CN220516857U - Rotary joint and manipulator thereof - Google Patents

Abstract

The utility model discloses a rotary joint and a manipulator thereof, comprising a base, a rotating shaft, a positioning rod, an arm sleeve and an encoder; the base is provided with a power output mechanism for driving the worm to rotate; the rotating shaft comprises a first shaft section and a second shaft section which are mutually connected along the axial direction of the rotating shaft, the peripheral wall of the second shaft section is provided with a worm wheel structure which is meshed with a worm, so that the rotating shaft is used for rotating under the drive of the worm, and the rotating shaft is provided with a middle hole penetrating through the rotating shaft; the positioning rod penetrates into the middle hole to be arranged in a suspending way, and a magnet is arranged at one end adjacent to the first shaft section; the arm sleeve is sleeved outside the first shaft section and is automatically switched to a state of fixed relative position or relative rotation with the first shaft section according to stress; the encoder is arranged on the arm sleeve, is adjacent to the magnet and is arranged separately so as to detect the position change between the encoder and the magnet and output a position signal; therefore, after the scheme is adopted, the problems that manual operation, rotation state monitoring and sufficient torque output cannot be simultaneously realized in the prior art are thoroughly solved.

Description

Rotary joint and manipulator thereof

Technical Field

The utility model relates to the technical field of manipulators, in particular to a rotary joint and a manipulator thereof.

Background

In the existing manipulator rotating joint, if the load is heavy, sufficient output torque needs to be ensured, at this time, a worm and gear structure is generally adopted as power output, so as to realize the rotation of the mechanical arm, and an encoder is utilized to monitor the rotating state of the rotating joint, so as to ensure that the rotating joint can be controlled to rotate to a required state, but the power output mode cannot meet the application of all scenes.

For example, in some special application scenarios, a human hand is required to pull the mechanical arm to rotate by itself, and the state of the current rotation joint is recorded by using the encoder, so that the mechanical arm automatically reproduces the rotation process later; however, because the thread pitch of the worm gear is smaller, the worm gear cannot be directly pulled by a human hand to rotate, but other power output structures are difficult to meet the requirement of sufficient torque output.

Therefore, how to simultaneously realize the manual operation of the rotary joint, the rotation state monitoring of the rotary joint and the sufficient torque output has become a problem to be solved.

Disclosure of Invention

The utility model aims to provide a rotary joint and a manipulator thereof, which are used for solving the problem that the manual operation of the rotary joint, the rotation state monitoring of the rotary joint and sufficient torque output cannot be realized simultaneously in the prior art.

In order to solve the technical problems, the utility model provides a rotary joint which comprises a base, a rotary shaft, a positioning rod, an arm sleeve and an encoder; the base is provided with a power output mechanism and a worm, and the power output mechanism is used for driving the worm to rotate; the rotating shaft comprises a first shaft section and a second shaft section which are mutually connected along the axial direction of the rotating shaft; the first shaft section is arranged outside the base; the second shaft section is rotatably arranged in the base, the outer peripheral wall of the second shaft section is provided with a worm wheel structure, and the worm wheel structure is meshed with the worm so that the rotating shaft is used for rotating under the drive of the worm; the rotating shaft is provided with a middle hole extending along the axial direction of the rotating shaft, and the middle hole penetrates through the first shaft section and the second shaft section; the positioning rod penetrates into the middle hole to be arranged in a suspending mode, one end, adjacent to the second shaft section, of the positioning rod is fixedly connected with the base, and one end, adjacent to the first shaft section, of the positioning rod is provided with a magnet; the arm sleeve is sleeved outside the first shaft section; when the stress of the arm sleeve is smaller than a preset value, the arm sleeve and the first shaft section are in a relative position fixing state; when the stress of the arm sleeve is larger than a preset value, the arm sleeve and the first shaft section are in a state of being capable of relative rotation; the encoder is arranged on the arm sleeve, is adjacent to the magnet and is arranged in a separated mode, and is used for detecting position change between the encoder and the magnet and outputting a position signal.

