CN218018592U

CN218018592U - Joint assembly, mechanical arm and mechanical equipment

Info

Publication number: CN218018592U
Application number: CN202222282012.0U
Authority: CN
Inventors: 符景名; 郭文平; 王勃; 刘奕扬
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Robot Technology Co ltd
Priority date: 2022-08-29
Filing date: 2022-08-29
Publication date: 2022-12-13
Anticipated expiration: 2032-08-29

Abstract

The utility model provides a joint subassembly, arm and mechanical equipment, the joint subassembly includes a plurality of joint units, and is a plurality of the joint unit connects gradually, and is two adjacent the joint unit can be around the relative rotation of primary axis, and follows the extending direction skew certain distance of primary axis, the utility model discloses the joint subassembly can realize the segmentation crooked and have simple structure, easy control's advantage.

Description

Joint assembly, mechanical arm and mechanical equipment

Technical Field

The utility model relates to a technical field of arm specifically, relates to a joint subassembly, arm and mechanical equipment.

Background

More and more mechanical equipment passes through the arm and realizes narrow and small space operation, and wherein the arm is mostly snakelike arm. In the related art, in order to realize serpentine bending of the serpentine mechanical arm of the mechanical equipment, the joint assembly is usually provided with an elastic material for supporting, and some joint assemblies have two rotating shafts, and the axial directions of the two rotating shafts are perpendicular. The movement of the joint component in the related art needs to consider the elastic characteristic and the movement characteristic of two rotating shafts, and has the defects of complex structure and high control difficulty.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent.

Therefore, the embodiment of the present invention provides a joint assembly, which can realize serpentine bending and has the advantages of simple structure and easy control.

An embodiment of the utility model provides a mechanical arm with this joint subassembly.

An embodiment of the utility model provides a mechanical equipment with this arm.

The utility model discloses joint assembly includes a plurality of joint units, and is a plurality of the joint unit connects gradually, and is two adjacent the joint unit can rotate relatively around the primary axis, and follows the extending direction skew certain distance of primary axis.

The utility model discloses joint assembly can realize snakelike crooked and have simple structure, easy control's advantage.

In some embodiments, the offset direction of each two adjacent joint units in the plurality of joint units is the same.

In some embodiments, the joint unit includes a first connecting portion and a second connecting portion that are disposed opposite to each other in a thickness direction of the joint unit, the first connecting portion and the second connecting portion being offset by the certain distance in an extending direction of the first axis, the thickness direction of the joint unit being orthogonal to the extending direction of the first axis, the first connecting portion of one of two adjacent joint units being rotationally connected to the second connecting portion of the other joint unit about the first axis.

In some embodiments, the joint unit includes a first end surface and a second end surface that are oppositely disposed in a thickness direction of the joint unit, the first connection portion is provided on the first end surface and protrudes in a direction away from the second end surface, and the second connection portion is provided on the second end surface and protrudes in a direction away from the first end surface.

In some embodiments, the joint unit has a first channel and a second channel,

the first channel includes a first end and a second end, the first end extending through the first end face and the second end extending through the second end face,

the second channel comprises a third end and a fourth end, the third end penetrates through the first end face, the fourth end penetrates through the second end face,

the first end with the third end is in first direction interval arrangement, the second end with the fourth end is in first direction interval arrangement, first connecting portion are located first end with between the third end, the second connecting portion are located the second end with between the fourth end, first direction with the contained angle of the extending direction of first axis is greater than 0 degree and less than or equal to 90 degrees.

In some embodiments, the first end and the second end are spaced apart in the direction of extension of the first axis, and the third end and the fourth end are spaced apart in the direction of extension of the first axis.

In some embodiments, the joint assembly further comprises a plurality of first shafts and a plurality of second shafts, each of the first shafts being fixedly connected to the first connecting portion of one of two adjacent joint units and being rotatably connected to the second connecting portion of the other of the two adjacent joint units, the first shafts having first and second gears fixed thereto,

the joint unit is provided with a cavity, the second shaft is arranged in the cavity and is rotationally connected with the joint unit, a third gear is fixed on the second shaft,

the first gear on the first shaft is meshed with the third gear on one of two adjacent joint units, and the second gear on the first shaft is meshed with the third gear on the other of two adjacent joint units.

