CN220882373U

CN220882373U - Robot and joint device

Info

Publication number: CN220882373U
Application number: CN202322318875.3U
Authority: CN
Inventors: 都晓锋; 施金雷; 宋伟
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2023-08-28
Filing date: 2023-08-28
Publication date: 2024-05-03
Anticipated expiration: 2033-08-28

Abstract

The present disclosure relates to a robot and a joint device, the robot comprising a base, a joint device and a load; the joint device includes: a first joint support mechanism connected to the base; the first joint mechanism comprises a first driving assembly and a swing arm assembly, and the swing arm assembly can swing around a first axis relative to the first joint supporting mechanism under the driving of the first driving assembly; the second joint supporting mechanism can synchronously swing along with the swing arm assembly; the second joint mechanism comprises a second driving assembly and a rotating shaft assembly, and the rotating shaft assembly is configured to be driven by the second driving assembly to rotate circumferentially around a second axis, and the second axis is perpendicular to the first axis; the load is connected to the rotating shaft assembly and can synchronously move along with the rotating shaft assembly; the rotating shaft assembly is rotatably arranged on the second joint supporting mechanism and can synchronously swing along with the swing arm assembly. The robot and the joint device provided by the embodiment of the disclosure have the advantages that the joint device can be used for rotating and pitching adjustment, and the structure is compact.

Description

Robot and joint device

Technical Field

The disclosure relates to the technical field of connecting joints, in particular to a robot and a joint device.

Background

In the structural design of the electronic or mechanical device, when the two parts are configured to be movable relative to each other, an articulation device may be provided at the junction of the two parts. The articulation means may in turn comprise pitch and yaw articulation means. How to integrate the rotary joint component and the pitching joint component in one joint device simultaneously, and the integrated structure is simpler and the integrated level is high is one of the important problems to be solved at present.

Disclosure of utility model

In order to solve the problems in the prior art, the present disclosure provides a robot and a joint device.

According to a first aspect of the present disclosure, there is provided a robot comprising a base, a joint arrangement and a load; the joint device includes:

a first joint support mechanism connected to the base;

The first joint mechanism comprises a first driving assembly and a swing arm assembly, wherein the swing arm assembly is movably connected to the first joint supporting mechanism and can swing around a first axis relative to the first joint supporting mechanism under the driving of the first driving assembly;

the second joint supporting mechanism is connected to the swing arm assembly and can synchronously swing along with the swing arm assembly; and

A second articulation mechanism comprising a second drive assembly and a spindle assembly configured to be rotatable circumferentially about a second axis upon actuation of the second drive assembly, the second axis being perpendicular to the first axis; the load is connected to the rotating shaft assembly and can synchronously move along with the rotating shaft assembly; the rotating shaft assembly is rotatably arranged on the second joint supporting mechanism and can synchronously swing along with the swing arm assembly.

In one embodiment of the present disclosure, the first driving assembly includes:

A rack member having a concave rounded profile, the rack member being connected to the first joint support mechanism;

The first gear member is meshed with the rack member, so that the first gear member can do circular arc motion along the concave circular arc tooth profile when rotating circumferentially; and

A first power member configured to drive the first gear member to rotate circumferentially;

The middle part of the swing arm assembly is hinged to the first joint supporting mechanism, one end of the swing arm assembly is connected to the first gear member and can synchronously do circular arc motion along with the first gear member, so that the other end of the swing arm assembly can swing.

In one embodiment of the present disclosure, the first driving assembly further includes: a first transmission member drivingly connected between the first power member and the first gear member to transmit rotational torque of the first power member to the first gear member.

In one embodiment of the present disclosure, the output end of the first power member is configured as a first worm; the first transmission member includes:

a drive shaft disposed parallel to the first axis; and

And the second gear component is arranged on the transmission shaft and can synchronously rotate with the transmission shaft, and is configured as a turbine and meshed with the first worm so as to transmit the rotation moment of the first power component to the first gear component.

In one embodiment of the present disclosure, the first driving assembly further includes:

A first connection member to which the first power member is mounted; and

At least two bearing seats are axially arranged at intervals along the transmission shaft, the at least two bearing seats are arranged on the first connecting component, and the transmission shaft is respectively arranged on the at least two bearing seats through bearings so as to limit the position of the transmission shaft through the at least two bearing seats.

In one embodiment of the disclosure, the first connecting member, the bearing seat, the first power member and the transmission shaft can synchronously perform circular arc movement along with the first gear member, and the first connecting member is hinged to one end of the swing arm assembly so as to drive the other end of the swing arm assembly to perform circular arc movement.

In one embodiment of the disclosure, the transmission shaft is provided with two axial limiting structures which are arranged at intervals along the axial direction of the transmission shaft; the second gear component is positioned between the two axial limiting structures, and an elastic piece is propped against at least one axial limiting structure.

In one embodiment of the present disclosure, the swing arm assembly includes at least one link swing arm unit, each of the link swing arm units including:

A swing plate member disposed perpendicularly to the first axis and connected at one end to the first drive assembly; and

A four bar linkage member comprising a first bar linkage, a second bar linkage, a third bar linkage and a fourth bar linkage hinged end to end in sequence, the first bar linkage, the third bar linkage, the second bar linkage and the fourth bar linkage all being arranged parallel to the swing plate member, and the first bar linkage and the third bar linkage being arranged substantially parallel to the second axis, a middle portion of at least one of the second bar linkage and the fourth bar linkage being hinged to a middle portion of the swing plate member, the first bar linkage and the third bar linkage being hinged to the second joint support mechanism.

In one embodiment of the present disclosure, the first joint mechanism further comprises:

A first magnetic member provided to one of the swing plate member and the four-bar member;

A first magnetic encoder provided to the other of the swing plate member and the four-bar member;

And the first magnetic piece and the first magnetic encoder can rotate relatively along with the swing of the swing arm assembly.

In one embodiment of the present disclosure, the second joint assembly further comprises:

The swing arm assembly comprises two connecting rod swing arm units, the two connecting rod swing arm units are arranged at intervals in the extending direction of the first axis, and the two connecting rod swing arm units are connected with each other and can synchronously move; the second joint supporting mechanism comprises two supporting seats arranged along the second axis, the rotating shaft assembly comprises a rotating main shaft, the rotating main shaft is rotatably supported on the two supporting seats through bearings, and the two supporting seats are connected between the two connecting rod swing arm units.

