CN217801794U - Ball joint mechanism and robot with same - Google Patents

Abstract

The utility model provides a ball joint mechanism and have its robot. Wherein, ball joint mechanism includes: the first worm is in driving connection with the first worm wheel assembly, so that the first worm wheel assembly can rotate by taking a first axis as a shaft; the second worm wheel assembly is fixedly arranged on the first worm wheel assembly, the second worm is in driving connection with the second worm wheel assembly, the second worm wheel assembly can rotate by taking a second axis as a shaft, the second axis is coplanar with the axis of the first worm, the second axis and the axis of the first worm are perpendicular to the first axis, and the first axis and the second axis are coplanar and intersect at one point in the plane. The technical scheme of the utility model the problem that robot joint structure is complicated among the prior art, bulky, be unfavorable for the activity has been solved effectively.

Description

Ball joint mechanism and robot with same

Technical Field

The utility model relates to the technical field of robot, especially, relate to a ball joint mechanism and have its robot.

Background

The humanoid robot is a high-level development stage of robot technology, and is a highly crossed frontier subject integrating multiple subjects such as electromechanics, materials, computers, sensors, control technologies and the like. In the whole system of the humanoid robot, how to realize the simulation movement of the joint and the design of the joint structure is a difficult point.

In the early days of the development of robots, the joint structure of the robot was mostly formed by stacking a plurality of single revolute pairs in series. The structure is easy to control and simple. However, the joint structure is bulky, heavy and redundant due to the serial connection of a plurality of revolute pairs. And the rotating shafts cannot intersect at a point, and have a large difference with the human joint structure.

In the development of the robot technology, the structure of the robot joint is continuously optimized and improved, wherein the spherical joint is a difficult point in the robot joint technology, the spherical joint at the present stage often has coupling freedom degrees, and mutual influence exists among the respective freedom degrees, so that the overall action posture of the joint mechanism is influenced, and the control difficulty is increased.

SUMMERY OF THE UTILITY MODEL

For solving the problem that the robot joint structure is complicated among the prior art, bulky, be unfavorable for the activity, the utility model provides a ball joint mechanism and have its robot. To achieve one or a part or all of the above or other objects, in one aspect, the present invention provides a ball joint mechanism, including: the first worm is in driving connection with the first worm wheel assembly, so that the first worm wheel assembly can rotate by taking a first axis as a shaft; the second worm wheel assembly is fixedly arranged on the first worm wheel assembly, the second worm is in driving connection with the second worm wheel assembly, the second worm wheel assembly can rotate by taking a second axis as a shaft, the second axis is coplanar with the axis of the first worm, the second axis and the axis of the first worm are perpendicular to the first axis, and the first axis and the second axis are coplanar and intersect at one point in the plane.

In some embodiments, the second worm gear assembly comprises: the worm gear assembly comprises a worm gear base body and a rack, wherein the rack is fixedly arranged on the worm gear base body, a second worm is meshed with the rack, and the first worm gear assembly is fixedly arranged on the worm gear base body.

In some embodiments, the worm gear base is provided with a mounting groove, and the rack is disposed in the mounting groove.

In some embodiments, the worm gear base is provided with an avoidance gap at the location of the second axis, the first worm gear assembly being provided in the avoidance gap.

In some embodiments, the second worm gear assembly further comprises splines disposed through the first worm gear assembly and the worm gear base.

In some embodiments, the ball joint mechanism further includes a support structure and two positioning plates, the second worm gear assembly further includes a plurality of slider structures, the second worm is rotatably disposed in the support structure, the two positioning plates are disposed on opposite sides of the support structure, the worm gear base is movably disposed between the two positioning plates, one side of the positioning plate facing the worm gear base is provided with a sliding groove, the plurality of slider structures are disposed on the worm gear base, and the plurality of slider structures can extend into the sliding groove and move in the sliding groove.

In some embodiments, the slider structure includes a pin fixed to the worm gear base and a bearing disposed on the pin.

In some embodiments, the ball joint mechanism further comprises a first drive motor in driving connection with the first worm, the first drive motor having an axis parallel to the axis of the first worm, the second axis, the axis of the first worm, and the axis of the first drive motor being coplanar, the axis of the first drive motor being coplanar with the first axis.

In some embodiments, the ball joint mechanism further comprises a second drive motor, the second drive motor is in driving connection with the second worm, the axis of the second drive motor is parallel to the axis of the second worm, and the first axis, the axis of the second worm, and the axis of the second drive motor are coplanar.

On the other hand, the utility model also provides a robot, including the ball joint mechanism who possesses above-mentioned whole or partial technical characteristics.