In one embodiment, the first shaft section and the second shaft section are detachably connected, a limiting area is formed by the first shaft section and the second shaft section in a surrounding mode, the arm sleeve is arranged in the limiting area, and the arm sleeve is used for preventing the arm sleeve from being separated from the rotating shaft.

In one embodiment, the first shaft section and the second shaft section are connected through a bolt, the outer diameter of the first shaft section is smaller than that of the second shaft section, a limiting ring is formed at a position, away from the second shaft section, of the first shaft section in a protruding mode, and the limiting area is defined between the limiting ring and the end face of the second shaft section; the inside of the arm sleeve is provided with a protruding block in a protruding mode, the protruding block is arranged in the limiting area, and the protruding block is clamped between the limiting ring and the end face of the second shaft section.

In one embodiment, a positioning plate is fixedly connected in the base, the positioning plate is separated from the rotating shaft, a positioning ring is arranged on one surface of the positioning plate, an in-ring bearing is sleeved in the positioning ring, and the in-ring bearing is sleeved outside the second shaft section; the locating rod is arranged on the locating plate.

In one embodiment, the positioning plate is provided with a perforation, and the aperture of the perforation is larger than the diameter of the positioning rod; one end of the locating rod is provided with an outer flange, the outer flange is connected with the surface of the locating plate, which is away from the rotating shaft, so that the locating rod penetrates into the middle hole to be arranged in a suspended mode after penetrating through the through hole, and the thickness of the outer flange is larger than that of the locating plate.

In one embodiment, an inner seat bearing is arranged in the base, the inner seat bearing is sleeved outside the second shaft section, and the inner seat bearing and the inner ring bearing are respectively arranged on two opposite sides of the worm wheel structure; the second shaft section is respectively provided with a seat shaft separating ring and a ring shaft separating ring in a protruding mode at two opposite sides of the worm gear structure; the seat shaft separating ring is blocked between the seat inner bearing and the worm gear structure, and the protruding height of the seat shaft separating ring is smaller than the ring thickness of the seat inner bearing; the annular shaft separation ring is blocked between the annular bearing and the worm gear structure, and the protruding height of the annular shaft separation ring is smaller than the annular thickness of the annular bearing.

In one embodiment, the locating plate is provided with an axial separating ring in a protruding mode in a space surrounded by the locating ring, and the axial separating ring is blocked between the surface of the locating plate and the inner bearing side surface so as to separate the surface of the locating plate and the end surface of the rotating shaft from each other.

In one embodiment, the arm sleeve is provided with a hoop structure, and the hoop structure is sleeved outside the first shaft section.

In one embodiment, one end of the positioning rod extends out of the first shaft section, and the end of the positioning rod extending out of the first shaft section is provided with the magnet.

In order to solve the technical problem, the utility model also provides a manipulator which comprises a first arm section, a second arm section and the rotating joint, wherein one end of the first arm section is connected with the base, and one end of the second arm section is connected with the arm sleeve.

The beneficial effects of the utility model are as follows:

first, since the worm wheel structure is engaged with the worm so that the rotation shaft is used to rotate under the drive of the worm, this structure substantially retains the worm wheel structure as a power output, thereby ensuring sufficient torque output.

Secondly, the arm sleeve is sleeved outside the first shaft section, when the stress of the arm sleeve is smaller than a preset value, the arm sleeve and the first shaft section are in a fixed relative position state, so that the synchronous rotation of the rotating shaft driven by the arm sleeve is realized, and the normal rotation control of the rotating joint is ensured; when the stress of the arm sleeve is larger than a preset value, the arm sleeve and the first shaft section can be in a relative rotation state, and then the manual operation of the rotary joint is realized.

Still further, because the locating lever penetrates in the downthehole unsettled arrangement of centre, the one end of locating lever with pedestal connection is fixed, the other end of locating lever is equipped with magnet, just the encoder with magnet is adjacent and the separation is arranged, the encoder be used for detecting with the position variation between the magnet to with this output position signal, so no matter the revolute joint automatic control rotates or the people hand rotates, magnet and encoder still can produce the position variation, thereby have also realized monitoring and signal output under two kinds of states.