In one embodiment of the present disclosure, the spindle assembly includes a rotating spindle; the second driving assembly includes:

The third gear member is coaxially arranged with the rotating main shaft and can rotate relatively, and gear teeth are arranged on the circumference of the third gear member;

A second transmission member meshed with circumferential gear teeth of the third gear member; and

The second power component is in transmission connection with the third gear component through the second transmission component;

Wherein the second power component is connected with the rotating main shaft; the second power member is configured to drive itself to perform a circular motion in a circumferential direction of the third gear member to drive the rotating spindle to rotate when the second power member outputs a rotational power.

In one embodiment of the present disclosure, the second power member is further configured to be locked against the third gear member when no rotational power is output.

In one embodiment of the present disclosure, the output end of the second power member is configured as a second worm; the second transmission member includes a fourth gear member having first stage teeth configured as a worm gear and meshed with the second worm.

In one embodiment of the present disclosure, the second joint mechanism further includes a damping assembly for impeding circumferential rotation of the third gear member, the damping assembly including: the first friction plate and the second friction plate are arranged on the rotating main shaft; the first friction plate is fixedly connected to the third gear component and can circumferentially rotate relative to the rotating main shaft; the second friction plate is connected to the second joint supporting mechanism and is locked by the second joint supporting mechanism in the circumferential direction; the first friction plate is in friction fit with the second friction plate.

In one embodiment of the present disclosure, the second friction plate is configured to be axially movable relative to the second joint support mechanism; the damping assembly further comprises a damper, one end of the damper is limited and stopped, and the other end of the damper abuts against the second friction plate so as to apply thrust directed to the first friction plate to the second friction plate.

In one embodiment of the present disclosure, the spindle assembly includes:

a rotating spindle rotatably connected to the second joint support mechanism;

a second connecting member connecting the load; and

The second power component is installed on the third connecting component, the second connecting component and the third connecting component are fixedly connected to the rotating main shaft so as to synchronously rotate along with the rotating main shaft, and the installation position of the second power component deviates from the axis of the rotating main shaft.

According to a second aspect of the present disclosure, there is provided an articulation device comprising:

a first joint support mechanism for connection to the base;

A second articulation mechanism comprising a second drive assembly and a spindle assembly configured to be rotatable circumferentially about a second axis upon actuation of the second drive assembly, the second axis being perpendicular to the first axis; wherein,

The rotating shaft assembly is rotatably arranged on the second joint supporting mechanism so as to synchronously swing along with the swing arm assembly; the rotating shaft component is used for connecting a load so as to drive the load to synchronously move along with the rotating shaft component.

The robot provided by the embodiment of the disclosure comprises a joint device, wherein the joint device comprises a first joint supporting mechanism, a first joint mechanism, a second joint supporting mechanism and a second joint mechanism, the first joint mechanism is supported by the first joint supporting mechanism and fixed on a base, and a swing arm assembly in the first joint mechanism can swing around a first axis relative to the first joint supporting mechanism under the drive of a first driving assembly; the second joint mechanism is supported by the second joint supporting mechanism and is fixed on the swing arm assembly, and the swing arm assembly can drive the second joint supporting mechanism to swing when swinging, so that the second joint mechanism is driven to swing integrally with the swing arm assembly; the rotating shaft assembly on the second joint mechanism is driven by the second driving assembly to rotate relative to the second joint supporting mechanism, and the load is connected to the rotating shaft assembly.

Thus, when the rotating shaft assembly circumferentially rotates around the second axis, the load can be driven to rotate so as to realize the rotating function of the joint device; when the swing arm assembly swings relative to the first joint supporting mechanism, the second joint supporting mechanism can be driven to swing synchronously, and then the rotating shaft assembly is driven to swing with load, so that the pitching function of the joint device is achieved, the first axis and the second axis are mutually perpendicular, the double-freedom-degree design of simultaneously integrating pitching and rotating functions in the same joint device is achieved, and the action flexibility of the joint device is improved.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

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

FIG. 1 is a schematic illustration of an assembled configuration of an articulating device provided in accordance with an embodiment of the present disclosure;

FIG. 2 is a schematic exploded view of an articulation device provided in one embodiment of the present disclosure;

FIG. 3 is a schematic view of an assembled structure of a first articulation mechanism in an articulation device according to one embodiment of the present disclosure;

FIG. 4 is a schematic view of an exploded view of a second articulation mechanism in an articulation device provided in one embodiment of the present disclosure;

FIG. 5 is a schematic view of an assembled structure of a second articulation mechanism in an articulation device provided in one embodiment of the present disclosure;

FIG. 6 is a schematic cross-sectional view of an articulating mechanism provided in accordance with one embodiment of the present disclosure;

FIG. 7 is a schematic illustration of a second friction plate in an articulation arrangement in accordance with one embodiment of the present disclosure;

FIG. 8 is a schematic view of a first transmission member of an articulation device in accordance with one embodiment of the present disclosure;

Fig. 9 is an exploded view of a first transmission assembly and a first power assembly of an articulation device according to one embodiment of the present disclosure.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 9 is as follows:

1. A first joint support mechanism; 11. a first fixed side plate; 12. a second fixed side plate; 13. a first connection plate; 14. a second connecting plate; 2. a first articulation mechanism; 3. a second joint support mechanism; 4. a second articulation mechanism; 5. a control board; 21. a first drive assembly; 211. a rack member; 212. a first gear member; 213. a first power member; 214. a first transmission member; 214a, a drive shaft; 214b, a second gear member; 214c, an axial limiting structure; 214d, clamping springs; 214e, springs; 215. a first connecting member; 215a, connecting columns; 216. a bearing seat; 217. a first case member; 22. a swing arm assembly; 22A, a connecting rod swing arm unit; 221. a swing plate member; 222. a four bar linkage member; 222a, a first link; 222b, a second link; 222c, a third link; 222d, a fourth link; 223. a connecting rod connecting plate; 23. a first magnetic member; 24. a first magnetic encoder; 25. a stud; 31. a front support seat; 311. an embedding groove; 312. a mounting column; 32. a rear support seat; 33. a bearing limiter; 41. a second drive assembly; 411. a third gear member; 412. a second power member; 421. rotating the main shaft; 422. a first bearing; 423. a second bearing; 424. a second transmission member; 424a, fourth gear member; 424b, fifth gear member; 424b', first stage teeth; 424b ", second stage teeth; 426. a second connecting member; 427. a third connecting member; 427a, opening; 428. a third bearing; 429. a second case member; 43. a damping assembly; 431. a first friction plate; 432. a second friction plate; 432a, groove portions; 432b, limit protrusions; 433. a damper; 434. damping spring.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

Before explaining the robot and the joint device provided in the embodiments of the present disclosure in detail, the following description is necessary for the related art:

In robots used in education, home or business, a relative movement between two parts is achieved by providing a joint device, for example, a load is connected to the joint device, and a pitch angle or a rotation angle of the load is adjusted by the joint device. The joint device generally adopts a gear transmission structure to realize the rotation or pitching function. The gear transmission structure has higher requirement on assembly and installation precision, larger overall size and heavier weight.