Implement the utility model discloses an embodiment will have following beneficial effect:

after the spherical joint mechanism is adopted, the first worm wheel assembly, the first worm, the second worm wheel assembly and the second worm form two worm wheel and worm structures, and the second worm wheel assembly is arranged on the first worm wheel assembly, so that the second worm wheel assembly can synchronously rotate with the first worm wheel assembly. Meanwhile, the second axis of the second worm gear component is coplanar with the first axis of the first worm gear component and intersects with one point in the plane, so that the overall structure of the ball joint mechanism is compact. And the joint has two rotational degrees of freedom and converges at one point, and the two degrees of freedom are independent and do not influence each other, so that the joint structure is closer to the human joint, and the motion of the human joint can be more flexibly simulated. Two sets of worm gear drive structure can obtain great reduction ratio to the transmission is steady, the noise is little, can realize the auto-lock in order to keep the action gesture of joint.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Wherein:

fig. 1 shows a schematic structural view of an embodiment of a ball joint structure according to the invention;

FIG. 2 shows an exploded schematic view of the ball joint structure of FIG. 1;

FIG. 3 shows a schematic view of the ball joint structure of FIG. 2 from another perspective;

FIG. 4 shows a cross-sectional structural schematic of the ball joint structure of FIG. 1;

FIG. 5 shows a partially cut-away structural schematic view of the ball joint structure of FIG. 1 from another perspective;

FIG. 6 shows a partially cut-away structural schematic view of the ball joint structure of FIG. 1 from another perspective;

FIG. 7 shows a partially cut-away structural schematic view of the ball joint structure of FIG. 1 from another perspective; and

fig. 8 is a partial enlarged structural view of the ball joint structure of fig. 7 from M-M to a cross-sectional structural view.

The above figures contain the following reference numerals:

10. a first worm gear assembly; 11. a worm gear body; 12. a boss; 21. a first worm; 22. a third gear; 30. a second worm gear assembly; 31. a worm gear base; 32. a rack; 33. assembling a groove; 34. avoiding the gap; 35. a slider structure; 351. a bearing; 352. a pin shaft; 36. a spline; 41. a second worm; 42. a fourth gear; 81. a box body; 82. a box cover; 83. a base plate; 84. a first bushing; 87. a chute; 88. positioning a plate; 89. a support structure; 91. a first drive motor; 92. a second drive motor; 93. a first gear; 94. a second gear; 95. a second bushing; 97. and a third bushing.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1 to 4, the ball joint mechanism of the present embodiment includes a first drive motor 91, a first worm wheel assembly 10, a first worm 21, a second drive motor 92, a second worm wheel assembly 30, and a second worm 41. A first gear 93 is provided on an output shaft of the first driving motor 91, and a second gear 94 is provided on an output shaft of the second driving motor 92.

The first gear 93, the first worm wheel assembly 10 and the first worm 21 are arranged in the box body 81, one end of the box body 81 is provided with a groove for accommodating and fixing the first worm 21 and the first gear 93, and the bottom plate 83 can cover the open end of the groove; the other end is a structure with two side supports and a hollow middle part and is used for placing the first worm gear assembly 10, and the box cover 82 can be buckled on the supporting structure. The first gear 93 is meshed with the third gear 22 on the first worm 21, the first worm 21 is meshed with the first worm wheel assembly 10, the first worm 21 is in driving connection with the first worm wheel assembly 10, and when the first driving motor 91 runs, the first worm wheel assembly 10 can rotate by taking the first axis a as an axis.

As shown in fig. 5 and 6, the first worm wheel assembly 10 includes a worm wheel body 11 and bosses 12, the bosses 12 being provided on both sides of the worm wheel body 11. The boss 12 is provided with a first insert 84, a second insert 95 is provided between the first gear 93 and the case 81, and a third insert 97 is provided between the third gear 22 and the case 81.

The second worm gear assembly 30, the second worm 41 and the second driving motor 92 are disposed on the bracket structure 89, and a motor positioning groove and a fixing hole are transversely disposed on the upper half portion of the bracket structure 89 for fixing the second driving motor 92. The middle of the bracket structure 89 is transversely machined with a worm bore for mounting the second worm 41. The lower portion of the bracket structure 89 is longitudinally provided with an arcuate notch that is adapted to the second worm gear assembly 30 and forms a clearance fit. The second worm gear assembly 30 is fixedly disposed on the first worm gear assembly 10 and is rotatable in the arc-shaped notch.

The second gear 94 is meshed with the fourth gear 42 on the second worm 41, and the second worm 41 is meshed with the second worm gear assembly 30, so that the second worm 41 is in driving connection with the second worm gear assembly 30, and when the second driving motor 92 runs, the second worm gear assembly 30 can rotate by taking the second axis b as an axis. With reference to fig. 1, 5 and 6, the second axis b is coplanar with the axis c of the first worm 21, the second axis b and the axis c of the first worm 21 are both perpendicular to the first axis a, which is coplanar with and intersects at a point in this plane with reference to fig. 1 and 4.

