CN-121468652-B - Multi-mode robot elbow joint mechanism

CN121468652BCN 121468652 BCN121468652 BCN 121468652BCN-121468652-B

Abstract

The application provides a multi-mode robot elbow joint mechanism which comprises a base, a first joint module, a second joint module, an elbow joint bearing seat, a constant velocity universal joint, a driving piece and a tail end output flange. The base is internally provided with a containing cavity, the first joint module is arranged in the containing cavity, the second joint module is fixedly connected with the base, one end of the driving piece is connected with the output end of the first joint module, the other end of the driving piece is connected with the elbow joint bearing seat, one end of the constant velocity universal joint is connected with the output end of the second joint module, the other end of the constant velocity universal joint is connected with the output flange and is arranged on the elbow joint bearing seat, the second joint module rotates around the X axis and drives the tail end output flange to rotate around the Z axis through the constant velocity universal joint, and the second joint module drives the elbow joint bearing seat to rotate around the Y axis through the driving piece and drives the tail end output flange to rotate around the Y axis. According to the application, the two joint modules drive the relevant elbow joints to make different angle changes, so that the overall configuration is compact, the load inertia is small, and the required driving torque is reduced.

Inventors

XIN JIZHONG
LIN SHANFU
HE YINGLI

Assignees

温州市冠盛汽车零部件集团股份有限公司
浙江灵巧智能科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260108

Claims (6)

1. The multi-mode robot elbow joint mechanism is characterized by comprising a base, a first joint module, a second joint module, an elbow joint bearing seat, a constant velocity universal joint, a driving piece and a tail end output flange; The base is internally provided with a containing cavity, the first joint module is arranged in the containing cavity, and the second joint module is connected with the base; The input end of the driving piece is connected with the output end of the first joint module, and the output end of the driving piece is connected with the elbow joint bearing seat; one end of the constant velocity universal joint is connected with the output end of the second joint module, and the other end of the constant velocity universal joint is connected with the tail end output flange and is arranged on the elbow joint bearing seat; the first joint module drives the elbow joint bearing seat to rotate around a Y axis through the driving piece so as to drive the tail end output flange to rotate around the Y axis; The driving piece is a connecting rod or synchronous belt mechanism and is used for transmitting the rotation of the first joint module to the elbow joint bearing seat; The constant velocity universal joint comprises a constant velocity universal joint, a first torsion shaft, a second torsion shaft, a spline nut, a plurality of rolling grooves, a plurality of rolling balls, a plurality of rolling grooves and a plurality of rolling balls, wherein the first torsion shaft is connected with the output end of the second joint module, and the second torsion shaft is arranged at the other end of the constant velocity universal joint; The output end of the first joint module is provided with a first output flange, the first output flange is in transmission connection with the elbow joint bearing seat through the driving piece, and when the first joint module rotates around the Y axis, the elbow joint bearing seat is driven to synchronously rotate around the Y axis through the driving piece; the second joint module comprises a second module seat, one end of the second module seat is fixedly connected with the base, and the other end of the second module seat extends to the inner side of the elbow joint bearing seat and is rotatably connected with the elbow joint bearing seat; the second module seat is internally provided with a cavity, and the second joint module is arranged in the cavity; the elbow joint bearing seat comprises a first side plate, a second side plate and a third support plate; The first side plate and the second side plate are symmetrically arranged on two sides of the third supporting plate and are integrally formed with the third supporting plate; The other end of the second module seat extends to the inner sides of the first side plate and the second side plate; a third bearing and a fourth bearing are arranged at the other end of the second module seat, and a third pin shaft and a fourth pin shaft are respectively arranged at the inner sides of the first side plate and the second side plate; The third bearing and the fourth bearing are respectively and rotatably connected with the third pin shaft and the fourth pin shaft and are used for providing guidance and support for the elbow joint bearing seat to rotate around the Y axis.
2. The multi-mode robot elbow joint mechanism according to claim 1, wherein when the driving piece is a connecting rod, a first joint bearing and a second joint bearing are respectively arranged at two ends of the driving piece; The first joint bearing is connected with the first pin shaft, the second joint bearing is connected with the second pin shaft, the first output flange, the driving piece and the elbow joint bearing seat form a four-bar mechanism, and the rotation angle of the elbow joint bearing seat is determined by the rotation angle of the first joint module output flange; When the driving piece is a synchronous belt mechanism, the synchronous belt mechanism comprises a first synchronous belt pulley, a synchronous belt and a second synchronous belt pulley; The first synchronous belt pulley is connected with the first output flange, the second synchronous belt pulley is connected with the elbow joint bearing seat, and the synchronous belt is connected to the first synchronous belt pulley and the second synchronous belt pulley and used for driving the elbow joint bearing seat to rotate when the first joint module rotates.
3. The multi-modal robot elbow joint mechanism according to claim 1, wherein the output end of the second joint module is provided with an output torsion shaft, the output torsion shaft being connected to the constant velocity joint.
4. A multi-modal robotic elbow joint mechanism as claimed in claim 3, wherein, The output torsion shaft can extend into one end of the first torsion shaft, and the second torsion shaft is connected with the tail end output flange and used for driving the tail end output flange to rotate around the Z axis; the second module seat is provided with a first bearing which is sleeved on the first torsion shaft and used for supporting the first torsion shaft.
5. The multi-modal robot wrist mechanism of claim 1, wherein the third support plate has an annular connection; one end of the second torsion shaft can extend into the annular connecting part and extend to the tail end output flange to be connected with the tail end output flange; A second bearing and a connecting flange are arranged between the outer peripheral wall of the spline nut and the inner peripheral wall of the annular connecting part; The spline nut is sleeved on the second torsion shaft, the connecting flange is sleeved on the spline nut and connected with the tail end output flange, the second bearing is sleeved on the connecting flange, and the second bearing is fixedly connected with the inner ring of the annular connecting part; When the torque shaft is in operation, the second torque shaft drives the spline nut to rotate, the spline nut drives the connecting flange to rotate, and the connecting flange drives the tail end output flange to rotate.
6. The multi-modal robot elbow joint mechanism according to claim 4, wherein said constant velocity joint comprises a first star boot, a second star boot, a first cage, a second cage, a housing, and a rolling portion; The rolling part is provided with two groups which are respectively assembled between the matching surfaces of the first star-shaped sleeve and the shell and between the second star-shaped sleeve and the matching surface of the shell, and the first retainer and the second retainer respectively limit the rolling parts in corresponding groups in the circumferential direction; The outer peripheral surface of the first star-shaped sleeve is provided with a first arc-shaped groove extending along the X axial direction, a second arc-shaped groove extending along the Z axial direction and corresponding to the rolling part and rolling in the second arc-shaped groove along the Z axial direction; The first retainer and the second retainer are respectively provided with a long waist groove extending along the Y axial direction, and the rolling parts can roll in the long waist grooves along the Y axial direction.