In some embodiments, the peripheral wall surface of the joint unit is provided with a mounting hole communicated with the cavity, a blocking piece is arranged in the mounting hole, the mounting hole is arranged coaxially with the second shaft, and one end of the second shaft is arranged in the mounting hole and is rotatably connected with the blocking piece.

In some embodiments, the joint assembly further comprises a first driving rope and a second driving rope, the first driving rope sequentially penetrates through a plurality of first channels of the joint units, the second driving rope sequentially penetrates through a plurality of second channels of the joint units, one end of the first driving rope is connected with the joint unit located at the tail, the other end of the first driving rope is used for being connected with the first winding device, one end of the second driving rope is connected with the joint unit located at the tail, and the other end of the second driving rope is used for being connected with the second winding device.

In some embodiments, the peripheral wall surface of the joint unit is a cylindrical surface, and an included angle between an axis of the cylindrical surface and the first axis is greater than 0 degree and less than 90 degrees.

The utility model discloses arm, including above-mentioned arbitrary embodiment the joint subassembly.

The utility model discloses mechanical equipment, including above-mentioned embodiment the arm.

Drawings

Fig. 1 is a front view schematic diagram of a joint assembly according to an embodiment of the present invention before bending.

Fig. 2 is a schematic front view of a bent joint assembly according to an embodiment of the present invention.

Fig. 3 is a schematic top view of a joint assembly according to an embodiment of the present invention after bending.

Fig. 4 is a front view structure diagram of the joint unit according to the embodiment of the present invention.

Fig. 5 is a schematic side view of a joint unit according to an embodiment of the present invention.

FIG. 6 isbase:Sub>A schematic sectional view A-A of FIG. 1.

Fig. 7 is a schematic sectional structure view of B-B of fig. 4.

Fig. 8 is a front view of another joint assembly according to an embodiment of the present invention.

Fig. 9 is a top view of another joint assembly according to an embodiment of the present invention.

Fig. 10 is a side view of another joint assembly according to an embodiment of the present invention.

Fig. 11 is a front view schematically illustrating another joint assembly according to an embodiment of the present invention.

Fig. 12 is a schematic top view of another joint assembly according to an embodiment of the present invention.

Fig. 13 is a side view of another joint assembly according to an embodiment of the present invention.

Reference numerals:

a joint unit 10; a first connection portion 11; a second connecting portion 12; a plugging member 13; a cavity 100; a first end face 101; a second end face 102; a peripheral wall surface 103; a first channel 104; a second channel 105; a connection hole 106;

a first shaft 20; a first gear 21; a second gear 22;

a second shaft 30; a third gear 31.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

The joint assembly of the embodiments of the present invention is described below with reference to the drawings.

As shown in fig. 1 to 13, the joint assembly according to the embodiment of the present invention includes a plurality of joint units 10, the joint units 10 are connected in sequence, and two adjacent joint units 10 can rotate relatively around the first axis 20 and are offset by a certain distance along the extending direction of the first axis 20 (e.g., the front-back direction in fig. 5).

The utility model discloses the joint subassembly connects gradually a plurality of joint units 10 to two adjacent joint units 10 can rotate relatively around the 20 lines of primary shafts, promptly, the utility model discloses the joint subassembly of embodiment only realizes the bending of joint subassembly through a pivot, simple structure and easy control. In addition, two adjacent joint units 10 squint a certain distance along the extending direction of the first axis 20 line, therefore, the utility model discloses when the joint assembly of embodiment is crooked, two adjacent joint units 10 squint along the extending direction of the first axis 20 line to can realize snakelike bending.

Therefore, the utility model discloses joint assembly can realize snakelike crooked and have simple structure, easy control's advantage.

In some embodiments, as shown in fig. 3, 8-13, the offset direction of each two adjacent joint units 10 in the plurality of joint units 10 is the same.

The utility model discloses a plurality of joint unit 10 of joint subassembly connect gradually, the utility model discloses when the joint subassembly of embodiment is crooked, all follow same direction skew from second joint unit 10 to each in last joint unit 10 to each in second joint unit 10 to last joint unit 10 all produces relative rotation with the previous one. Therefore, the utility model discloses joint assembly can realize snakelike crooked, and can be crooked into the heliciform.

It can be understood that the joint component of the embodiment of the present invention can reduce the overall size by bending into a spiral shape, thereby being suitable for narrow space operation.

