CN-122008309-A - Joint structure, mechanical arm and robot

CN122008309ACN 122008309 ACN122008309 ACN 122008309ACN-122008309-A

Abstract

The utility model provides a joint structure, arm and robot, joint structure includes base, load coupling mechanism and drive arrangement, and load coupling mechanism includes movable part and rotation piece, and the movable part rotates with the rotation piece around first axis to be connected, rotates and rotates around second axis and rotates with the base to be connected. The driving device comprises a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is connected with the first connecting end of the movable piece, and the second driving mechanism is connected with the second connecting end of the movable piece so as to drive the movable piece to rotate around a first axis and/or a second axis relative to the base. The first connecting end can rotate around a third axis and a fourth axis relative to the first driving mechanism. The second connecting end can rotate around a fifth axis and a sixth axis relative to the second driving mechanism. Under the preset state, the first axis, the third axis and the fifth axis are parallel to each other, the second axis, the fourth axis and the sixth axis are parallel to each other, and the plane where the third axis and the fifth axis are located is closer to the far end relative to the first axis.

Inventors

WANG CHENLIN
LIU YI
FENG GUANGYU

Assignees

自变量机器人科技(深圳)有限公司
自变量机器人科技(北京)有限公司
自变量智能科技(深圳)有限公司
合肥自变量智能机器人有限公司

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (15)