The embodiment of the disclosure provides a robot and a joint device, which can reasonably integrate pitching and rotating joint mechanisms in the same joint device, and improve the action flexibility of the joint device.

The robot provided by the embodiment of the disclosure comprises a base, a joint device and a load. Wherein the joint device includes: the first joint supporting mechanism is connected to the base; the first joint mechanism comprises a first driving assembly and a swing arm assembly, wherein the swing arm assembly is movably connected to the first joint supporting mechanism and can swing around a first axis relative to the first joint supporting mechanism under the driving of the first driving assembly; the second joint supporting mechanism is connected to the swing arm assembly and can synchronously swing along with the swing arm assembly; the second joint mechanism comprises a second driving component and a rotating shaft component, and the rotating shaft component is configured to be driven by the second driving component to rotate circumferentially around a second axis, and the second axis is perpendicular to the first axis; the load is connected to the rotating shaft assembly and can synchronously move along with the rotating shaft assembly; the rotating shaft assembly is rotatably arranged on the second joint supporting mechanism and can synchronously swing along with the swing arm assembly.

The joint device in the robot provided by the embodiment of the disclosure comprises a first joint supporting mechanism, a first joint mechanism, a second joint supporting mechanism and a second joint mechanism, wherein the first joint mechanism is supported by the first joint supporting mechanism and is fixed on a base, and a swing arm assembly in the first joint mechanism can swing around a first axis relative to the first joint supporting mechanism under the drive of a first driving assembly; the second joint mechanism is supported by the second joint supporting mechanism and is fixed on the swing arm assembly, and the swing arm assembly can drive the second joint supporting mechanism to swing when swinging, so that the second joint mechanism is driven to swing integrally with the swing arm assembly; the rotating shaft assembly on the second joint mechanism is driven by the second driving assembly to rotate relative to the second joint supporting mechanism, and the load is connected to the rotating shaft assembly.

For ease of understanding, the specific structure of the robot and joint device of the present disclosure and its working principle will be described in detail with reference to fig. 1 to 9 in conjunction with an embodiment.

The robot provided by the embodiment of the disclosure comprises: base, articulation device and load. The base can be used as a basic carrier of the joint device in the robot and plays a role in bearing other parts of the joint device.

Referring to fig. 1, the joint device may include: a first joint support mechanism 1, a first joint mechanism 2, a second joint support mechanism 3 and a second joint mechanism 4.

The first joint support mechanism 1 is connected to a base that serves to support and fix the first joint support mechanism 1 to restrict movement of the first joint support mechanism 1. In other words, the first joint support mechanism 1 may be relatively stationary with respect to the base, such that the first joint support mechanism 1 acts as a base carrier for the entire joint device, and serves to carry and protect the first joint mechanism 2, the second joint support mechanism 3, and the second joint mechanism 4 in the joint device.

Referring to fig. 1 to 3, the first joint mechanism 2 includes a first driving component 21 and a swing arm component 22, the first driving component 21 is configured to provide a driving force for the swing arm component 22, and the swing arm component 22 is movably connected to the first joint supporting mechanism 1 and is driven by the first driving component 21 to swing around a first axis X relative to the first joint supporting mechanism 1. In other words, since the first joint supporting mechanism 1 and the base may be relatively stationary, the swing arm assembly 22 may swing around the first axis X relative to the first joint supporting mechanism 1 under the driving of the first driving assembly 21, that is, the swing arm assembly 22 may perform a swinging motion relative to the base, and thus, the swing arm assembly 22 is connected with a load, and the pitch angle of the load may be adjusted by adjusting the swing angle of the swing arm assembly 22.

The second joint support mechanism 3 serves as a carrier of the second joint mechanism 4, and plays a role in bearing and protecting the second joint mechanism 4, and the second joint mechanism 4 comprises a second driving component 41 and a rotating shaft component, wherein the rotating shaft component is configured to be driven by the second driving component 41 to rotate circumferentially around the second axis Y relative to the second joint support mechanism 3. The second axis Y is the self axis of the rotating shaft assembly.

The second joint support mechanism 3 is connected to the swing arm assembly 22, and the rotating shaft assembly is rotatably disposed on the second joint support mechanism 3. Since the second joint support mechanism 3 is connected to the swing arm assembly 22 and can swing synchronously with the swing arm assembly 22, the rotation shaft assembly can swing synchronously with the swing arm assembly with the second joint support mechanism 3. In other words, the rotating shaft assembly can rotate around the second axis Y in the circumferential direction, or can swing synchronously with the swing arm assembly under the driving of the second joint supporting mechanism 3. The second axis Y is perpendicular to the first axis X such that the spindle assembly can effect movement in two degrees of freedom, rotation about the first axis X and swinging about the second axis Y. The load is connected to the rotating shaft assembly and can synchronously move along with the rotating shaft assembly.

Thus, when the rotating shaft assembly swings around the first axis X, the load can be driven to swing, namely, the pitching function of the joint device is realized; when the rotating shaft component rotates around the second axis Y, the load can be driven to rotate, and the rotating function of the joint device is realized.

It can be seen that the joint device integrates the first joint mechanism 2 and the second joint mechanism 4 into one joint device, realizes the design of two degrees of freedom of swinging around the first axis X and rotating around the second axis Y, and improves the action flexibility of the joint device.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions. For ease of understanding and description, the orientations referred to hereinafter are described as follows:

In the extending direction of the second axis Y, two opposite sides of the joint device are respectively denoted as a front side and a rear side, and the front side is the side of the joint device connected with the load. So that opposite sides of the joint device in the direction of extension of the first axis X are denoted left and right sides, respectively. Opposite sides of the articulation means are denoted as upper and lower sides, respectively, in a vertical direction Z perpendicular to the first axis X and the second axis Y.

In one embodiment of the present disclosure, as shown in fig. 1 to 3, the first joint support mechanism 1 may include a first fixed side plate 11 (i.e., a left fixed plate) and a second fixed side plate 12 (i.e., a right fixed plate) disposed opposite to each other in the extending direction of the first axis X, and a first connecting plate 13 (i.e., an upper connecting plate) and a second connecting plate 14 (i.e., a lower connecting plate) connected between the first fixed side plate 11 and the second fixed side plate 12, wherein the first fixed side plate 11 and the second fixed side plate 12 may be fixedly connected to the base, the first fixed side plate 11, the second fixed side plate 12, the first connecting plate 13 and the second connecting plate 14 may enclose a receiving cavity, and components such as the first joint mechanism 2, the second joint mechanism 4 and the second joint support mechanism 3 may be connected to the receiving cavity.

