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CN-122008176-A - Joint assembly and robot

CN122008176ACN 122008176 ACN122008176 ACN 122008176ACN-122008176-A

Abstract

The application provides a joint assembly and a robot. The joint assembly comprises a first connecting rod, a second connecting rod, a first driving assembly, a cable and a resetting assembly. The first end of the second link is pivotally connected to the first link by a first joint. The first drive assembly is mounted within the first joint. The reset component comprises a clamping seat and a first elastic piece, wherein the clamping seat is arranged in the second connecting rod, and the cable passes through the clamping seat and is fixed with the clamping seat, so that the cable is divided into a first cable and a second cable. The first elastic piece extends along the outside of the first cable and is connected to the first cable, the first elastic piece bends in the second connecting rod along with the first cable, and forms a first reset segment extending from the clamping seat towards or away from the first joint and a second reset segment extending from the bent first reset segment towards the opposite direction of the extending direction of the first reset segment. The application can restore the original position of the cable after the robot joint moves, and avoid the cable from being worn or broken due to long-term abnormal stress.

Inventors

  • PAN LIZHI
  • XU YIMING
  • CAI CHENGCHENG
  • MA ZHIKANG
  • LU BAOYUE
  • SUN WENZE
  • Dong Kailun
  • LI JINHUA

Assignees

  • 天津大学医疗机器人与智能系统研究院

Dates

Publication Date
20260512
Application Date
20260324

Claims (10)

  1. 1. A joint assembly, comprising: a first link (6); A second link (7), a first end of the second link (7) being rotatably connected to the first link (6) by a first joint (61); a first driving assembly, which is arranged in the first joint (61) and is suitable for driving the first joint (61) to rotate; cable, and A reset assembly, comprising: A clamping seat (1) arranged in the second connecting rod (7), wherein the cable passes through the clamping seat (1) and is fixed with the clamping seat (1) so that the cable is divided into a first cable (9) extending from the clamping seat (1) to the first joint (61) and a second cable (10) extending from the second end of the second connecting rod (7), and The first elastic piece (3) extends along the outside of the first cable (9) and is connected to the first cable (9), the first elastic piece (3) bends in the second connecting rod (7) along with the first cable (9), and forms a first resetting section (31) extending from the clamping seat (1) towards or away from the first joint (61), and a second resetting section (32) extending from the bent first resetting section (31) to the direction opposite to the extending direction of the first resetting section (31).
  2. 2. The joint assembly of claim 1, further comprising: A third link (8) rotatably connected to a second end of the second link (7) by a second joint (71); A second driving assembly, which is arranged in the second joint (71) and is suitable for driving the second joint (71) to rotate; The second cable (10) extends from the cartridge (1) to the second joint (71).
  3. 3. The joint assembly of claim 2, wherein: The clamping seat (1) is provided with a first through hole (11) and a second through hole (12); The cables pass through the first through hole (11) and the second through hole (12) in opposite directions and are connected with the clamping seat (1) to form the first cable (9) and the second cable (10), and a U-shaped combining part (91) is formed between the first cable (9) and the second cable (10); The first elastic member (3) is connected to a portion of the first cable (9) that passes out of the first through hole (11).
  4. 4. The joint assembly of claim 3, wherein the reduction assembly further comprises: And a second elastic member (5) extending along the outside of the second cable (10) and connected to a portion of the second cable (10) penetrating from the second through hole (12), adapted to return the second cable (10) by elastic force after the movement of the joint assembly.
  5. 5. A joint assembly according to claim 3, wherein: The distance between the first through hole (11) and the second through hole (12) is configured such that the bending radius of the cable after passing through the first through hole (11) and the second through hole (12) is the minimum allowable bending radius of the cable.
  6. 6. The joint assembly of claim 4, further comprising: -a first connection (2) connecting an end of the second reset segment (32) remote from the first reset segment (31) to the first cable (9); -a second connection element (4) connecting an end of the second elastic element (5) remote from the second through hole (12) to the second cable (10).
  7. 7. The joint assembly of claim 4, wherein: one side of the clamping seat (1) facing the penetrating direction of the first through hole (11), and a first counter bore (13) is formed in a sunk mode at the peripheral edges of the first through hole (11) and the second through hole (12); the first counter bore (13) is suitable for accommodating and fixedly connecting the end of the first elastic piece (3) or the end of the second elastic piece (5); One side of the clamping seat (1) deviating from the penetrating direction of the first through hole (11), and second counter bores (14) are respectively formed at the peripheral edges of the first through hole (11) and the second through hole (12) in a recessed mode, wherein a fastener is arranged in each second counter bore (14); Each fastener is sleeved outside the cable and is suitable for fixing the combination part (91) of the first cable (9) and the second cable (10).
  8. 8. The joint assembly of claim 2, wherein: the axes of the first joint (61) and the second joint (71) are parallel to each other and perpendicular to the axes of the first connecting rod (6), the second connecting rod (7) and the third connecting rod (8), The first joint (61) and the second joint (71) each include a fixed portion and a rotating portion that rotates relative to the fixed portion.
  9. 9. The joint assembly according to claim 8, wherein: Both ends of the second connecting rod (7) are respectively connected with a rotating part of the first joint (61) and a fixing part of the second joint (71), the fixing part of the first joint (61) is connected with the first connecting rod (6), the rotating part of the second joint (71) is connected with the third connecting rod (8), The first driving assembly and the second driving assembly are respectively arranged in the fixing parts of the first joint (61) and the second joint (71), so that the first driving assembly drives the second connecting rod (7) to rotate relative to the first connecting rod (6) by driving the rotating part of the first joint (61) to rotate, and the second driving assembly drives the third connecting rod (8) to rotate relative to the second connecting rod (7) by driving the rotating part of the second joint (71) to rotate; The first cable (9) is electrically connected with the first driving assembly, and the second cable (10) is electrically connected with the second driving assembly.
  10. 10. A robot comprising a joint assembly according to any one of claims 1-9.