1. A joint structure, comprising: A base; The load connecting mechanism comprises a movable piece and a rotating piece, wherein the movable piece is rotatably connected with the rotating piece around a first axis, the rotating piece is rotatably connected with the base around a second axis, the first axis is perpendicular to the second axis, the movable piece comprises a first connecting end, a second connecting end and a far end, the first connecting end and the second connecting end are oppositely arranged in the extending direction of the second axis, and the far end is used for connecting a load element; The driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism and the second driving mechanism are arranged on the base, the first driving mechanism is connected with the first connecting end, the second driving mechanism is connected with the second connecting end, and the first driving mechanism and the second driving mechanism are respectively used for pushing out the movable piece in a direction far away from the driving device or pulling back in a direction of the driving device so as to drive the movable piece to rotate around the first axis and/or rotate around the second axis relative to the base; the first connecting end can rotate around a third axis and a fourth axis relative to the first driving mechanism, and the third axis is perpendicular to the fourth axis; the second connecting end can rotate around a fifth axis and a sixth axis relative to the second driving mechanism, and the fifth axis is perpendicular to the sixth axis; the movable piece is provided with a preset state, the first axis, the third axis and the fifth axis are parallel to each other in the preset state, the second axis, the fourth axis and the sixth axis are parallel to each other, and the plane where the third axis and the fifth axis are located is closer to the distal end relative to the first axis.
2. The joint structure according to claim 1, wherein in the preset state, a line of orthographic projection of the first axis, the third axis, and the fifth axis on a first plane is isosceles triangle, and the first plane is perpendicular to the first axis.
3. The joint structure according to claim 1, wherein in the preset state, the fourth axis and the sixth axis are offset from the second axis in a first direction and a second direction, the first direction being an extending direction of the first axis, the second direction being perpendicular to the first axis and the second axis, and the fourth axis and the sixth axis being closer to the distal end than the second axis.
4. The joint structure of claim 1, wherein in the preset state, the first axis and the second axis are in a second plane, the third axis, the fourth axis, the fifth axis, and the sixth axis are in a third plane, the third plane is parallel to the second plane, and the third plane is closer to the distal end than the second plane.
5. The joint structure of claim 1, wherein the first and second drive mechanisms are configured to rotate about the second axis when the movable member is driven in the same direction and at the same speed, wherein the first and second drive mechanisms are configured to rotate about the first axis when the movable member is driven in the same direction and at the same speed, and wherein the first and second drive mechanisms are configured to rotate about the first axis and about the second axis when the movable member is driven in a differential direction.
6. The joint structure according to claim 1, wherein the first driving mechanism comprises a first driving assembly and a first connecting rod, the first driving assembly comprises a first motor main body and a first shaft member, the first motor main body is fixedly connected with the base, the first shaft member is connected with the first motor main body, the first motor main body is used for driving the first shaft member to reciprocate along the axial direction of the first shaft member, one end of the first connecting rod is rotatably connected with the first shaft member, and the other end of the first connecting rod is rotatably connected with the first connecting end, The second driving mechanism comprises a second driving assembly and a second connecting rod, the second driving assembly comprises a second motor main body and a second shaft piece, the second motor main body is fixedly connected with the base, the second shaft piece is connected with the second motor main body, the second motor main body is used for driving the second shaft piece to reciprocate along the axial direction of the second shaft piece, one end of the second connecting rod is rotatably connected with the second shaft piece, and the other end of the second connecting rod is rotatably connected with the second connecting end.
7. The joint structure of claim 1, wherein the angular extent of rotation of the movable member about the first axis is ±45°, and the angular extent of rotation of the movable member about the second axis is ±90°.
8. The joint structure of claim 1, wherein the movable member is rotatable about the first axis through an angular range of ±45° with rotation of the movable member about the second axis to any angle.
9. The joint structure of claim 1, wherein the first drive mechanism comprises a first drive assembly and a first link, one end of the first link is connected to the first drive assembly, a first multi-degree-of-freedom bearing is disposed between the first link and the first connection end, and the first multi-degree-of-freedom bearing is disposed with the third axis and the fourth axis; the second driving mechanism comprises a second driving assembly and a second connecting rod, one end of the second connecting rod is connected with the second driving assembly, a second multi-degree-of-freedom bearing is arranged between the second connecting rod and the second connecting end, and the second multi-degree-of-freedom bearing is provided with a fifth axis and a sixth axis.
10. The joint structure according to claim 9, wherein the first multi-degree-of-freedom bearing includes a first bearing and a second bearing connected to the first bearing, the other end of the first link is connected to the first bearing, the first connection end is connected to the second bearing, an axial lead of the first bearing is the third axis, and an axial lead of the second bearing is the fourth axis; the second multi-degree-of-freedom bearing comprises a third bearing and a fourth bearing connected with the third bearing, the other end of the second connecting rod is connected with the third bearing, the second connecting end is connected with the fourth bearing, the axial lead of the third bearing is the fifth axis, and the axial lead of the fourth bearing is the sixth axis.
11. The joint structure of claim 1, wherein the first driving mechanism comprises a first driving component and a first connecting rod, one end of the first connecting rod is connected with the first connecting end, a third multi-degree-of-freedom bearing is arranged between the first connecting rod and the first driving component, and the first connecting rod is rotatably connected with the first driving component through the third multi-degree-of-freedom bearing; The second driving mechanism comprises a second driving assembly and a second connecting rod, one end of the second connecting rod is connected with the second connecting end, a fourth multi-degree-of-freedom bearing is arranged between the second connecting rod and the second driving assembly, and the second connecting rod is rotationally connected with the second driving assembly through the fourth multi-degree-of-freedom bearing.
12. The joint structure of claim 11, wherein the third multi-degree of freedom bearing comprises a first fisheye bearing, the first drive mechanism further comprises a first adapter fixedly coupled to the first drive assembly, the first adapter comprises a first ear and a second ear, the first fisheye bearing is positioned between the first ear and the second ear, the first ear is coupled to the first fisheye bearing via a first fastener, and the second ear is coupled to the first fisheye bearing via a second fastener; the fourth multi-degree-of-freedom bearing comprises a second fisheye bearing, the second driving mechanism further comprises a second adapter, the second adapter is fixedly connected with the second driving assembly, the second adapter comprises a third lug and a fourth lug, the second fisheye bearing is located between the third lug and the fourth lug, the third lug is connected with the second fisheye bearing through a third fastener, and the fourth lug is connected with the second fisheye bearing through a fourth fastener.
13. The joint structure of claim 1, wherein the base comprises: the main body is provided with a containing space, and an avoidance hole communicated with the containing space is formed in the end face of one end of the main body; A support member extending from an end surface of the main body at which the escape hole is provided; The load connecting mechanism is arranged outside the accommodating space, the rotating piece is connected with the supporting piece, the driving device is partially accommodated in the accommodating space, and the driving device is partially extended out of the accommodating space through the avoidance hole to be connected with the movable piece.
14. A robotic arm, comprising: Load element, and The joint structure of any one of claims 1 to 13, the load element being connected to the moveable member.
15. A robot comprising a robot body, a robot body and a robot body, characterized by comprising the following steps: A movable body, and The robotic arm of claim 14, the robotic arm mounted to the movable body.