In this way, the first joint support mechanism 1 can support and protect the components such as the first joint mechanism 2, the second joint mechanism 4, and the second joint support mechanism 3, and integrate the first joint mechanism 2 and the second joint mechanism 4 into a whole; meanwhile, the components of the first joint mechanism 2, the second joint mechanism 4 and the like are arranged in the same accommodating cavity, so that the compact design of the joint structure is facilitated.

In one embodiment of the present disclosure, as shown in fig. 2, the first driving assembly 21 includes: a rack member 211, a first gear member 212, and a first power member 213.

The rack member 211 has a concave circular arc-shaped tooth profile, and the rack member 211 is connected to the first joint support mechanism 1, specifically, the rack member 211 may be fixedly connected to the second fixed side plate 12, so that the rack member 211 may be relatively stationary with respect to the first joint support mechanism 1.

The first power member 213 is configured to drive the first gear member 212 to rotate circumferentially about its own axis, the first gear member 212 having gear teeth circumferentially, the first gear member 212 being meshed with the rack member 211 by its circumferential gear teeth. Since the rack member 211 and the base are kept relatively stationary, the first gear member 212 performs a circular arc motion along the concave circular arc profile when the first gear member is driven to rotate circumferentially by the first power member 213.

The middle part of the swing arm assembly 22 is hinged to the first joint supporting mechanism 1, and one end of the swing arm assembly 22 is connected to the first gear member 212 and can synchronously perform circular arc movement along with the first gear member 212, so that the other end of the swing arm assembly 22 swings relative to the first joint supporting mechanism 1.

The second joint mechanism 4 and the second joint supporting mechanism 3 are connected to the swing arm assembly 22, and when the swing arm assembly 22 swings, the second joint mechanism 4 and the second joint supporting mechanism 3 can be driven to swing synchronously, so that the pitching function of the joint device is realized.

In the above-mentioned scheme, the first joint mechanism 2 realizes the swing motion of the swing arm assembly through the meshing transmission between the rack member 211 and the first gear member 212, and compared with other gear transmission modes, the structural dimensions of the rack member 211 and the first gear member 212 can be smaller as much as possible while meeting the functional requirements, thereby being more beneficial to improving the space utilization rate of the whole joint device and being beneficial to the compactness of the whole structure of the joint device.

In addition, the forming process of the rack member 211 is mature, and parameters such as radian and length of the concave circular tooth profile are easy to precisely control, that is, the expected concave circular tooth profile is easy to obtain. The swing angle of the swing arm assembly depends on the configuration of the concave circular profile on the rack member 211, and by precisely controlling the concave circular profile configuration of the rack member 211, it is easy to obtain a desired swing angle.

In order to improve stability of the first gear member 212 during movement along the rack member 211, disengagement slip between the first gear member 212 and the rack member 211 is avoided, and tight engagement between the first gear member 212 and the rack member 211 is possible. The first gear member 212 may be restrained such that the first gear member 212 is always in tight engagement with the rack member 211 during movement along the concave circular profile of the gear member. Specifically, the clearance between the axial center of the first gear member 212 and the concave circular profile of the rack member 211 may be slightly smaller than the diameter of the first gear member 212 to ensure that the first gear member 212 may be in tight engagement with the gear member with an interference fit therebetween.

In one embodiment of the present disclosure, as shown in fig. 2 and 3, the first driving assembly 21, the rack member 211, and the first gear member 212 may be connected at the rear side of the swing arm assembly 22. In this way, the components of the first joint mechanism 2 except the swing arm assembly can be arranged on the rear side of the whole joint device, and the load is arranged on the front side of the joint device, so that the space layout is more reasonable.

If the first power member 213 is directly connected to the first gear member 212, such that the output shaft of the first power member 213 needs to be coaxial with the first gear member 212, the first power member 213 can only be disposed along the axis extending direction of the first gear member 212 (i.e., parallel to the first axis X extending direction), which is disadvantageous in achieving a compact design, and the transmission ratio of the first power member 213 to the first gear member 212 is limited. Thus, in one embodiment of the present disclosure, as shown in fig. 2, the first drive assembly 21 further includes a first transmission member 214 drivingly connected between the first power member 213 and the first gear member 212 to transmit the rotational torque of the first power member 213 to the first gear member 212. By providing the first transmission member 214, the positional relationship between the first power member 213 and the first gear member 212 can be more flexible in arrangement, and the transmission ratio therebetween can be reasonably adjusted by the first transmission member 214.

In one embodiment of the present disclosure, as shown in fig. 2, 8 and 9, the first power member 213 may be a turbine motor, the output of which is configured as a first worm. The first transmission member 214 includes a transmission shaft 214a and a second gear member 214b, the transmission shaft 214a may be disposed parallel to the extending direction of the first axis X, the second gear member 214b and the second gear member 214b are both disposed on the transmission shaft 214a and rotatable synchronously with the transmission shaft 214a, and the second gear member 214b is configured as a turbine and is engaged with the first worm to transmit the rotational torque of the first power member 213 to the first gear member 212.

In the above-described aspect, the transmission shaft 214a is disposed parallel to the extending direction of the first axis X, so that the axis of the first gear member 212 may be parallel to the extending direction of the first axis X; the first power member 213 and the second gear member 214b adopt a worm gear transmission fit mode to transmit the rotation moment of the first power member 213 to the transmission shaft 214a, so that the arrangement position of the first power member 213 is more flexible, and the output shaft of the first power member 213 is not required to be parallel to the extending direction of the first axis X. For example, as shown in the drawing, the first worm at the output end of the first power member 213 may be disposed perpendicular to the extending direction of the first axis X, so that the limitation of the spatial layout of each component in the joint device is reduced as much as possible, the number of components disposed in the extending direction of the first axis X may be reduced, and the size of the whole joint device in the extending direction of the first axis X may be reduced as much as possible, which is beneficial to compact design of the whole joint device.

The first power component 213 and the first transmission component 214 adopt a worm and gear transmission mode, and have self-locking performance, namely, the worm and gear transmission can only be driven by a worm. Thus, when the first power member 213 outputs the rotational power, the transmission shaft 214a is driven to rotate, so as to drive the first gear member 212 to rotate and further drive the swing arm assembly to swing; when the first power member 213 does not output rotational power, the first worm and the second gear member 214b are locked to each other, and when the first gear member 212 stops rotating, the first worm and the second gear member can be locked to be fixed to any position of the concave circular tooth profile of the rack member 211. In other words, the swing arm assembly may be locked at any swing angle.

