can be smoothly wound on the drive roll 22, the drive rope 25 and the drive roll 22 transmit traction force through friction work, which is beneficial to preventing the slip of the drive rope 25 and improving the transmission precision of the mechanical shoulder joint 10.

In addition, the first rope fixing portion 222 is located in the middle of the driving roll 22 in the axial direction, and the force bearing point of the driving roll 22 is close to the middle, so that the phenomenon that the rotation accuracy and the service life of the driving roll 22 are affected due to the fact that the two end portions are stressed unevenly to generate rotation torque can be avoided.

Fig. 3 is a structural sectional view of the drive roller 22 provided in the embodiment of the present disclosure.

As shown in connection with fig. 2 and 3, in some embodiments, the number of the driving ropes 25 is two, and the number of the first rope fixing portions 222 is two; the two first rope fixing portions 222 are symmetrically located in the axial middle of the drive roller 22 along the axis of the drive roller 22. First ends of the two drive ropes 25 are connected to the two first rope fixing portions 222, respectively, and second ends of the two drive ropes 25 are wound along the rope grooves 221 toward both axial ends of the drive roller 22, respectively.

In the mechanical shoulder joint 10 of the present embodiment, the number of the drive cables 25 is two, and the number of the first cable fixing portions 222 is two. The two first rope fixing parts 222 are symmetrically arranged in the middle of the driving roller 22 along the axis of the driving roller 22, the two driving ropes 25 are respectively connected to the back of one of the first rope fixing parts 222, and the acting forces of the two driving ropes 25 on the driving roller 22 are symmetrical along the axis of the driving roller 22, so that the mutual offsetting and mutual restraining effects can be achieved, the stress of the fixing shaft of the driving roller 22 is reduced, the workload of the driving roller 22 is reduced, and the equipment loss is reduced.

The second ends of the two driving ropes 25 are respectively wound towards the two axial ends of the driving roller 22 along the rope groove 221, so that the problems of rope biting, knotting and the like of the two driving ropes 25 can be avoided, and the transmission precision of the mechanical shoulder joint 10 is improved.

In some possible implementations, two first rope fixing portions 222 are provided at intervals circumferentially in the central cross section of the drive roller 22. For example, the two first rope fixing portions 222 are circumferentially provided at angular intervals of 30 °, 40 °, 50 °, 60 °, or the like. When the two first rope fixing portions 222 are disposed at an interval of 180 °, i.e., are symmetrical along the axis of the drive roller 22.

As shown in fig. 3, in some embodiments, the first rope fixing part 222 includes an avoiding hole 2221 and a blocking hole 2222; the diameter of the clearance hole 2221 is greater than or equal to the diameter of the ball 251 of the drive cable 25, and the diameter of the stop hole 2222 is less than the diameter of the ball 251.

Therefore, in the mechanical shoulder joint 10 of the present embodiment, the first rope fixing portion 222 includes the avoiding hole 2221 and the stopping hole 2222, wherein the diameter of the avoiding hole 2221 is larger, and the ball 251 of the driving rope 25 can pass through the avoiding hole 2221, and then the ball 251 is limited and fixed by the stopping hole 2222 with a smaller diameter, which has a simple structure and facilitates connection of the driving rope 25.

As shown in connection with fig. 3, in some embodiments, the helical lead S of the cord groove 221 is greater than or equal to the diameter of the drive cord 25. The helical lead S is a distance of the helical line moving in the axial direction of the drive roller 22 by rotating the helical line one turn around the drive roller 22.

The spiral lead S of the rope groove 221 of the present embodiment is greater than or equal to the diameter of the driving rope 25, so that it can be ensured that the driving rope 25 in the adjacent rope groove 221 keeps a safe distance, the problems of rope biting and the like do not occur, the consistency of the stroke of the driving rope 25 and the rotation angle of the driving roller 22 is good, and the driving rope 25 is ensured to have higher transmission precision.

Fig. 4 is a schematic connection diagram of the differential sheave 23, the drive rope 25, and the drive roller 22 provided in the embodiment of the present disclosure.

As shown in connection with fig. 4, in some embodiments, the differential sheave 23 includes a second rope fixing portion 231; the second rope fixing portion 231 is located at an axial end of the differential sheave 23; the drive rope 25 is wound around the second rope fixing portion 231 toward the axial middle of the differential sheave 23.