After the ball joint mechanism is adopted, the first worm wheel assembly 10, the first worm 21, the second worm wheel assembly 30 and the second worm 41 form two worm wheel and worm structures, and the second worm wheel assembly 30 is arranged on the first worm wheel assembly 10, so that the second worm wheel assembly 30 can synchronously rotate with the first worm wheel assembly 10. Meanwhile, the second axis b of the second worm gear assembly 30 is coplanar with the first axis a of the first worm gear assembly 10 and intersects with a point in the plane, so that the overall structure of the ball joint mechanism is compact. The ball joint mechanism of the embodiment has pitching motion around the first axis a, two rotation degrees of freedom of swinging motion around the second axis b converge at one point, and the two degrees of freedom are independent and do not influence each other, so that the joint structure is closer to a human joint, and the motion of the human joint can be more flexibly simulated. Two sets of worm gear drive structure can obtain great reduction ratio to the transmission is steady, the noise is little, can realize the auto-lock in order to keep the action gesture of joint.

Referring to fig. 5 and 6, the axis e of the first drive motor 91 is parallel to the axis c of the first worm 21, the second axis b, the axis c of the first worm 21 and the axis e of the first drive motor 91 are coplanar, and the axis e of the first drive motor 91 is coplanar with the first axis a.

Referring to fig. 5 and 6, the axis f of the second drive motor 92 is parallel to the axis d of the second worm 41, and the first axis a, the axis d of the second worm 41, and the axis f of the second drive motor 92 are coplanar.

The above structure makes the ball joint mechanism of the present embodiment compact and thin as a whole, and is beneficial to driving the first worm gear assembly 10 and the second worm gear assembly 30 to rotate or braking the first worm gear assembly 10 and the second worm gear assembly 30.

Specifically, as shown in fig. 2, 3 and 8, the second worm gear assembly 30 of the present embodiment includes a worm gear base 31 and a rack 32, wherein the front and rear end surfaces of the worm gear base 31 are respectively provided with 4 threaded holes, the 4 threaded holes are circumferentially distributed, and the rack 32 is fixedly disposed on the worm gear base 31 by a fastener. The second worm 41 is engaged with the rack 32, and the first worm wheel assembly 10 is fixedly provided on the worm wheel base 31. The worm gear matrix 31 and the rack 32 components of a whole that can function independently set up the both of being convenient for on the one hand and separately machine-shaping, on the other hand makes worm gear matrix 31 and rack 32 select for use different materials according to self operating mode demand, has improved second worm gear assembly 30's flexibility.

Preferably, the worm wheel base 31 of the present embodiment is provided with a fitting groove 33 on the outer arc surface thereof, the rack 32 is disposed in the fitting groove 33, and the rack 32 is fixed in the fitting groove by a fastener. The structure is convenient for the installation and fixation of the rack 32, and is convenient for processing and easy to realize.

As shown in fig. 2, the worm wheel base 31 of the present embodiment is provided with the escape notch 34 at the position of the second axis b, and the first worm wheel assembly 10, the housing 81, and the like are provided in the escape notch 34. The avoidance notch 34 enables the center of the first worm gear assembly 10 to coincide with the center of the second worm gear assembly 30, and the first axis a and the second axis b both pass through the coincidence point, which is beneficial to reducing the volume of the ball joint mechanism and enabling the ball joint structure to be compact and light.

Specifically, as shown in fig. 5 and 6, the second worm gear assembly 30 further includes a spline 36, and the spline 36 is inserted into the worm gear body 11, the boss 12, and the worm gear base 31. The spline 36 makes the worm wheel body 11, the boss 12 and the worm wheel base 31 relatively fixed, when the worm wheel body 11 rotates, the worm wheel body 11 and the boss 12 drive the worm wheel base 31 to rotate relative to the box 81, so that the second worm wheel assembly 30 rotates relative to the first worm wheel assembly 10, and the rotation of the ball joint structure around the first axis a is completed. The structure is simple and easy to realize.

Preferably, as shown in fig. 3 and 5, both ends of the spline 36 are provided with threaded holes, and after the spline 36 is assembled, a limit screw can be assembled in the threaded holes so that the spline 36 is axially fixed in the worm wheel base 31.

The splines 36 of the present embodiment are specifically rectangular splines distributed in six keys, and in other embodiments not shown in the drawings, the splines 36 may be replaced by rectangular splines or involute splines in other forms.