In one embodiment of the present disclosure, referring to fig. 2, 3, 8 and 9, the first driving assembly 21 further includes a first connecting member 215 and at least two bearing seats 216. The first power member 213 and the at least two bearing seats 216 may be both mounted to the first connecting member 215, and the two bearing seats 216 are axially spaced along the transmission shaft 214a, where the transmission shaft 214a is respectively mounted on the at least two bearing seats 216 through bearings. In this way, at least two bearing blocks 216 may define the position of the drive shaft 214a, i.e., the relative positions between the first gear member 212 and the rack member 211 and between the second gear member 214b and the output shaft of the first power member 213, while allowing the drive shaft 214a to rotate, such that the first gear member 212 is in tight meshing engagement with the rack member 211 and the second gear member 214b is in tight meshing engagement with the first worm of the first power member 213.

In one embodiment of the present disclosure, as shown in fig. 2, the first driving assembly 21 further includes a first case member 217, the first power member 213 is mounted into a cavity of the first case member 217, and the at least one bearing housing 216 is connected with the first case member 217 as an integrally formed structure. In this way, by providing the first housing member 217, the first power member 213 and the first transmission member 214 can be protected, and at least one bearing seat 216 can be integrated on the first housing member 217, so that the overall structure is more compact.

The two bearing blocks 216, the first power member 213 and the transmission shaft 214a are mounted to the first connecting member 215, and the two bearing blocks 216, the first power member 213 and the transmission shaft 214a are synchronously movable with the first connecting member 215 while allowing the transmission shaft 214a to rotate. Therefore, when the transmission shaft 214a moves along the rack member 211 along with the first gear member 212, the two bearing blocks 216, the first power member 213, the transmission shaft 214a and the first connecting member 215 can all move in a circular arc in synchronization with the first gear member 212. In one embodiment, the first connecting member 215 is hinged to one end of the swing arm assembly 22 to move the other end of the swing arm assembly 22 in an arc. Specifically, as shown in the drawing, the left and right sides of the first connection member 215 may be provided with connection posts 215a, respectively, and the connection posts 215a may be rotatably connected to the rear side (at position C in fig. 3) of the swing arm assembly 22 through bearings, respectively, such that when the first gear member 212 moves along the rack member 211, the rear side of the swing arm assembly 22 is moved to swing the front side of the swing arm assembly 22.

In one embodiment of the present disclosure, as shown in fig. 9, two axial limiting structures 214c are disposed on the transmission shaft 214a along the axial direction thereof at intervals, the first gear member 212 may be fixed on the transmission shaft 214a, the second gear member 214b may be located between the two axial limiting structures 214c, and the two axial limiting structures 214c perform axial limiting, and an elastic element is abutted between the second gear member 214b and at least one axial limiting structure 214 c. In this way, the elastic piece provides elastic supporting force for the second gear member 214b, the assembly precision between the second gear member 214b and the first power member 213 can be reduced, the assembly is easier, and the existence of the elastic piece can prevent the damage of the gear when the joint device receives an excessive impact force, so as to ensure the transmission precision and the service life of the gear.

In one embodiment, as shown in fig. 2, 8 and 9, the resilient member includes a snap spring 214d and a spring 214e. The two axial limit structures 214c may be configured as circumferential flanges or circumferential steps provided on the outer circumference of the drive shaft 214a, or the like.

In one embodiment of the present disclosure, as shown in fig. 2 and 3, the swing arm assembly 22 includes at least one link swing arm unit 22A, each link swing arm unit 22A including a swing plate member 221 and a four-bar member 222.

The swing plate member 221 is arranged perpendicular to the first axis X and parallel to the second axis Y. One end of the swing plate member 221 is connected to the first driving assembly 21. Specifically, as illustrated in fig. 2 and 3, the rear side of the swing plate member 221 is rotatably connected to the first connecting member 215 through a bearing.

As shown in fig. 2 and 3, the four-bar linkage 222 includes a first link 222a, a second link 222b, a third link 222c, and a fourth link 222d, which are hinged end to end in sequence, the first link 222a, the third link 222c, the second link 222b, and the fourth link 222d being arranged in parallel with the swing plate member 221, the first link 222a and the third link 222c being arranged substantially in parallel with the second axis Y; a middle portion of at least one of the second link 222b and the fourth link 222d is hinged to a middle portion of the swing plate member 221, with a hinge point position as shown in fig. 3 a; the first link 222a and the third link 222c are hinged to the second joint support mechanism at a hinge point position shown in fig. 3B. Here, the first link 222a and the third link 222c are disposed substantially parallel to the second axis Y, which means that the first link 222a and the third link 222c are completely parallel to the second axis Y or form a small angle with the second axis Y when the swing arm assembly swings to a certain angle.

Specifically, as shown in fig. 3, the first link 222a is an upper link, the third link 222c is a lower link, the second link 222b is a front link, and the fourth link 222d is a rear link. The front sides of the upper and lower links may be hinged to the first fixed side plate 11, and the middle portions of the front and rear links may be hinged to the swing plate member 221. Thus, when the rear side of the swing plate assembly swings, the middle part of the swing plate member 221 rotates relative to the front side link and the rear side link, and drives the front side link and the rear side link to perform linkage, and drives the upper side link and the lower side link to perform relative rotation relative to the first fixed side plate 11, the entire four-bar member 222 deforms, and the swing plate member 221 is allowed to swing. The whole swinging process is realized by linkage of the connecting rods, so that the swinging motion is stable.

In one embodiment of the present disclosure, as shown in fig. 2, the first joint mechanism 2 may further include a first magnetic member 23 and a first magnetic encoder 24, and the first magnetic member 23 may be disposed on one of the swing plate member 221 and the four-bar member 222; the first magnetic encoder 24 may be provided to the other of the swing plate member 221 and the four-bar member 222. Thus, the first magnetic member 23 and the first magnetic encoder 24 can rotate relatively along with the swing of the swing arm assembly 22, and the pitching angle of the whole joint device can be detected by detecting the relative rotation angle between the first magnetic member 23 and the first magnetic encoder 24.

Specifically, in one embodiment of the present disclosure, at least one of the front side link and the rear side link is provided with a first magnetic piece 23 at a hinge position with the swing plate member 221 (at a hinge point a position in fig. 3), and a first magnetic encoder 24 is provided on the swing plate member 221 at a position corresponding to the first magnetic piece 23, and the first magnetic encoder 24 may be fixed on the swing plate member 221 by a stud 25.