In the mechanical shoulder joint 10 of the present embodiment, the differential sheave 23 is connected to the drive roller 22 through the drive rope 25 as a driven member, and the drive roller 22 rotates under the traction of the drive rope 25, and further drives the differential shaft 24 to rotate, and the differential shaft 24 drives the first movable element 3 to rotate. The differential sheave 23 is provided with a second rope fixing portion 231 at an axial end portion thereof, and the drive rope 25 is connected to the axial end portion of the differential sheave 23, so that the drive rope 25 is wound toward an axial middle portion of the differential sheave 23 during operation, thereby avoiding problems such as rope biting and overlapping.

Fig. 5 is a partially enlarged view of a portion a in fig. 4.

As shown in fig. 5, in some embodiments, the second rope fixing part 231 includes a pre-tightening device 2311, and the ball 251 of the driving rope 25 is connected to the pre-tightening device 2311; the axial end surface of the differential rope wheel 23 is provided with a pre-tightening groove 232; the pretensioning device 2311 is movably located in the pretensioning groove 232.

In the mechanical shoulder joint 10 of the present embodiment, the second rope fixing portion 231 of the differential sheave 23 includes the pre-tightening device 2311, the pre-tightening device 2311 is movably located in the pre-tightening groove 232 of the axial end surface of the differential sheave 23, and after the pre-tightening device 2311 is connected to the driving rope 25, the position of the pre-tightening device 2311 in the pre-tightening groove 232 is adjusted, so that the actual working length of the driving rope 25 can be changed, and thereby the pre-tightening adjustment of the driving rope 25 is realized.

As shown in fig. 4, in some embodiments, the number of the second rope fixing portions 231 is two, and the two second rope fixing portions 231 are located at both axial ends of the differential sheave 23.

Second ends of the two drive ropes 25 are connected to the two second rope fixing portions 231, respectively, and first ends of the two drive ropes 25 are wound toward the axial middle portion of the differential sheave 23, respectively.

In the mechanical shoulder joint 10 of the present embodiment, the differential sheave 23 is connected to two drive ropes 25, the two drive ropes 25 are wound in opposite directions, and the two drive ropes 25 are alternately pulled, whereby the differential sheave 23 can be driven in the forward and reverse directions, and the differential sheave 23 can be driven in both directions.

Fig. 6 is a partial structural schematic view of a mechanical shoulder joint 10 provided in an embodiment of the present disclosure.

As shown in connection with fig. 6, in some embodiments, the axial length L1 of the drive roller 22 is equal to the axial length L2 of the differential sheave 23; the axis of the drive roller 22 is parallel to the axis of the differential sheave 23; the drive ropes 25 connected between the drive roller 22 and the differential sheave 23 are perpendicular to the axis of the drive roller 22 and the axis of the differential shaft 24.

In the mechanical shoulder joint 10 of the present embodiment, the axial lengths of the drive roller 22 and the differential sheave 23 are equal, and after the drive rope 25 is wound between the drive roller 22 and the differential sheave 23, one end of the drive rope 25 is wound from the axial middle portion of the drive roller 22 toward the end portion, and the other end is wound from the axial end portion of the differential sheave 23 toward the middle portion, and the suspended portion of the drive rope 25 between the two is perpendicular to the axis of the drive roller 22 and the axis of the differential shaft 24, so that the influence of the creep of the drive rope 25 on the transmission accuracy can be reduced.

Further, it is possible to prevent the drive rope 25 from slipping in the axial direction of the drive roller 22 or the differential sheave 23 due to the axial position deviation, and to prevent the transmission accuracy of the mechanical shoulder joint 10 from being affected.

As shown in connection with fig. 6, in some embodiments, the ratio of the axial length L2 of the differential sheave 23 to the length L3 of the differential shaft 24 ranges from 0.25 to 0.5. Therefore, the axial length L2 of the differential sheave 23 of the present embodiment is large, and the drive rope 25 having a larger length can be wound around the differential sheave to satisfy different movement strokes.

Referring to fig. 6, in some embodiments, the fixed base 1 has a symmetrical structure, and the differential shaft 24 is located on a symmetrical line of the fixed base 1; the number of the driver 21 and the drive roll 22 is two; the two drivers 21 are symmetrically located on both sides of the differential shaft 24, and the two drive rollers 22 are symmetrically located on both sides of the differential shaft 24.

In the mechanical shoulder joint 10 of the present embodiment, the number of the driver 21 and the number of the driving roller 22 are two, and the two drivers are respectively symmetrically located at two sides of the differential shaft 24, so that the center of gravity in the fixed base 1 is concentrated on the symmetry line, which is beneficial to ensuring that the mechanical shoulder joint 10 has better motion characteristics.