As shown in fig. 3, the ball joint mechanism of the present embodiment further includes two positioning plates 88, the second worm wheel assembly 30 further includes a plurality of slider structures 35, the second worm 41 is rotatably disposed in the bracket structure 89, the two positioning plates 88 are disposed on two opposite sides of the bracket structure 89 through fasteners, the worm wheel base 31 is movably disposed between the two positioning plates 88, one side of the positioning plate 88 facing the worm wheel base 31 is provided with a sliding slot 87, the plurality of slider structures 35 are disposed on the worm wheel base 31, and the plurality of slider structures 35 can extend into the sliding slot 87 and move in the sliding slot 87.

Specifically, referring to fig. 7 and 8, the slider structure 35 includes a pin 352 and a bearing 351, one end of the pin 352 is fixed on the worm wheel base 31 through a threaded structure, the bearing 351 is installed from the other end of the pin 352 into the pin 352 to a shoulder of the pin 352, and an end of the pin 352 is provided with a shaft end retaining ring to axially position the bearing 351.

The arrangement direction of the slide grooves 87 is the same as the distribution of the bearings 351, the bearings 351 can extend into the arc-shaped slide grooves 87, and the bearings 351 can move along the arrangement direction of the slide grooves 87 when the worm wheel base body 31 rotates around the second axis b. Bearing 351 and spout 87 clearance fit avoid bearing 351 and spout 87 card to die to influence the rotation. The rolling friction between the bearing 351 and the sliding groove 87 can effectively reduce the friction resistance, so that the movement of the ball joint structure is more flexible.

The utility model also provides a robot, the robot (not shown in the figure) according to this embodiment includes the ball joint mechanism, and ball joint mechanism is the robot that contains above-mentioned whole or partial technical content.

The ball joint mechanism described above has two degrees of freedom of pitch and yaw, a first axis a of pitch being controlled by the first drive motor 91, a second axis b of yaw being controlled by the second drive motor 92, the first axis a and the second axis b being orthogonal to a point.

The robot applying the embodiment at least has the advantages that the joint structure is closer to the human joint, and the motion of the human joint can be simulated more flexibly. Two sets of worm gear drive structures in the joint of the robot of this embodiment can obtain great reduction ratio to the transmission is steady, the noise is little, can realize the auto-lock in order to keep the action gesture of joint.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.

Claims (10)

1. A ball joint mechanism, comprising:

the first worm is in driving connection with the first worm wheel assembly, so that the first worm wheel assembly can rotate by taking a first axis as a shaft;

the second worm wheel assembly is fixedly arranged on the first worm wheel assembly, the second worm is in driving connection with the second worm wheel assembly, the second worm wheel assembly can rotate around a second axis, the second axis is coplanar with the axis of the first worm, the second axis and the axis of the first worm are perpendicular to the first axis, and the first axis and the second axis are coplanar and intersect at one point in the plane.

2. The ball joint mechanism of claim 1, wherein the second worm gear assembly comprises: the worm gear comprises a worm gear base body and a rack, wherein the rack is fixedly arranged on the worm gear base body, the second worm is meshed with the rack, and the first worm gear component and the worm gear base body are relatively fixedly arranged.

3. The ball joint mechanism according to claim 2, wherein a fitting groove is provided on the worm gear base, and the rack gear is disposed in the fitting groove.

4. The ball joint mechanism according to claim 2, wherein the worm wheel base is provided with an escape notch at a position of the second axis, and the first worm wheel assembly is provided in the escape notch.

5. The ball joint mechanism of claim 2, wherein the second worm gear assembly further comprises a spline that is disposed through the first worm gear assembly and the worm gear base.

6. The ball joint mechanism according to claim 2, further comprising a supporting structure and two positioning plates, wherein the second worm gear assembly further comprises a plurality of slider structures, the second worm is rotatably disposed in the supporting structure, the two positioning plates are disposed on opposite sides of the supporting structure, the worm gear base is movably disposed between the two positioning plates, a sliding groove is disposed on a side of the positioning plate facing the worm gear base, the plurality of slider structures are disposed on the worm gear base, and the plurality of slider structures can extend into the sliding groove and move in the sliding groove.

7. The ball joint mechanism according to claim 6, wherein the slider structure includes a pin fixed to the worm gear base and a bearing provided on the pin.

8. The ball joint mechanism of claim 1, further comprising a first drive motor drivingly connected to the first worm, the first drive motor having an axis parallel to the axis of the first worm, the second axis, the axis of the first worm, and the axis of the first drive motor being coplanar, the axis of the first drive motor being coplanar with the first axis.

9. The ball joint mechanism of claim 1 further comprising a second drive motor drivingly connected to the second worm, the second drive motor having an axis parallel to the axis of the second worm, the first axis, the axis of the second worm, and the axis of the second drive motor being coplanar.

10. A robot comprising a ball joint mechanism, characterized in that the ball joint mechanism is according to any one of claims 1 to 9.

Images