CN220972436U

CN220972436U - Wrist joint and mechanical arm

Info

Publication number: CN220972436U
Application number: CN202322512296.2U
Authority: CN
Inventors: 张庆超; 祝汉歧; 王倩
Original assignee: Beijing Siling Robot Technology Co ltd
Current assignee: Beijing Siling Robot Technology Co ltd
Priority date: 2023-09-15
Filing date: 2023-09-15
Publication date: 2024-05-17
Anticipated expiration: 2033-09-15

Abstract

The present disclosure provides a wrist joint, comprising: a first link; a second link provided rotatably along a first axis with respect to the first link; a flange portion provided rotatably along a second axis with respect to the second link, the first rotation body being rotatably provided to the first link, and the second link being fixed to the first rotation body; wherein the rotation axis of the first revolving body is the first axis; a second rotation body rotatably provided to the second link, and the flange portion is fixed to the second rotation body, wherein a rotation axis of the second rotation body is the second axis; the first driving part is used for driving the first revolving body to rotate; and the second driving part is used for driving the second revolving body to rotate, wherein the rotation axis of the second driving part is the first axis.

Description

Wrist joint and mechanical arm

Technical Field

The disclosure relates to a wrist joint and a mechanical arm, and belongs to the technical field of robots.

Background

The wrist joint of the human body has two degrees of rotation freedom, so that the handle of the human body has greater flexibility.

The humanoid robot also needs to have two degrees of rotational freedom when designing the wrist joint. But there are significant challenges in designing a compact, flexible, load-bearing wrist joint.

The prior art scheme includes cylindrical modularized joint type wrist joint, wrist joint driven by a linear driving device and the like. The two rotational degrees of freedom of the modularized joint type wrist joint are generally far away from each other, and have larger difference with the characteristic that the two rotational degrees of freedom axes of the human wrist joint intersect; the wrist joint of the robot driven by the linear driving device can be intersected with two rotation freedom axes or has a short distance, however, the wrist joint movement and the driving moment of the scheme and the movement and output force of the linear driving device are in nonlinear relation, so that certain challenges are brought to movement control of the joint, and the output moment of the joint is limited.

Disclosure of utility model

In order to solve one of the above technical problems, the present disclosure provides a wrist joint and a mechanical arm.

According to one aspect of the present disclosure, there is provided a wrist joint, comprising:

A first link;

a second link provided rotatably with respect to the first link along a first axis;

A flange portion provided rotatably with respect to the second link along a second axis, wherein the first axis and the second axis are not parallel;

A first rotation body rotatably provided to the first link, and the second link is fixed to the first rotation body; wherein the rotation axis of the first revolving body is the first axis;

A second rotation body rotatably provided to the second link, and the flange portion is fixed to the second rotation body, wherein a rotation axis of the second rotation body is the second axis;

The first driving part is used for driving the first revolving body to rotate; and

And the second driving part is used for driving the second revolving body to rotate, wherein the rotation axis of the second driving part is the first axis.

According to at least one embodiment of the present disclosure, the first driving part is a first worm rotatably provided to the first link; the first revolving body is a first worm wheel, and the first worm is meshed with the first worm wheel.

According to at least one embodiment of the present disclosure, the first worm gear is a full-round worm gear.

According to at least one embodiment of the present disclosure, the second driving part is rotatably provided to the second link.

According to the wrist joint of at least one embodiment of the present disclosure, the second driving portion is a second worm, the second revolving body is a second worm wheel, and the second worm is meshed with the second worm wheel.

According to at least one embodiment of the present disclosure, the second rotator is a semicircular worm gear or a multi-semicircular worm gear.

According to at least one embodiment of the present disclosure, the first rotation body is rotatably provided to the first link by a crossed roller bearing.

According to the wrist joint of at least one embodiment of the present disclosure, the first revolving body is a driven synchronous pulley, the first driving part is a driving synchronous pulley, and the driving synchronous pulley and the driven synchronous pulley are in transmission connection through a synchronous belt.

According to the wrist joint of at least one embodiment of the present disclosure, the flange portion is rotatably provided to the second link through a rotation shaft, wherein a bushing is provided between the rotation shaft and the flange portion.

According to another aspect of the present disclosure, there is provided a mechanical arm including the wrist joint described above.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic structural view of a wrist joint according to one embodiment of the present disclosure.

Fig. 2 and 3 are schematic cross-sectional structural views of a wrist joint according to one embodiment of the present disclosure.

The reference numerals in the drawings specifically are:

101 first motor

102 Second motor

110 First link

120 Second connecting rod

121 Connecting rod upper arm

122 Connecting rod lower arm

123 Front connecting part

124 Rear connection

130 Flange portion

140 First revolution body

150 Second rotator

160 First driving part

170 Second driving part

180-Degree crossed roller bearing

191 Spindle.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.

In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.

The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.