Referring to fig. 6, in some embodiments, the fixed base 1 has a symmetrical structure, and the differential shaft 24 is located on a symmetrical line of the fixed base 1; the number of the differential sheaves 23 is two; the two differential sheaves 23 are spaced apart on the differential shaft 24, and the axial positions thereof are aligned with the axial positions of the two drive rollers 22, respectively.

Exemplarily, the two differential sheaves 23 can realize the rotational freedom of the first movable element 3 around the first direction and the second direction, and when the two differential sheaves 23 rotate simultaneously and the rotational directions are the same, the superposition of the rotational moment can be realized, and the transmission moment is large.

As shown in fig. 1, the mechanical shoulder joint 10 further includes a second movable member 4 and a rotation driving module 5; the second movable member 4 is rotatably connected to the first movable member 3, and the rotary driving module 5 is used for driving the second movable member 4 to rotate relative to the first movable member 3.

The mechanical shoulder joint 10 of this embodiment still includes second moving part 4 and rotation driving module 5, and second moving part 4 rotates with first moving part 3 to be connected, and rotation driving module 5 can drive second moving part 4 and rotate for first moving part 3 to the action scope of mechanical shoulder joint 10 has been enriched, has improved the application scene of mechanical shoulder joint 10.

As used herein, the terms "plurality", "at least one" mean one or more, and the terms "plurality", "at least two" mean two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

On the other hand, as shown in fig. 7, the present embodiment provides a robot arm, which includes the robot shoulder joint 10 of the present disclosure, as well as the robot elbow joint 20, the elbow driving module 6, the robot wrist joint 30 and the wrist driving module 7; the mechanical shoulder joint 10 comprises a second mobile 4.

The mechanical elbow joint 20 is connected with the second moving part 4, the elbow driving module 6 is positioned in the second moving part 4, and the elbow driving module 6 is used for driving the mechanical elbow joint 20; the mechanical wrist joint 30 is connected with the mechanical elbow joint 20, the wrist driving module 7 is located in the second movable part 4, and the wrist driving module 7 is used for driving the mechanical wrist joint 30.

The mechanical arm of the present embodiment employs the mechanical shoulder joint 10 of the present disclosure, and has all the technical effects of the present disclosure. The elbow driving module 6 and the wrist driving module 7 are respectively connected with the second movable part 4, so that the structural weights of the mechanical elbow joint 20 and the mechanical wrist joint 30 can be reduced, the tail end weight of the mechanical arm is reduced, and the rotational inertia of the mechanical arm is reduced.

In another aspect, the present embodiment provides a robot including a mechanical shoulder joint 10 of the present disclosure, or a mechanical arm of the present disclosure.

The mechanical arm of the embodiment adopts the mechanical shoulder joint 10 or the mechanical arm of the disclosure, and has all the technical effects of the disclosure.

It is noted that, in the description of the present disclosure, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as either a fixed connection, a removable connection, or an integral connection; may be a mechanical connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

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 implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

The various components or structures in the drawings are not necessarily to scale, and the dimensions of the various components or structures may be exaggerated or reduced for clarity, but are not intended to limit the scope of the present disclosure. Detailed descriptions of known functions and known components may be omitted in order to keep the following description of the embodiments of the present disclosure clear and concise.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present specification, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the present disclosure.

The above description is only exemplary of the present disclosure and should not be taken as limiting the disclosure, as any modifications, equivalents, improvements and the like within the spirit of the present disclosure should be included in the scope of the present disclosure.

Claims (14)

1. A mechanical shoulder joint, characterized in that the mechanical shoulder joint (10) comprises: the device comprises a fixed base (1), a differential driving module (2) and a first movable piece (3);

the differential drive module (2) comprises a driver (21), a drive roller (22), a differential rope wheel (23), a differential shaft (24) and a drive rope (25);

the driver (21) is connected with the driving roller (22);

the differential shaft (24) is positioned in the fixed base body (1), and the differential shaft (24) is connected with the differential rope wheel (23) and the first movable piece (3);

the peripheral face of drive roll (22) is equipped with spiral rope groove (221), drive rope (25) are followed rope groove (221) twine on drive roll (22), drive rope (25) connect in drive roll (22) with between difference rope sheave (23).

2. The mechanical shoulder joint as recited in claim 1, wherein the drive roller (22) includes a first cable securing portion (222);

the first rope fixing part (222) is positioned in the axial middle of the outer peripheral surface of the drive roller (22); the first rope fixing portion (222) communicates with the rope groove (221), and the drive rope (25) is wound by the first rope fixing portion (222) along the rope groove (221) toward an axial end of the drive roller (22).