In some embodiments, as shown in fig. 1 to 7, the joint unit 10 includes a first connecting portion 11 and a second connecting portion 12 that are oppositely disposed in a thickness direction (left-right direction in fig. 4) of the joint unit 10. The first connecting portion 11 and the second connecting portion 12 are offset by a certain distance along the extending direction of the first axis 20, the thickness direction of the joint unit 10 is orthogonal to the extending direction of the first axis 20, and the first connecting portion 11 of one of the two adjacent joint units 10 is rotatably connected with the second connecting portion 12 of the other joint unit around the first axis 20.

It will be appreciated that the first connecting portion 11 and the second connecting portion 12 are offset in the extending direction of the first axis 20 by the same distance as two adjacent joint units 10 are offset in the extending direction of the first axis 20, so that a plurality of joint units 10 can be connected in sequence to form a serpentine joint assembly.

In some embodiments, as shown in fig. 4 to 7, the joint unit 10 includes a first end surface 101 and a second end surface 102 that are oppositely disposed in a thickness direction of the joint unit 10, the first connection portion 11 is provided on the first end surface 101 and protrudes in a direction away from the second end surface 102, and the second connection portion 12 is provided on the second end surface 102 and protrudes in a direction away from the first end surface 101.

It will be appreciated that the first connecting portion 11 and the second connecting portion 12 each protrude in opposite directions, and the gap between two adjacent joint units 10 can be increased, so that the movement space of the joint unit 10 can be increased, and the relative rotation angle between two adjacent joint units 10 can be increased.

Specifically, as shown in fig. 4, the first end face 101 is a left end face of the joint unit 10, the second end face 102 is a right end face of the joint unit 10, the first connecting portion 11 protrudes leftward, and the second connecting portion 12 protrudes rightward.

Further, as shown in fig. 7 and 8, the first end surface 101 is provided with two first ear plates arranged at intervals, the two first ear plates form the first connecting portion 11, and the second end surface 102 is provided with two second ear plates arranged at intervals, the two second ear plates form the second connecting portion 12.

In some embodiments, as shown in fig. 5, the joint unit 10 has a first channel 104 and a second channel 105. The first channel 104 includes a first end that extends through the first end face 101 and a second end that extends through the second end face 102. The second channel 105 includes a third end and a fourth end, the third end extending through the first end face 101 and the fourth end extending through the second end face 102. The first end and the third end are arranged at intervals in the first direction, the second end and the fourth end are arranged at intervals in the first direction, the first connecting portion 11 is located between the first end and the third end, the second connecting portion 12 is located between the second end and the fourth end, and an included angle between the first direction and the extending direction of the first shaft 20 line is larger than 0 degree and smaller than or equal to 90 degrees.

Optionally, an angle between the first direction and the extending direction of the first axis 20 is greater than 45 degrees and less than or equal to 90 degrees. Preferably, the first direction makes an angle equal to 90 degrees with the extension direction of the first axis 20 line, i.e. the first direction is orthogonal to the extension direction of the first axis 20 line.

It is understood that the first channel 104 and the second channel 105 extend through the first end surface 101 and the second end surface 102 of the joint unit 10, and the first channel 104 and the second channel 105 are distributed on both sides of the first connection portion 11, and the first channel 104 and the second channel 105 are distributed on both sides of the second connection portion 12.

Therefore, the joint assembly according to the embodiment of the present invention transmits the rope to the first passage 104 and the second passage 105 of the plurality of joint units 10, and the plurality of joint units 10 can be driven to move by tensioning or releasing the rope.

Further, the first end and the second end are arranged at intervals in the extending direction of the first shaft 20 line, and the third end and the fourth end are arranged at intervals in the extending direction of the first shaft 20 line. That is, first passageway 104 and second passageway 105 incline along the extending direction of first axle 20 line to the messenger penetrates the rope slope of first passageway 104 and second passageway 105, avoids the rope to produce great angle of buckling, thereby avoids the rope card to pause and produces great wearing and tearing, and then is favorable to improving the utility model discloses joint assembly's reliability.

In some embodiments, as shown in fig. 1 to 7, the joint assembly of the present invention further includes a plurality of first shafts 20 and a plurality of second shafts 30, each first shaft 20 is fixedly connected to the first connecting portion 11 of one of the two adjacent joint units 10 and rotatably connected to the second connecting portion 12 of the other of the two adjacent joint units 10, and the first gear 21 and the second gear 22 are fixed on the first shaft 20. The joint unit 10 has a cavity 100, a second shaft 30 is disposed in the cavity 100 and rotatably connected to the joint unit 10, and a third gear 31 is fixed to the second shaft 30. The first gear 21 on the first shaft 20 meshes with the third gear 31 on one of the two adjacent joint units 10, and the second gear 22 on the first shaft 20 meshes with the third gear 31 on the other of the two adjacent joint units 10.