When an element is referred to as being "on" or "over", "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" upper "and" side (e.g., as in "sidewall") to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below … …" may encompass both an orientation of "above" and "below". Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a schematic structural view of a wrist joint according to one embodiment of the present disclosure. Fig. 2 and 3 are schematic cross-sectional structural views of a wrist joint according to one embodiment of the present disclosure.

As shown in fig. 1 to 3, the present disclosure provides a wrist joint, which may include a first link 110, a second link 120, a flange portion 130, a first rotation body 140, a second rotation body 150, a first driving portion 160, a second driving portion 170, and the like.

The first link 110 can be formed as a mechanical arm or an arm of a robot, and a wrist joint can be formed at the end of the first link 110, respectively.

The second link 120 is provided rotatably along a first axis with respect to the first link 110; that is, the second link 120 has one degree of rotational freedom with respect to the first link 110.

The flange 130 is configured to be rotatable relative to the second link 120 along a second axis, wherein the first axis and the second axis are not parallel; preferably, the first axis and the second axis are perpendicular, whereby the flange portion 130 has two rotational degrees of freedom perpendicular to each other with respect to the first link 110, and accordingly the flange portion 130 can have various positions.

The flange 130 can be connected to an end effector or the like and perform various operations of the robot by the end effector at the time of actual use of the wrist joint of the present disclosure.

The first revolving unit 140 is rotatably provided to the first link 110, and the second link 120 is fixed to the first revolving unit 140; the rotation axis of the first revolving body 140 is the first axis; thus, when the first rotator 140 is driven to rotate along the first axis, the second link 120 can be rotated along the first axis with respect to the first link 110.

In one embodiment, the first rotator 140 is rotatably disposed to the first link 110 by a crossed roller bearing 180; as shown in fig. 2, an outer ring of the crossed roller bearing 180 may be fixed to the first link 110, and an inner ring of the crossed roller bearing 180 may be fixed to the first rotator 140, so that the first rotator 140 may be rotatable with respect to the first link 110.

More preferably, the second link 120 includes a link upper arm 121 and a link lower arm 122, the link upper arm 121 being fixed to the inner ring of the crossed roller bearing by a screw; the link lower arm 122 is fixed to the inner ring of the crossed roller bearing by screws such that the first rotator 140 is positioned between the link lower arm 122 and the inner ring of the crossed roller bearing, whereby the link upper arm 121, the inner ring of the crossed roller bearing 180, the first rotator 140, and the link lower arm 122 are formed in a co-rotating structure.

In the present disclosure, the first revolving unit 140 may be a worm wheel or a pulley, and the first driving unit 160 is configured to drive the first revolving unit 140 to rotate, and these two implementations will be described below.

As shown in fig. 2 and 3, the first revolving body 140 is a first worm wheel, preferably, the first worm wheel is a full-round worm wheel; the first driving part 160 is a first worm rotatably provided to the first link 110; in a specific embodiment, both ends of the first worm screw are rotatably disposed on the first link 110 through angular contact bearings.

The first worm can be driven to rotate, in one embodiment, a synchronous pulley is mounted on the first worm, the first motor 101 is arranged on the first connecting rod, and a synchronous pulley is arranged on an output shaft of the first motor 101, and the two synchronous pulleys are connected through a synchronous belt, so that the first worm can be driven to rotate through the first motor 101, the first worm is meshed with the first worm wheel, and accordingly the first worm wheel can also rotate.

On the other hand, the first revolving unit 140 is a driven synchronous pulley, the first driving unit 160 is a driving synchronous pulley, the driving synchronous pulley can be directly disposed on the output shaft of the first motor 101, and the driving synchronous pulley and the driven synchronous pulley are in transmission connection through a synchronous belt, so that the first motor 101 can directly drive the first revolving unit 140 to rotate. Preferably, the first motor 101 may be a high torque motor such as a gear motor.

The second revolving unit 150 is rotatably provided on the second link 120, and the flange 130 is fixed to the second revolving unit 150, and the rotation axis of the second revolving unit 150 is the second axis; thus, when the second rotator 150 is driven to rotate along the second axis, the flange 130 can be rotated along the first axis with respect to the second link 120. Further, since the first rotation body 140 and the second rotation body 150 are rotated independently, the flange portion 130 has two degrees of rotational freedom with respect to the first link 110.

The second driving part 170 is configured to drive the second revolving body 150 to rotate, where a rotation axis of the second driving part 170 is the first axis.

Since the rotation axes of the second driving unit 170 and the second rotation body 150 are perpendicular to each other, the first driving unit 160 preferably employs a worm, and the second rotation body 150 preferably employs a worm wheel.

In the present disclosure, the second driving part 170 is rotatably disposed on the second link 120; in a specific embodiment, two ends of the second driving part 170 are rotatably supported on the link upper arm 121 and the link lower arm 122 through angular contact bearings, respectively; accordingly, the central axis of the second driving part 170 coincides with the central axis of the first rotation body 140.

In a specific embodiment, the second driving part 170 is a second worm, and the second revolving unit 150 is a second worm wheel, and the second worm is meshed with the second worm wheel.