Therefore, after the scheme is adopted, the problems that the manual operation of the rotary joint, the rotation state monitoring of the rotary joint and sufficient torque output cannot be simultaneously realized in the prior art can be thoroughly solved.

Drawings

In order to more clearly illustrate the technical solutions of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a structure provided by an embodiment of a revolute joint according to the present utility model;

FIG. 2 is a schematic illustration of the disassembled structure of FIG. 1;

FIG. 3 is a schematic cross-sectional view of FIG. 1

FIG. 4 is an enlarged schematic view of the portion A of FIG. 3;

FIG. 5 is an enlarged schematic view of the portion A1 of FIG. 4;

FIG. 6 is an enlarged schematic view of the portion B of FIG. 3;

fig. 7 is a schematic view of a structure provided by the manipulator according to the embodiment of the present utility model.

The reference numerals are as follows:

10. a base; 11. a power take-off mechanism; 12. a worm;

20. a rotating shaft; 21. a first shaft section; 211. a through hole; 212. a limiting ring; 22. a second shaft section; 221. a threaded hole; 23. a worm gear structure; 24. a middle hole; 25. a limit area; 26. a seat shaft spacer ring; 27. a ring shaft spacer ring;

30. a positioning rod; 31. a magnet; 32. an outer flange;

40. an arm sleeve; 41. a bump; 42. a hoop structure; 421. an arc-shaped member;

50. an encoder;

60. a positioning plate; 61. a positioning ring; 62. an axial-face spacer ring; 63. perforating;

71. an in-ring bearing; 72. a bearing in the seat;

81. a first arm segment; 82. a second arm segment.

Detailed Description

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.

The present utility model provides a rotary joint, an embodiment of which is shown in fig. 1 to 6, comprising a base 10, a rotation shaft 20, a positioning rod 30, an arm sleeve 40 and an encoder 50.

Regarding the base 10, as shown in fig. 1 and 2, the base 10 is mainly used for realizing the installation, fixation and protection of each component, so that the base is made of metal with better performance; in addition, the inside of the base 10 is mainly used for accommodating various components, so that various slots or installation areas matched in shape can be arranged in the base 10 to realize the alignment, installation and fixation of each component for ensuring the compactness and stability of the structure.

Wherein, the base 10 of this embodiment is equipped with a power output mechanism 11 and a worm 12, the power output mechanism 11 is used for driving the worm 12 to rotate; specifically, the power output mechanism 11 at this time includes steering wheel and reduction gear, and the output shaft of steering wheel is connected with the power input structure transmission of reduction gear, and the power output structure of reduction gear is connected with worm 12 transmission, so the high-speed rotation that the steering wheel produced will become the low-speed rotation through the reduction gear to realized the low-speed rotation control of worm 12.

Regarding the rotation shaft 20, as shown in fig. 1 to 3, the main function is to achieve a rotation connection between the base 10 and the arm cover 40; specifically, the rotating shaft 20 of this embodiment includes a first shaft section 21 and a second shaft section 22 that are connected to each other along the axial direction thereof, so that the rotating shaft 20 has a long shaft shape after the connection; the first shaft section 21 is arranged outside the base 10 and can be used for being connected with the arm sleeve 40, and the second shaft section 22 is rotatably arranged in the base 10, so that the rotation shaft 20 can be ensured to rotate; the outer peripheral wall of the second shaft section 22 is provided with a worm wheel structure 23, and the worm wheel structure 23 is arranged around the outer periphery of the second shaft section 22, so that after the worm wheel structure 23 is meshed with the worm 12, the rotating shaft 20 can realize autorotation under the drive of the worm 12; further, the rotary shaft 20 is provided with a middle hole 24 extending along the axial direction thereof, and the middle hole 24 penetrates the first shaft section 21 and the second shaft section 22, thereby facilitating the installation of the positioning rod 30.

With respect to the positioning rod 30, as shown in fig. 2 and 3, the function of the positioning rod is to cooperate with the encoder 50 to monitor the rotation state of the rotary joint; specifically, in this embodiment, the positioning rod 30 penetrates into the middle hole 24 to be suspended, one end of the positioning rod 30 adjacent to the second shaft section 22 is fixedly connected with the base 10, and one end of the positioning rod 30 adjacent to the first shaft section 21 is provided with the magnet 31.