Description

Multi-mode robot elbow joint mechanism Technical Field The application relates to the field of various humanoid bionic mechanical arms and cooperative arms, in particular to a multi-mode robot elbow joint mechanism. Background With the development of humanoid robots and artificial intelligence, the humanoid robots have become a leading person of technological innovation at home and abroad and a new engine for economic growth. At present, the application scene of the mechanical arm is wider and wider, and higher requirements are put forward on the dexterity, safety and light weight of the mechanical arm. The traditional cooperative mechanical arm can not meet the functional requirement, the humanoid seven-axis mechanical arm is smart in function close to the upper limb of a human, and the mechanical arm which is partially circulated in the market at present is usually insufficient in configuration and weight, occupies large space, is complex in structure and has larger torque output, so that the mechanical arm has limitation in application scenes. Disclosure of Invention In view of the above-mentioned shortcomings/drawbacks of the prior art, it is an object of the present application to provide a multi-modal robotic elbow mechanism. In a first aspect of the application, a multi-modal robot elbow joint mechanism is provided comprising a base, a first joint module, a second joint module, an elbow joint bearing support, a constant velocity universal joint, a drive member, and a distal output flange; The base is internally provided with a containing cavity, the first joint module is arranged in the containing cavity, and the second joint module is connected with the base; The input end of the driving piece is connected with the output end of the first joint module, and the output end of the driving piece is connected with the elbow joint bearing seat; one end of the constant velocity universal joint is connected with the output end of the second joint module, and the other end of the constant velocity universal joint is connected with the tail end output flange and is arranged on the elbow joint bearing seat; The first joint module drives the elbow joint bearing seat to rotate around the Y axis through the driving piece so as to drive the tail end output flange to rotate around the Y axis. Optionally, the output of first joint module is equipped with first output flange, first output flange passes through the driving piece with elbow joint bearing frame forms transmission connection, when first joint module is rotatory around the Y axle, through the driving piece drives elbow joint bearing frame rotates around the Y axle in step. Optionally, the driving member is a link or a synchronous belt mechanism, and is used for transmitting the rotation of the first joint module to the elbow joint bearing seat. Optionally, when the driving piece is a connecting rod, two ends of the driving piece are respectively provided with a first joint bearing and a second joint bearing, and the first output flange and the elbow joint bearing seat are respectively provided with a first pin shaft and a second pin shaft; The first joint bearing is connected with the first pin shaft, the second joint bearing is connected with the second pin shaft, the first output flange, the driving piece and the elbow joint bearing seat form a four-bar mechanism, and the rotation angle of the elbow joint bearing seat is determined by the rotation angle of the first joint module output flange; When the driving piece is a synchronous belt mechanism, the synchronous belt mechanism comprises a first synchronous belt pulley, a synchronous belt and a second synchronous belt pulley; The first synchronous belt pulley is connected with the first output flange, the second synchronous belt pulley is connected with the elbow joint bearing seat, and the synchronous belt is connected to the first synchronous belt pulley and the second synchronous belt pulley and used for driving the elbow joint bearing seat to rotate when the first joint module rotates. Optionally, the second joint module comprises a second module seat, one end of the second module seat is fixedly connected with the base, and the other end of the second module seat extends to the inner side of the elbow joint bearing seat and is rotatably connected with the elbow joint bearing seat; the second module seat is internally provided with a cavity, and the second joint module is arranged in the cavity; and an output torsion shaft is arranged at the output end of the second joint module, and the output torsion shaft is connected with the constant velocity universal joint. Optionally, one end of the constant velocity universal joint is provided with a first torsion shaft, and the other end is provided with a second torsion shaft; the output torsion shaft can extend into one end of the first torsion shaft, and the second torsion shaft is connected with the tail end output flange and used for driving the tail