It can be understood that when the adjacent joint units 10 of the joint assembly of the embodiment of the present invention rotate relatively, the first shaft 20 is located between the second shafts 30 of two adjacent joint units 10, the first gear 21 of the first shaft 20 is engaged with the third gear 31 of one of the second shafts 30, and the second gear 22 of the first shaft 20 is engaged with the third gear 31 of the other second shaft 30. The first shaft 20 is fixedly connected with one of the joint units 10, and the third gear 31 of the second shaft 30 of the other joint unit 10 can rotate along with the second shaft 30 or revolve along with the first shaft 20, that is, the third gear 31 of the second shaft 30 of the other joint unit 10 forms a planetary gear. The third gear 31 of the second shaft 30 of the joint unit 10 revolves along with the previous first shaft 20, and the third gear 31 of the second shaft 30 of the joint unit 10 can drive the next first shaft 20 to rotate when rotating.

The utility model discloses a plurality of joint units 10 of joint subassembly mutually support in proper order, and when joint unit 10 rotated, can drive all the other joint units 10 and rotate, in other words, can control whole joint subassembly motion through joint unit 10.

Therefore, the joint assembly provided by the embodiment of the utility model has the advantages of simple structure and easy control.

In some embodiments, as shown in fig. 5 to 7, the peripheral wall surface 103 of the joint unit 10 is provided with a mounting hole communicating with the cavity 100, the mounting hole is provided with a blocking piece 13 therein, the mounting hole is coaxially provided with the second shaft 30, and one end of the second shaft 30 is provided in the mounting hole and rotatably connected with the blocking piece 13.

It will be appreciated that the second shaft 30 passes through the mounting hole into the cavity 100, and the blocking piece 13 may block the mounting hole and may provide support for the second shaft 30.

Further, the first end surface 101 or the second end surface 102 of the joint unit 10 is provided with a connection hole 106 communicating with the mounting hole. The connecting piece is connected with the plugging piece 13 through the connecting hole 106, thereby fixing the plugging piece 13.

Preferably, the connection hole 106 is opened on the first end surface 101.

In some embodiments, the joint assembly of the embodiment of the present invention further includes a first driving rope and a second driving rope, the first driving rope sequentially passes through the first passages 104 of the plurality of joint units 10, the second driving rope sequentially passes through the second passages 105 of the plurality of joint units 10, one end of the first driving rope is connected to the joint unit 10 located at the tail, the other end of the first driving rope is used for connecting the first winding device, one end of the second driving rope is connected to the joint unit 10 located at the tail, and the other end of the second driving rope is used for connecting the second winding device.

It can be understood that after one end of the first driving rope sequentially passes through the first channels 104 of the plurality of joint units 10, a limit rod or a limit knot is disposed at one end of the first driving rope, so that the first driving rope does not separate from the first channel 104 of the tail joint unit 10. After one end of the second driving rope sequentially passes through the second channels 105 of the plurality of joint units 10, a limiting rod or a limiting knot is arranged at one end of the second driving rope, so that the second driving rope cannot be separated from the second channel 105 of the tail joint unit 10.

Of course, one end of the first driving rope may be fixedly connected to the joint unit 10 of the tail portion, and one end of the second driving rope may be fixedly connected to the joint unit 10 of the tail portion.

The other end of first driving rope is connected with first coiling mechanism, and the other end of second driving rope is connected the back with the second coiling mechanism, and first coiling mechanism releases or the first driving rope of rolling, makes first driving rope relax or the tensioning, and second coiling mechanism releases or the rolling second driving rope, makes the second driving rope relax or the tensioning to can drive a plurality of joint unit 10 movements through the tensioning of first driving rope and second driving rope or relax.

Further, the first channels 104 are multiple and arranged at intervals along the extending direction of the first axis 20, the second channels 105 are multiple and arranged at intervals along the extending direction of the first axis 20, and the multiple first channels 104 and the multiple second channels 105 are in one-to-one correspondence. Therefore, the number of the driving ropes can be increased, and the load of a single driving rope can be reduced, so that the reliability can be improved.