Description

Joint structure, mechanical arm and robot Technical Field The application relates to the technical field of robots, in particular to a joint structure, a mechanical arm and a robot. Background The articulation structure is a common mechanical structure that enables controlled relative movement between a front end mechanical assembly and a back end mechanical assembly that are connected by the articulation structure. Such as a wrist joint of a robot, for connecting the forearm and the palm mechanism, the palm mechanism can be controlled to rotate in two different directions relative to the forearm by operating the wrist joint to change the posture of the palm mechanism. In order to realize that the rear end mechanical assembly can rotate in two directions relative to the front end mechanical assembly, the conventional joint structure is generally designed to comprise two motors connected in series, wherein the first motor is connected with the rear end mechanical assembly and used for driving the rear end mechanical assembly to rotate in a first direction relative to the front end mechanical assembly, and the second motor is connected between the front end mechanical assembly and the first motor and used for driving the first motor and the rear end mechanical assembly to rotate in a second direction relative to the front end mechanical assembly, so that the rear end mechanical assembly can rotate in two directions relative to the front end mechanical assembly. In the embodiment of the existing joint structure, if errors exist in front end nodes in the moving chain, the errors can be accumulated and amplified to the rear end, so that the operation precision of the rear end mechanical assembly is reduced. And secondly, the second motor needs to drive the rear end mechanical assembly to move together with the first motor, so that the driving load of the second motor is large, the second motor cannot be driven at a high speed or at a high acceleration, and the performance of the high-speed and high-acceleration driving is limited. Disclosure of Invention In view of this, the present invention provides a joint structure, a mechanical arm and a robot. The joint structure proposed in the first aspect of the present invention comprises: A base; The load connecting mechanism comprises a movable piece and a rotating piece, wherein the movable piece is rotatably connected with the rotating piece around a first axis, the rotating piece is rotatably connected with the base around a second axis, the first axis is perpendicular to the second axis, the movable piece comprises a first connecting end, a second connecting end and a far end, the first connecting end and the second connecting end are oppositely arranged in the extending direction of the second axis, and the far end is used for connecting a load element; The driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism and the second driving mechanism are arranged on the base, the first driving mechanism is connected with the first connecting end, the second driving mechanism is connected with the second connecting end, and the first driving mechanism and the second driving mechanism are respectively used for pushing out the movable piece in a direction far away from the driving device or pulling back in a direction of the driving device so as to drive the movable piece to rotate around the first axis and/or rotate around the second axis relative to the base; the first connecting end can rotate around a third axis and a fourth axis relative to the first driving mechanism, and the third axis is perpendicular to the fourth axis; the second connecting end can rotate around a fifth axis and a sixth axis relative to the second driving mechanism, and the fifth axis is perpendicular to the sixth axis; the movable piece is provided with a preset state, the first axis, the third axis and the fifth axis are parallel to each other in the preset state, the second axis, the fourth axis and the sixth axis are parallel to each other, and the plane where the third axis and the fifth axis are located is closer to the distal end relative to the first axis. According to the technical scheme, the joint structure provided by the first aspect of the invention is characterized in that the first driving mechanism is connected with the first connecting end of the movable piece, the second driving mechanism is connected with the second connecting end of the movable piece, namely, the first driving mechanism and the second driving mechanism are arranged in parallel, compared with the existing motor series driving mode, the moving chain between the first driving mechanism and the second driving mechanism and the movable piece is short, the problem of error accumulation and amplification is avoided, and therefore the running precision of the movable piece can be improved. And secondly, compared with the existing driving mode of connecting the