Regarding the arm sleeve 40, as shown in fig. 1 to 3, the main function is to realize the relative fixation with the rotation shaft 20 and the switching of the relative rotation state; to achieve the objective, in this embodiment, the arm sleeve 40 is sleeved outside the first shaft section 21, and when the stress of the arm sleeve 40 is smaller than a preset value, the arm sleeve 40 and the first shaft section 21 are in a fixed relative position; when the stress of the arm sleeve 40 is larger than the preset value, the arm sleeve 40 and the first shaft section 21 can be in a relative rotation state.

With respect to the encoder 50, as shown in fig. 2 and 3, the function is to monitor the rotation state of the rotary joint and generate a related signal for subsequent automatic control; to achieve this, in this embodiment, an encoder 50 is provided on the arm cover 40, and the encoder 50 is disposed adjacent to and apart from the magnet 31 to detect a positional change with the magnet 31 by the encoder 50 and output a positional signal.

For a better illustration, two usage states will be described below:

when in the automatic control mode, the power output mechanism 11 provides power for the worm 12 to control the worm 12 to rotate, and then the worm 12 drives the rotating shaft 20 to drive the arm sleeve 40 to rotate through meshing with the worm gear structure 23, so that the rotation control of the rotating joint is realized.

It should be noted that, the arm sleeve 40 is sleeved with the first shaft section 21 by using a clamping and tightening manner, so that the tightening force can be preset during the manufacture of the rotary joint, that is, when the external force does not exceed the preset value, the arm sleeve 40 and the first shaft section 21 are still in a tightening state, and cannot rotate relatively, so that the aim that the arm sleeve 40 rotates along with the rotary shaft 20 is achieved.

When the manual control mode is adopted, the power output mechanism 11 stops working, so that the rotating shaft 20 cannot rotate under the state that the worm 12 and the worm wheel structure 23 still keep meshed; when the operator applies force to the arm sleeve 40 and the force applied is greater than the preset value, the arm sleeve 40 can rotate with the rotation shaft 20 as the rotation center.

It should be noted that, since the positioning rod 30 of this embodiment is suspended in the middle hole 24 and the encoder 50 is disposed in the arm sleeve 40, the magnet 31 on the positioning rod 30 is stationary and the encoder 50 is movable, i.e. the encoder 50 can be used to detect the position change between the magnet 31 and the positioning rod and output the position signal.

In summary, after the technical scheme of the embodiment is adopted, the problem that the manual operation of the rotary joint, the rotation state monitoring of the rotary joint and the sufficient torque output cannot be simultaneously realized in the prior art can be thoroughly solved.

It should be noted that the foregoing disclosure pertains to the core technical idea of the present utility model, and in actual production application, attention should be paid to the requirements for setting some technical details, or optimization of some technical details may be performed, which will be specifically described below.

First, as shown in fig. 3 to 6, since the arm sleeve 40 is connected to the first shaft section 21 by the clamping force, the state of the arm sleeve 40 and the first shaft section 21 can be switched between synchronous rotation and relative rotation according to the difference of the applied external force; however, this also means that if the biasing direction is the same as the axial direction of the rotation shaft 20, the arm sleeve 40 may slip off the first shaft section 21.

Therefore, in order to solve this problem, in this embodiment, a detachable connection is further provided between the first shaft section 21 and the second shaft section 22, and the first shaft section 21 and the second shaft section 22 enclose a limiting area 25, and an arm sleeve 40 is installed in the limiting area 25, where the arm sleeve 40 is used to prevent the arm sleeve 40 from being separated from the rotating shaft 20.

After the arrangement mode is adopted, if the arm sleeve 40 is required to be installed, the first shaft section 21 and the second shaft section 22 are required to be detached and separated, then the arm sleeve 40 is sleeved outside the first shaft section 21, and finally the first shaft section 21 and the second shaft section 22 are required to be connected and fixed again; and with the reconnection of the first shaft section 21 and the second shaft section 22, the two will enclose a limit area 25, and the limit area 25 is used to prevent the arm sleeve 40 from slipping off.