In one embodiment of the present disclosure, the upper and lower links may be configured as two straight arm structures parallel to each other; the front and rear links may be constructed in two triangular skeleton structures parallel to each other. Thus, the front connecting rod and the rear connecting rod can provide better supporting force, and the structure is more stable.

In one embodiment of the present disclosure, as shown in fig. 2, the swing arm assembly 22 includes two link swing arm units 22A, the two link swing arm units 22A being disposed at intervals in the direction in which the first axis X extends, that is, the two link swing arm units 22A are respectively a front-side link swing arm unit and a rear-side link swing arm unit, and the two link swing arm units 22A are connected to each other and are synchronously movable. Specifically, the upper links of the front link swing arm unit and the rear link swing arm unit, the lower links of the front link swing arm unit and the rear link swing arm unit, the front links of the front link swing arm unit and the rear link swing arm unit, and the rear links of the front link swing arm unit and the rear link swing arm unit may be connected by corresponding link connection plates 223, respectively.

In one embodiment of the present disclosure, the second joint support mechanism 3 comprises two bearing blocks arranged spaced apart along the direction of extension of the second axis Y. As shown in fig. 2 and 4, one of the two support seats is a front side support seat 31, and the other support seat is a front side support seat 31. The spindle assembly includes a rotating spindle 421, a middle portion of which is rotatably supported on the front side support block 31 through a first bearing 422, and rotatably supported on the front side support block 31 through a second bearing 423. The two bearings are connected between the two link swing arm units 22A. Therefore, the front-side connecting rod swing arm unit and the rear-side connecting rod swing arm unit are respectively connected to the front-side supporting seat 31 and the opposite sides of the front-side supporting seat 31, the front-side supporting seat 31 and the front-side supporting seat 31 can be driven to swing synchronously through the front-side connecting rod swing arm unit and the rear-side connecting rod swing arm unit, the whole structural design is more compact, and the swinging process of the second joint mechanism 4 is more stable.

Specifically, as shown in fig. 2, the swing plate member 221 in the front link swing arm unit is a left swing plate member, the swing plate member 221 in the rear link swing arm unit is a right swing plate member, and the left swing plate member, the right swing plate member, the front support seat 31 and the front support seat 31 are enclosed together to form a receiving cavity, and the second joint mechanism can be mounted in the receiving cavity, so that the second joint mechanism can be effectively carried, and the whole joint structure is more compact.

It should be noted that, the swing arm assembly 22 adopts the combination of the swing plate member 221 and the four-bar member 222, and this multi-bar connection mode can reduce the maximum external dimensions of each component as much as possible under the condition of ensuring the transmission requirement and the installation mode, thereby reducing the weight of the joint device.

It should be noted that, the first joint mechanism 2 adopts a driving mode of driving the connecting rod swing arm unit 22A by using a worm and a worm, so that the surface precision requirement of the connecting rod is low, and the manufacturing cost can be greatly reduced; meanwhile, the connecting rods can be assembled through bearings and screws, and the assembly is simple.

In one embodiment of the present disclosure, as shown in fig. 4 and 5, the rotating shaft assembly includes a rotating main shaft 421, wherein an axis of the rotating main shaft 421 is the second axis Y, the rotating main shaft 421 can rotate around its own axis, and the rotating main shaft 421 can be connected to a load to drive the load to rotate synchronously. The second drive assembly 41 includes a third gear member 411, a second transmission member 424, and a second power member 412.

The third gear member 411 is configured to be relatively stationary with the second joint support mechanism 3 when the second power member 412 outputs rotational power. The third gear member 411 is disposed coaxially with the rotation main shaft 421 and is rotatable relative to the rotation main shaft 421. Specifically, as shown in fig. 4 to 6, the third gear member 411 is mounted to the rotation main shaft 421 through a third bearing 428 so as to be rotatable relative to each other. The third gear member 411 is circumferentially provided with gear teeth.

The second transmission member 424 meshes with circumferential gear teeth of the third gear member 411. The second power member 412 is in driving connection with the third gear member 411 through the second driving member 424, and the second power member 412 is connected with the rotating spindle 421, and when the second power member 412 is configured to output the rotating power, it drives itself to perform the circular motion along the circumferential direction of the third gear member 411, so as to drive the rotating spindle 421 to rotate.

In the above-mentioned scheme, when the second power member 412 outputs the rotation power, the second transmission member 424 transmits the rotation torque to the third gear member 411, and since the second power member 412 is connected to the rotation spindle 421 and the third gear member 411 is rotatably connected to the rotation spindle 421, the second power member 412 drives itself to move circumferentially around the third gear member 411, thereby driving the rotation spindle 421 to rotate.

In one embodiment of the present disclosure, the rotating spindle 421 is rotatably coupled to a second joint support mechanism. Specifically, as shown in fig. 4 and 6, the middle position of the rotating main shaft 421 may be rotatably supported on the front side support seat 31 and the front side support seat 31 through a first bearing 422 and a second bearing 423, respectively, and the rear end portion of the rotating main shaft 421 may be axially restrained by a bearing retainer 33. As shown in fig. 7, the spindle assembly further includes a second connecting member 426 and a third connecting member 427. The load may be coupled to the second coupling member 426 and the second power member 412 may be mounted to the third coupling member 427, and both the second coupling member 426 and the third coupling member 427 may be fixedly coupled to the rotating shaft 421 such that the second coupling member 426 and the third coupling member 427 may rotate in synchronization with the rotating shaft 421.

In one embodiment of the present disclosure, as shown in fig. 4 and 5, the mounting position of the second power member 412 is set off the axis of the rotating spindle 421. Specifically, the second connection member 426 may be configured as a fixing frame having a central hole, the second connection member 426 may be configured as a fixing plate having a central hole, the rotation main shaft 421 may be inserted into the central holes of the fixing frame and the fixing plate, and one side of the fixing plate, which is offset from the central hole, is provided with an opening 427a, and the second power member 412 is mounted to the opening 427 a. Thus, by mounting the second power member 412 to the second power member 412 and off-axis from the rotation main shaft 421, the overall size of the joint device in the direction of extension of the second axis Y can be reduced as much as possible as compared to the case where the second power member 412 is mounted in the direction of extension of the second axis Y, so that the joint device is more compact in overall structure.

In one embodiment of the present disclosure, the second power member 412 is further configured to be relatively locked with the third gear member 411 when no rotational power is output. Thus, when the rotational power is not output from the second power member 412, the second power member 412 and the third gear member 411 can be relatively locked, and at this time, the second power member 412 can be locked and fixed at any position in the circumferential direction of the third gear member 411. In other words, the rotating assembly may be locked at any rotational angle.