3. The mechanical shoulder joint according to claim 2 wherein the number of the drive cables (25) is two and the number of the first cable fixing portions (222) is two;

the two first rope fixing parts (222) are symmetrically positioned in the axial middle part of the driving roller (22) along the axis of the driving roller (22);

first ends of the two driving ropes (25) are respectively connected with the two first rope fixing parts (222), and second ends of the two driving ropes (25) are respectively wound along the rope grooves (221) towards two axial ends of the driving roller (22).

4. The mechanical shoulder joint according to claim 2, characterized in that the first rope fixing portion (222) comprises an avoiding hole (2221) and a blocking hole (2222);

the diameter of the avoiding hole (2221) is larger than or equal to the diameter of a ball head (251) of the driving rope (25), and the diameter of the blocking hole (2222) is smaller than the diameter of the ball head (251).

5. Mechanical shoulder joint according to claim 1, characterised in that the helical lead S of the rope groove (221) is greater than or equal to the diameter of the drive rope (25).

6. The mechanical shoulder joint according to claim 3, characterized in that the differential sheave (23) comprises a second rope fixing portion (231);

the second rope fixing section (231) is located at an axial end of the differential sheave (23);

the drive rope (25) is wound around the second rope fixing section (231) toward the axial middle of the differential sheave (23).

7. The mechanical shoulder joint according to claim 6, characterized in that the second rope securing part (231) comprises a pretensioning device (2311), a ball head (251) of the drive rope (25) being connected with the pretensioning device (2311); a pre-tightening groove (232) is formed in the axial end face of the differential rope wheel (23); the pretensioning device (2311) is movably positioned in the pretensioning groove (232).

8. The mechanical shoulder joint according to claim 6, wherein the number of the second rope fixing portions (231) is two, and the two second rope fixing portions (231) are respectively located at both axial ends of the differential sheave (23);

second ends of the two drive ropes (25) are connected to the two second rope fixing portions (231), respectively, and first ends of the two drive ropes (25) are wound toward the axial middle portion of the differential sheave (23), respectively.

9. The mechanical shoulder joint according to claim 1, characterized in that the axial length L1 of the drive roller (22) is equal to the axial length L2 of the differential sheave (23);

the axis of the driving roller (22) is parallel to the axis of the differential rope wheel (23); the drive rope (25) connected between the drive roller (22) and the differential sheave (23) is perpendicular to the axis of the drive roller (22) and the axis of the differential shaft (24).

10. The mechanical shoulder joint according to claim 1, characterized in that the ratio of the axial length L2 of the differential sheave (23) to the length L3 of the differential shaft (24) ranges from 0.25 to 0.5.

11. Mechanical shoulder joint according to any of claims 1-10, characterised in that the stationary seat (1) is of symmetrical construction, the differential axis (24) being located on the line of symmetry of the stationary seat (1);

the number of the drivers (21) and the number of the driving rollers (22) are two; the two drivers (21) are symmetrically positioned on two sides of the differential shaft (24), and the two driving rollers (22) are symmetrically positioned on two sides of the differential shaft (24);

and/or the presence of a gas in the atmosphere,

the fixed seat body (1) is of a symmetrical structure, and the differential shaft (24) is positioned on a symmetrical line of the fixed seat body (1);

the number of the differential rope wheels (23) is two; the two differential rope wheels (23) are arranged on the differential shaft (24) at intervals, and the axial positions of the two differential rope wheels are respectively aligned with the axial positions of the two driving rollers (22).

12. The mechanical shoulder joint according to any one of claims 1-10, characterized in that the mechanical shoulder joint (10) further comprises a second mobile (4) and a rotary drive module (5);

the second movable piece (4) is rotatably connected with the first movable piece (3), and the rotary driving module (5) is used for driving the second movable piece (4) to rotate relative to the first movable piece (3).

13. A robot arm, characterized in that the robot arm comprises a robot shoulder joint (10) according to any of claims 1-12, and a robot elbow joint (20), an elbow drive module (6), a robot wrist joint (30) and a wrist drive module (7); the mechanical shoulder joint (10) comprises a second movable part (4);

the mechanical elbow joint (20) is connected with the second moving piece (4), the elbow driving module (6) is located in the second moving piece (4), and the elbow driving module (6) is used for driving the mechanical elbow joint (20);

wrist joint (30) with elbow joint (20) are connected, wrist drive module (7) are located in the second moving part (4), wrist drive module (7) are used for the drive wrist joint (30).

14. A robot, characterized in that the robot comprises a mechanical shoulder joint (10) according to any of claims 1-12, or a mechanical arm according to claim 13.

Images