For example, in order to realize the detachable connection of the two shaft sections, the first shaft section 21 and the second shaft section 22 are connected by bolts, in which case, the first shaft section 21 is provided with a plurality of through holes 211 to penetrate the two ends of the first shaft section 21, the end surface of the second shaft section 22 adjacent to the first shaft section 21 is provided with a plurality of threaded holes 221, and the plurality of threaded holes 221 are aligned with the plurality of through holes 211, so that the detachable connection between the first shaft section 21 and the second shaft section 22 can be realized by screwing the screws through the through holes 211 and the threaded holes 221.

In order to realize the setting of the limiting area 25, in this embodiment, the outer diameter of the first shaft section 21 is smaller than the outer diameter of the second shaft section 22, a limiting ring 212 is formed at the position of the first shaft section 21 away from the second shaft section 22 in a protruding manner, and the limiting area 25 is enclosed between the limiting ring 212 and the end surface of the second shaft section 22; the inner protrusion of the arm sleeve 40 is provided with a protrusion 41, the protrusion 41 is arranged in the limit area 25, and the protrusion 41 is clamped between the limit ring 212 and the end surface of the second shaft section 22.

Therefore, after the arrangement is adopted, the arrangement is equivalent to the formation of the concave-shaped limiting area 25, so that after the convex-shaped lug 41 is embedded into the concave-shaped limiting area 25, the arm sleeve 40 cannot slide to a release state along the axial direction of the first shaft section 21, and the slipping phenomenon of the arm sleeve 40 is practically prevented.

Second, as shown in fig. 1 and 3, it can be seen from the above that the arm sleeve 40 clamps the first shaft section 21 with a clamping force, so whether the clamping force is appropriate is an important factor affecting whether the arm sleeve 40 can be switched between two states; although the clamping force can be preset to a proper state when the product leaves the factory, the product structure is considered to be changed in the use process, and the hoop structure 42 is further arranged on the arm sleeve 40, and the hoop structure 42 is sleeved outside the first shaft section 21, so that a user can conveniently adjust the tightness according to the requirement at any time.

For example, in this embodiment, the hoop structure 42 is formed by separating two arc-shaped members 421, and holes are formed on both arc-shaped members 421, so that the clamping force of the arm sleeve 40 on the first shaft section 21 can be adjusted by screwing nuts after bolts pass through both arc-shaped members 421; if the clamping force is insufficient, only the bolt and the nut need to be screwed down, and if the clamping force is too large, only the bolt and the nut need to be unscrewed, so that the whole operation process is simple and convenient, and the use requirements of users under different conditions are met.

Third, as shown in fig. 2 and 3, to ensure that the encoder 50 can accurately detect the position change with the magnet 31, this embodiment extends one end of the positioning rod 30 to the outside of the first shaft section 21, and is provided with the magnet 31 at the end of the positioning rod 30 extending to the outside of the first shaft section 21, thereby shortening the distance between the magnet 31 and the encoder 50, and ensuring that the encoder 50 can perform more accurate and timely position information monitoring.

Fourth, as shown in fig. 2 to 4, in order to ensure that the relative position between the positioning rod 30 and the rotating shaft 20 is always kept unchanged, in this embodiment, a positioning plate 60 is fixedly connected in the base 10, the positioning plate 60 and the rotating shaft 20 are separated from each other, a positioning ring 61 is provided on one surface of the positioning plate 60, an in-ring bearing 71 is sleeved in the positioning ring 61, and the in-ring bearing 71 is sleeved outside the second shaft section 22; the positioning rod 30 is provided on the positioning plate 60.

After the arrangement mode is adopted, the positioning plate 60 can realize positioning and installation of the in-loop bearing 71 by utilizing the positioning ring 61, and the in-loop bearing 71 not only can realize positioning and installation of the rotating shaft 20, but also can ensure smooth rotation of the rotating shaft 20; therefore, when the positioning rod 30 is provided on the positioning plate 60, the positioning rod 30 and the rotating shaft 20 can be kept in a state where the relative position is always unchanged.