In one embodiment of the present disclosure, as shown in fig. 4, the output end of the second power member 412 is configured as a second worm; the second transmission member 424 includes a fourth gear member 424a and a fifth gear member 424b, the fourth gear member 424a and the fifth gear member 424b each being a double gear having first and second stage teeth, the first stage teeth of the fourth gear member 424a being configured as a worm gear and being in mesh with a second worm, the second stage teeth of the fourth gear member 424a being in mesh with the first stage teeth of the fifth gear member 424b, the second stage teeth of the fifth gear member 424b being in mesh with circumferential gear teeth of the third gear member 411. In one embodiment of the present disclosure, in each duplex gear, the diameter of the first stage teeth is greater than the diameter of the second stage teeth. First stage teeth 424b' and second stage teeth 424b "of fifth gear member 424b are fixedly coupled.

In the above-mentioned scheme, the second power component 412 and the second transmission component 424 are in a worm-and-wheel transmission mode, and have self-locking performance, that is, the worm-and-wheel transmission can only be driven by a worm. Thus, the second power member 412 is locked relative to the third gear member 411 when no rotational power is output.

In one embodiment of the present disclosure, as shown in fig. 4, the second drive assembly further includes a second case member 429, and the second power member 412 is mounted into the second case member 429.

In one embodiment of the present disclosure, as shown in fig. 4, the second articulation mechanism 4 further includes a damping assembly 43 for impeding circumferential rotation of the third gear member 411. By providing the damper assembly 43, the second joint mechanism 4 can realize both a manual rotation load and an electric rotation load.

In one embodiment of the present disclosure, as shown in fig. 4 and 6, the damping assembly 43 includes: a first friction plate 431 and a second friction plate 432 provided on the rotation main shaft 421. The first friction plate 431 is fixedly connected to the third gear member 411 and can rotate circumferentially relative to the rotating spindle 421, so that the first friction plate 431 and the third gear member 411 can rotate synchronously relative to the rotating spindle 421. The second friction plate 432 is connected to the second joint support mechanism 3, and is locked circumferentially by the second joint support mechanism 3. Specifically, in one embodiment, as shown in fig. 4 and 6, the inner ring of the first friction plate 431 is mounted at the front end position of the rotating main shaft 421 by a bearing, and the front end surface of the first friction plate 431 is fixedly connected to the third gear member 411, and the rear end surface is friction-fitted with the second friction plate 432. The inner race of the second friction plate 432 is rotatably connected to the rotating main shaft 421 through a bearing, and the second friction plate 432 is connectable to the front side support seat 31 and cooperates with the structure of the front side support seat 31 to be locked circumferentially by the front side support seat 31.

When the load is manually rotated, the third connection member 427 connected to the load receives a deflection torque, the second power member 412 mounted on the third connection member 427 does not output a rotation power, the second power member 412 and the third gear member 411 are relatively locked, and the first friction plate 431 and the second friction plate 432 fixedly connected to the third gear member 411 are friction-fitted to each other.

If the moment applied by the user to the second connecting member 426 and the third connecting member 427 is within the preset threshold, the first friction plate 431 is relatively locked by the second friction plate 432, and the third gear member 411 can be kept fixed, so that the load is not forcibly rotated manually. The preset threshold value refers to a critical moment value at which the first friction plate 431 and the second friction plate 432 rotate relative to each other.

If the moment applied to the second connection member 426 and the third connection member 427 by the user is greater than the preset threshold, the third gear member 411 drives the first friction plate 431 to rotate circumferentially relative to the second friction plate 432, and the moment applied to the second driving assembly 41 is reduced due to friction fit between the first friction plate 431 and the second friction plate 432, so that the second driving assembly 41 is effectively protected, and damage to the second driving assembly 41 caused by excessive moment is avoided. Due to the existence of friction resistance, the rotation process of the second joint mechanism 4 is more stable in the whole manual rotation process.

When the load is rotated electrically, the second power member 412 outputs a rotational torque to drive itself to move around the circumference of the third gear member 411, the third gear member 411 is fixedly connected with the first friction plate 431, the deflection torque applied by the third gear member 411 to the first friction plate 431 is smaller than a preset threshold, and is insufficient to rotate the first friction plate 431 and the second friction plate 432 relatively, so that the first friction plate 431 and the second friction plate 432 are interlocked, the second friction plate 432 is locked circumferentially, and the third gear member 411 is locked circumferentially, so that the third gear member 411 can be kept stationary, and the second power member 412 moves around the circumference of the third gear member 411 to drive the rotating spindle 421 to rotate together with the load.

In one embodiment of the present disclosure, a plurality of limit bosses are circumferentially distributed on the friction fit surface of one of the first friction plate 431 and the second friction plate 432, and a plurality of limit grooves are circumferentially distributed on the friction fit surface of the other friction plate. Specifically, the limit boss may be configured as a trapezoidal limit boss having a trapezoidal radial cross section, and the limit groove may be configured as a trapezoidal limit groove having a trapezoidal cross section.

When the deflection moment on the first friction plate 431 is within a preset threshold value, the limiting boss is clamped into the corresponding limiting groove, and the limiting boss is matched with the limiting groove to lock the first friction plate 431 and the second friction plate 432; when the deflection moment on the first friction plate 431 is greater than or equal to the preset threshold, the inclined surface on the limiting boss is in sliding fit with the inclined surface of the limiting groove, so that the limiting boss is separated from the limiting groove, and the first friction plate 431 and the second friction plate 432 relatively rotate.

Because spacing boss and spacing recess are along the circumference evenly distributed of friction disc, when spacing boss rotated to next spacing recess, spacing boss can block again in the next spacing recess to have the somatosensory feedback when the block is gone into spacing recess.

In one embodiment of the present disclosure, as shown in fig. 4 and 6, the second friction plate 432 is configured to be axially movable relative to the second joint support mechanism 3, such that when the first friction plate 431 and the second friction plate 432 rotate relative to each other, the limiting boss pushes the second friction plate 432 to slightly axially move relative to the second joint support mechanism 3; the second friction plate 432 is configured to be axially movable with respect to the second joint support mechanism 3; the damping assembly 43 further comprises a damper 433 and a damping spring 434, wherein one end of the damper 433 is stopped by a limit stop, and the other end of the damper abuts against the second friction plate 432, so as to apply a thrust force directed to the first friction plate 431 to the second friction plate 432; the damping spring 434 is sleeved on the telescopic rod of the damper 433 and abuts against the damper 433 and the second friction plate 432.