In some embodiments, as shown in fig. 1-13, the peripheral wall surface 103 of the joint unit 10 is a cylindrical surface, and the axis of the cylindrical surface forms an angle greater than 0 degrees and less than 90 degrees with the first axis 20.

Optionally, the included angle between the axis of the cylindrical surface and the first axis 20 is greater than or equal to 30 degrees and less than or equal to 60 degrees.

Preferably, the axis of the cylindrical surface is at an angle equal to 45 degrees to the first axis 20.

It can be understood that the utility model discloses be column structure before the joint subassembly is crooked roughly, the utility model discloses be snakelike spirochaeta structure after the joint subassembly is crooked roughly, consequently, the utility model discloses the joint subassembly of embodiment has good outward appearance aesthetic feeling, and overall dimension is little.

The utility model discloses arm, including the joint subassembly of any above-mentioned embodiment. The mechanical arm of the embodiment of the utility model has the effect of the joint component of any one of the above embodiments,

the utility model discloses mechanical equipment, including the arm of above-mentioned embodiment. The utility model discloses mechanical equipment has the effect of the arm of above-mentioned embodiment.

It can be understood that the mechanical equipment of the embodiment of the present invention may be a charging device, a battery replacement device, a welding device, or other devices having a mechanical arm.

In the description of the present invention, it is to be understood that the terms "center", "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, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present 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 implicitly indicating 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 expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; 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 meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, a first feature "on" or "under" a second feature may be directly contacting the second feature or the first and second features may be indirectly contacting the second feature through intervening media. 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.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations to the above embodiments by those of ordinary skill in the art are intended to be within the scope of the present invention.

Claims

1. A joint assembly, characterized in that, the joint assembly includes a plurality of joint units, a plurality of joint units connect gradually, two adjacent joint units can rotate around the first axis relatively, and follow the extending direction of first axis skew a certain distance.

2. The joint assembly according to claim 1, wherein the offset direction of each two adjacent joint units of the plurality of joint units is the same.

3. The joint assembly according to claim 1, wherein the joint unit includes a first connecting portion and a second connecting portion that are provided opposite to each other in a thickness direction of the joint unit, the first connecting portion and the second connecting portion being offset by the certain distance in an extending direction of the first axis, the thickness direction of the joint unit being orthogonal to the extending direction of the first axis, the first connecting portion of one of the two adjacent joint units being rotationally connected to the second connecting portion of the other joint unit about the first axis.

4. The joint assembly according to claim 3, wherein the joint unit includes a first end surface and a second end surface that are provided opposite to each other in a thickness direction of the joint unit, the first connecting portion is provided on the first end surface and projects in a direction away from the second end surface, and the second connecting portion is provided on the second end surface and projects in a direction away from the first end surface.

5. The joint assembly of claim 4, wherein the joint unit has a first channel and a second channel,

6. The joint assembly of claim 5, wherein the first and second ends are spaced apart in the direction of extension of the first axis, and the third and fourth ends are spaced apart in the direction of extension of the first axis.

7. The joint assembly of claim 5, further comprising a plurality of first shafts and a plurality of second shafts, each of the first shafts being fixedly connected to the first connecting portion of one of two adjacent joint units and being rotatably connected to the second connecting portion of the other of two adjacent joint units, the first shafts having first and second gears fixed thereto,

8. The joint assembly according to claim 7, wherein a peripheral wall surface of the joint unit is provided with a mounting hole communicating with the cavity, a blocking member is provided in the mounting hole, the mounting hole is provided coaxially with the second shaft, and one end of the second shaft is provided in the mounting hole and rotatably connected to the blocking member.

9. The joint assembly according to any one of claims 5 to 8, further comprising a first driving rope and a second driving rope, wherein the first driving rope sequentially passes through the first passages of the joint units, the second driving rope sequentially passes through the second passages of the joint units, one end of the first driving rope is connected with the joint unit at the tail, the other end of the first driving rope is used for connecting a first winding device, one end of the second driving rope is connected with the joint unit at the tail, and the other end of the second driving rope is used for connecting a second winding device.

10. The joint assembly according to any one of claims 1 to 8, wherein the peripheral wall surface of the joint unit is a cylindrical surface, and an angle between an axis of the cylindrical surface and the first axis is greater than 0 degree and less than 90 degrees.

11. A robotic arm comprising a joint assembly according to any of claims 1 to 10.

12. A robotic device comprising a robotic arm as claimed in claim 11.