In order to further improve the installation stability and the rotation smoothness of the rotating shaft 20, in this embodiment, an inner seat bearing 72 is further arranged in the base 10, the inner seat bearing 72 is sleeved outside the second shaft section 22, and the inner seat bearing 72 and the inner ring bearing 71 are respectively arranged at two opposite sides of the worm wheel structure 23; the second shaft section 22 is respectively provided with a seat shaft separating ring 26 and a ring shaft separating ring 27 in a protruding way at two opposite sides of the worm wheel structure 23; the seat shaft separating ring 26 is blocked between the seat inner bearing 72 and the worm gear structure 23, and the protruding height of the seat shaft separating ring 26 is smaller than the ring thickness of the seat inner bearing 72; the annular shaft spacer ring 27 is blocked between the annular bearing 71 and the worm gear structure 23, and the protruding height of the annular shaft spacer ring 27 is smaller than the annular thickness of the annular bearing 71.

In this arrangement, the side surface of the worm wheel structure 23 is prevented from contacting the inner bearing 72 and the inner bearing 71 in a large area, but the side surface of the shaft separating ring 26 is used for contacting the side surface of the inner bearing 72 in a small area, and the side surface of the ring shaft separating ring 27 is used for contacting the side surface of the inner bearing 71 in a small area, so that the friction force applied to the rotating shaft 20 during rotation is less, and the rotating shaft can rotate more smoothly.

Fifth, as shown in fig. 2 to 5, after the positioning plate 60 is added, in order to avoid the positioning plate 60 from directly contacting the rotating shaft 20, in this embodiment, an axial separating ring 62 is formed by protruding the positioning plate 60 in a space surrounded by the positioning ring 61, and the axial separating ring 62 is blocked between the surface of the positioning plate 60 and the side surface of the inner bearing 71, so that the surface of the positioning plate 60 and the end surface of the rotating shaft 20 are separated from each other.

Sixth, as shown in fig. 2 to 6, in this embodiment, a through hole 63 is formed in the positioning plate 60, and the hole diameter of the through hole 63 is larger than the diameter of the positioning rod 30; one end of the positioning rod 30 is provided with an outer flange 32, the outer flange 32 is connected with the surface of the positioning plate 60, which is away from the rotating shaft 20, so that the positioning rod 30 penetrates into the middle hole 24 to be suspended after penetrating through the through hole 63, and the thickness of the outer flange 32 is larger than that of the positioning plate 60.

After this arrangement, a thicker outer flange 32 may be provided because the locating lever 30 may be connected to the surface of the locating plate 60 facing away from the rotational axis 20, thereby ensuring that the two are more secure when mounted and secured.

It should be apparent that the above-mentioned rotating joint is generally applied to a manipulator, so the present utility model also provides a manipulator, which is implemented as shown in fig. 7, including a first arm section 81, a second arm section 82, and the above-mentioned rotating joint, wherein one end of the first arm section 81 is connected to the base 10, and one end of the second arm section 82 is connected to the arm sleeve 40.

In this case, the power output mechanism 11 may be housed by the first arm section 81 and the second arm section 82, and the housing cavity may be provided in at least the first arm section 81 and the second arm section 82, so that the power output mechanism 11 may be housed and placed by the housing cavity.

The working principle and the beneficial effects of the manipulator can be seen from the above, so the description is omitted.

While the foregoing is directed to the preferred embodiments of the present utility model, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the utility model, such changes and modifications are also intended to be within the scope of the utility model.