Description

Joint assembly and robot Technical Field The application relates to the technical field of robot cable management, in particular to a joint assembly and a robot. Background With the rapid development of robotics, multi-joint robots have been widely used in various fields such as industry and services. In the joint design, the installation of a motor and the reasonable arrangement of internal cables become key links. Generally, the robot joint is composed of adjacent connecting rods, and the motor cables are integrated into a bus bar to meet electromagnetic shielding requirements and adapt to wiring space inside the joint. In the existing multi-joint robot, adjacent links are connected through joints to realize relative rotation, and a driving motor is usually installed at the joints to drive the links to move. When the joint rotates, the cable can stretch, bend and other deformations along with the movement of the connecting rod, and an effective resetting mechanism is lacked. Under the stress state for a long time, the cables are easy to be subjected to wiring disorder, abrasion and even fracture, so that the power supply stability and the signal transmission quality of the motor are affected, joint faults are finally caused, and the reliability and the service life of the robot are reduced. Disclosure of Invention Based on the above problems, the present application provides a joint assembly and a robot to enable a cable to be restored to its original position after the movement of a joint and a link. According to one aspect of the present application, there is provided a joint assembly including a first link, a second link, a first drive assembly, a cable, and a reset assembly. The first end of the second link is pivotally connected to the first link by a first joint. The first driving assembly is installed in the first joint and is suitable for driving the first joint to rotate. The reset assembly comprises a clamping seat and a first elastic piece, wherein the clamping seat is arranged in the second connecting rod, and the cable penetrates through the clamping seat and is fixed with the clamping seat, so that the cable is divided into a first cable extending from the clamping seat to the first joint and a second cable extending from the second end of the second connecting rod. The first elastic member extends along the outside of the first cable and is connected to the first cable, and the first elastic member bends in the second link following the first cable, and forms a first reset segment extending from the clamping seat toward or away from the first joint, and a second reset segment extending from the first reset segment in a direction opposite to the extending direction of the first reset segment after bending. In an embodiment of the present application, a third link and a second drive assembly are further included. The third connecting rod is rotationally connected to the second end of the second connecting rod through a second joint, the second driving assembly is arranged in the second joint and is suitable for driving the second joint to rotate, and the cable also penetrates through the second joint. In the embodiment of the application, the clamping seat is provided with a first through hole and a second through hole, the cable passes through the first through hole and the second through hole in opposite directions and is connected with the clamping seat to form a first cable and a second cable, a U-shaped combination part is formed between the first cable and the second cable, and the first elastic piece is connected to the part of the first cable which passes through the first through hole. In an embodiment of the present application, the restoring assembly further includes a second elastic member extending along an outer portion of the second cable and connected to a portion of the second cable penetrating from the second through hole, and the restoring assembly is adapted to restore the second cable by elastic force after the movement of the joint assembly. In an embodiment of the present application, a distance between the first through hole and the second through hole is configured such that a bending radius of the cable after passing through the first through hole and the second through hole is a minimum allowable bending radius of the cable. In an embodiment of the application, the device further comprises a first connecting piece and a second connecting piece. The first connecting piece connects one end of the second resetting section far away from the first resetting section to the first cable, and the second connecting piece connects one end of the second elastic piece far away from the second through hole to the second cable. In the embodiment of the application, a first counter bore is formed in the periphery of the first through hole and the second through hole in a recessed manner on one side of the clamping seat facing the penetrating direction of the first through hole, the