In the present disclosure, as shown in fig. 1, the link upper arm 121 and the link lower arm 122 are connected by a front connection portion 123 and a rear connection portion 124. In the present disclosure, the link upper arm 121 and the link lower arm 122 are disposed in a direction of the first axis, i.e., in a first axis direction (e.g., up-down direction), and the link upper arm 121 can be located above the link lower arm 122.

The front and rear connection portions 123 and 124 are disposed in a direction of the second axis, i.e., in a second axis direction (e.g., a front-rear direction), and the front connection portion 123 is located in front of the rear connection portion 124.

A certain gap is formed between the front connection part 123 and the rear connection part 124, that is, a space is formed between the front connection part 123 and the rear connection part 124, and an accommodating space is formed, at least a portion of the second revolving body 150 is located in the accommodating space.

Although the second link 120 is defined by the link upper arm 121, the link lower arm 122, the front connection 123, and the rear connection 124 in the present disclosure, it should be understood by those skilled in the art that at least part of the link upper arm 121, the link lower arm 122, the front connection 123, and the rear connection 124 can be integrally formed. In a preferred embodiment, the link lower arm 122, the front connection 123 and the rear connection 124 are integrally formed.

In one embodiment, the flange 130 is rotatably provided to the second link 120 through a rotation shaft 191, and preferably both ends of the rotation shaft 191 may be fixed to the front and rear connection parts 123 and 124, respectively, and the flange 130 may be rotatable with respect to the rotation shaft 191, for example, a bushing is provided between the rotation shaft 191 and the flange 130, so that the flange 130 may be rotatable with respect to the second link 120.

Of course, it should be understood by those skilled in the art that a bearing or the like may be provided between the flange 130 and the shaft 191, so that the flange 130 has a smaller rotation resistance with respect to the shaft 191.

In the present disclosure, as shown in fig. 2, the second revolving body 150 is a semicircular worm wheel or a multi-semicircular worm wheel; accordingly, both ends of the second revolving body 150 in the circumferential direction are fixed to the flange 130, and the rotation shaft 191 is located in a space enclosed by the second revolving body 150 and the flange 130, so that the wrist joint of the present disclosure has a technical effect of compact structure.

The second worm can be driven to rotate, in one embodiment, a synchronous pulley is mounted on the second worm, the second motor 102 is arranged on the first connecting rod, and a synchronous pulley is arranged on an output shaft of the second motor 102, and the two synchronous pulleys are connected through a synchronous belt, so that the second worm can be driven to rotate through the second motor 102, the second worm is meshed with the second worm wheel, and accordingly the second worm wheel can also rotate.

That is, in the present disclosure, the first motor 101 and the second motor 102 are disposed on the first link 110, whereby the weight of the second link 120 and the flange 130 is reduced, thereby facilitating the control of the robot arm and improving the accuracy and the load capacity of the robot arm.

In particular, when both the first rotation body 140 and the second rotation body 150 are worm gears, the axial distances of the two rotational degrees of freedom of the wrist joint of the present disclosure are short, and the structure of the wrist joint is made compact. In addition, the joint output moment is related to the motor output moment Cheng Xianxing, so that the control of the wrist joint is facilitated, and compared with the wrist joint in the prior art, the wrist joint has a better technical effect.

In actual use, the first revolving body 140 can realize ±90° of movement, has a larger movement range, and the joint load capacity does not change with the position change; second rotor 150 may achieve approximately + -40 deg. motion with joint load capacity unchanged by position change.

According to another aspect of the present disclosure, there is provided a robotic arm including the wrist joint described above.

In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "a particular example," "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.

Claims

1. A wrist joint, comprising:

A first link;

2. The wrist joint according to claim 1, wherein the first driving portion is a first worm screw rotatably provided to the first link; the first revolving body is a first worm wheel, and the first worm is meshed with the first worm wheel.

3. The wrist joint of claim 2, wherein the first worm gear is a full circle worm gear.

4. The wrist joint according to claim 1, wherein the second driving portion is rotatably provided to the second link.

5. The wrist joint according to claim 4, wherein the second driving portion is a second worm, the second rotation body is a second worm wheel, and the second worm is meshed with the second worm wheel.

6. The wrist joint according to claim 5, wherein the second rotator is a semicircular worm gear or a multi-semicircular worm gear.

7. The wrist joint according to claim 1, wherein the first rotation body is rotatably provided to the first link by a crossed roller bearing.

8. The wrist joint according to claim 1, wherein the first rotation body is a driven synchronous pulley, the first driving portion is a driving synchronous pulley, and the driving synchronous pulley and the driven synchronous pulley are in transmission connection through a synchronous belt.

9. The wrist joint according to claim 1, wherein the flange portion is rotatably provided to the second link through a rotation shaft, wherein a bushing is provided between the rotation shaft and the flange portion.

10. A robotic arm comprising a wrist joint according to any one of claims 1-9.