Claims (10)

1. A rotary joint is characterized in that,

comprises a base, a rotating shaft, a positioning rod, an arm sleeve and an encoder;

the base is provided with a power output mechanism and a worm, and the power output mechanism is used for driving the worm to rotate;

the rotating shaft comprises a first shaft section and a second shaft section which are mutually connected along the axial direction of the rotating shaft; the first shaft section is arranged outside the base; the second shaft section is rotatably arranged in the base, the outer peripheral wall of the second shaft section is provided with a worm wheel structure, and the worm wheel structure is meshed with the worm so that the rotating shaft is used for rotating under the drive of the worm; the rotating shaft is provided with a middle hole extending along the axial direction of the rotating shaft, and the middle hole penetrates through the first shaft section and the second shaft section;

the positioning rod penetrates into the middle hole to be arranged in a suspending mode, one end, adjacent to the second shaft section, of the positioning rod is fixedly connected with the base, and one end, adjacent to the first shaft section, of the positioning rod is provided with a magnet;

the arm sleeve is sleeved outside the first shaft section; when the stress of the arm sleeve is smaller than a preset value, the arm sleeve and the first shaft section are in a relative position fixing state; when the stress of the arm sleeve is larger than a preset value, the arm sleeve and the first shaft section are in a state of being capable of relative rotation;

the encoder is arranged on the arm sleeve, is adjacent to the magnet and is arranged in a separated mode, and is used for detecting position change between the encoder and the magnet and outputting a position signal.

2. The rotary joint according to claim 1, wherein the first shaft section and the second shaft section are detachably connected, a limiting area is enclosed by the first shaft section and the second shaft section, the arm sleeve is installed in the limiting area, and the arm sleeve is used for preventing the arm sleeve from being separated from the rotating shaft.

3. The rotary joint according to claim 2, wherein,

the first shaft section is connected with the second shaft section through bolts, the outer diameter of the first shaft section is smaller than that of the second shaft section, a limiting ring is formed at a position, away from the second shaft section, of the first shaft section in a protruding mode, and a limiting area is formed between the limiting ring and the end face of the second shaft section in a surrounding mode;

the inside of the arm sleeve is provided with a protruding block in a protruding mode, the protruding block is arranged in the limiting area, and the protruding block is clamped between the limiting ring and the end face of the second shaft section.

4. The rotary joint according to claim 1, wherein,

the positioning plate is fixedly connected in the base, the positioning plate is separated from the rotating shaft, a positioning ring is arranged on one surface of the positioning plate, an inner ring bearing is sleeved in the positioning ring, and the inner ring bearing is sleeved outside the second shaft section;

the locating rod is arranged on the locating plate.

5. The rotary joint according to claim 4, wherein,

the positioning plate is provided with a perforation, and the aperture of the perforation is larger than the diameter of the positioning rod;

one end of the locating rod is provided with an outer flange, the outer flange is connected with the surface of the locating plate, which is away from the rotating shaft, so that the locating rod penetrates into the middle hole to be arranged in a suspended mode after penetrating through the through hole, and the thickness of the outer flange is larger than that of the locating plate.

6. The rotary joint according to claim 4, wherein,

the base is internally provided with an inner seat bearing, the inner seat bearing is sleeved outside the second shaft section, and the inner seat bearing and the inner ring bearing are respectively arranged on two opposite sides of the worm wheel structure;

the second shaft section is respectively provided with a seat shaft separating ring and a ring shaft separating ring in a protruding mode at two opposite sides of the worm gear structure;

the seat shaft separating ring is blocked between the seat inner bearing and the worm gear structure, and the protruding height of the seat shaft separating ring is smaller than the ring thickness of the seat inner bearing;

the annular shaft separation ring is blocked between the annular bearing and the worm gear structure, and the protruding height of the annular shaft separation ring is smaller than the annular thickness of the annular bearing.

7. The rotary joint according to claim 4, wherein the positioning plate is formed with an axial surface spacer ring protruding in a space surrounded by the positioning ring, the axial surface spacer ring being blocked between the positioning plate surface and the inner ring bearing side surface so as to separate the positioning plate surface and the end surface of the rotating shaft from each other.

8. The rotary joint according to claim 1, wherein the arm sleeve is provided with a hoop structure, and the hoop structure is sleeved outside the first shaft section.

9. The rotary joint according to claim 1, wherein one end of the positioning rod extends beyond the first shaft section, and an end of the positioning rod extending beyond the first shaft section is provided with the magnet.

10. A manipulator comprising a first arm segment, a second arm segment and the revolute joint of any one of claims 1 to 9, one end of the first arm segment being connected to the base and one end of the second arm segment being connected to the arm socket.