In the above-mentioned scheme, through setting up damping subassembly 43, when second joint mechanism 4 is forced to rotate by external force, can make the rotation process more steady. When the user forcibly rotates and installs the load sufficiently, the first friction plate 431 and the second friction plate 432 can be driven to slide relatively through the third gear member 411, at this time, the second friction plate 432 is axially displaced, so that the telescopic rod of the damper 433 and the damping spring 434 are contracted, the damper 433 can provide a reaction force for the second friction plate 432, and the damping spring 434 can slow down the speed of the axial displacement of the second friction plate 432, so that the second friction plate 432 is prevented from being rapidly compressed when being subjected to external force, and the load caused by complete separation of the contact surfaces of the two friction plates is accelerated to rotate.

In one embodiment of the present disclosure, referring to fig. 4, 6 and 7, the second friction plate 432 is mounted on the front support seat 31, the front support seat 31 is provided with an embedded groove 311 on a front end surface facing the first friction plate 431, and a mounting post 312 on a rear end surface facing away from the first friction plate 431. The damper assembly 43 further includes a damper spring 434. The second friction plate 432 is provided with a groove 432a on a rear end surface thereof facing away from the first friction plate 431, wherein the second friction plate 432 is mounted in the embedded groove 311 and can axially slide in the embedded groove 311, the damper 433 is mounted and fixed in the mounting column 312, the telescopic rod of the damper 433 abuts against the groove 432a, and the damping spring 434 is sleeved on the telescopic rod of the damper 433 and abuts against between the damper 433 and the groove 432 a. Therefore, when the first friction plate 431 rotates relative to the second friction plate 432, the second friction plate 432 is axially pushed in a direction away from the first friction plate 431 to generate circumferential displacement, so that the output ends of the damping springs 434 and the dampers 433 are compressed, the first friction plate 431 and the second friction plate 432 can be tightly matched, and the rotation process is smoother; when the first friction plate 431 rotates to the limit groove to enter the next limit boss, the limit groove can be clamped into the next limit boss under the action of the damping spring 434 and the damper 433, so that the motion feedback is realized. Specifically, in one embodiment, the damper 433 is screwed into the mounting post 312 by an outer ring thread and secured by a nut.

In addition, a circumferential limiting structure is disposed between the embedded groove 311 and the second friction plate 432, so as to lock the second friction plate 432 circumferentially. Specifically, as shown in fig. 7, the circumferential limiting structure may include a limiting protrusion 432b disposed on one of the second friction plate 432 and the embedded groove 311, and a limiting groove disposed on the other one, where the limiting protrusion 432b is engaged into the limiting groove.

In one embodiment of the present disclosure, as shown in fig. 4, the articulating mechanism may further include a control board 5, the control board 5 being screw mountable to the posterior bearing 32. The control board 5 is electrically connected to the first power member 213, and the control board 5 is used to apply an electrical signal to the first power member 213.

In summary, according to the robot provided in one embodiment of the present disclosure, the joint device may integrate the first joint mechanism 2 and the second joint mechanism 4, and simultaneously satisfy the rotation and pitching functions of the joints, and may integrate the damping component 43.

A first joint support mechanism 1 for connection to a base;

The first joint mechanism 2 comprises a first driving component 21 and a swing arm component 22, wherein the swing arm component 22 is movably connected to the first joint supporting mechanism 1 and can swing around a first axis X relative to the first joint supporting mechanism 1 under the driving of the first driving component 21;

The second joint support mechanism 3 is connected to the swing arm assembly 22 and can synchronously swing along with the swing arm assembly 22; and

The second joint mechanism 4 comprises a second driving component 41 and a rotating shaft component, wherein the rotating shaft component is configured to be driven by the second driving component 41 to rotate circumferentially around a second axis Y, and the second axis Y is perpendicular to the first axis X; wherein,

The rotating shaft assembly is rotatably arranged on the second joint supporting mechanism 3 so as to synchronously swing along with the swing arm assembly 22; the rotating shaft component is used for connecting with a load so as to drive the load to synchronously move along with the rotating shaft component.

The embodiment of the disclosure provides a robot joint device, which comprises a first joint supporting mechanism 1, a first joint mechanism 2, a second joint supporting mechanism 3 and a second joint mechanism 4, wherein the first joint mechanism 2 is supported by the first joint supporting mechanism 1 and fixed on a base, and a swing arm assembly 22 in the first joint mechanism 2 can swing around a first axis X relative to the first joint supporting mechanism 1 under the drive of a first driving assembly 21; the second joint mechanism 4 is supported and fixed on the swing arm assembly 22 by the second joint supporting mechanism 3, and the swing arm assembly 22 can drive the second joint supporting mechanism 3 to swing when swinging, so as to drive the second joint mechanism 4 to swing integrally along with the swing arm assembly 22; the rotating shaft assembly on the second joint mechanism 4 is rotatable relative to the second joint supporting mechanism 3 by the second driving assembly 41, and a load is connected to the rotating shaft assembly.

Thus, when the rotating shaft assembly circumferentially rotates around the second axis Y, the load can be driven to rotate so as to realize the rotating function of the joint device; when the swing arm assembly 22 swings relative to the first joint supporting mechanism 1, the second joint supporting mechanism 3 can be driven to swing synchronously, and then the rotating shaft assembly is driven to swing with load, so that the pitching function of the joint device is achieved, the first axis X and the second axis Y are perpendicular to each other, the design of two degrees of freedom of simultaneously integrating pitching and rotating functions in the same joint device is achieved, and the action flexibility of the joint device is improved.

The technical scheme provided by the embodiment of the application is explained below in connection with a specific application scene.

Application scenario

Referring to fig. 1, a robot provided in an embodiment of the disclosure includes: base, joint device and load, joint device includes: a first joint supporting mechanism 1, a first joint mechanism 2, a second joint supporting mechanism 3 and a second joint mechanism 4, wherein the first joint supporting mechanism 1 is connected to a base; the first joint mechanism 2 comprises a first driving component 21 and a swing arm component 22, wherein the swing arm component 22 is movably connected to the first joint supporting mechanism 1, and can swing around a first axis X relative to the first joint supporting mechanism 1 under the driving of the first driving component 21; the second joint support mechanism 3 is connected to the swing arm assembly 22 and can synchronously swing along with the swing arm assembly 22; the second joint mechanism 4 includes a second driving component 41 and a rotating shaft component, and the rotating shaft component is configured to be driven by the second driving component 41 to rotate circumferentially around a second axis Y, and the second axis Y is perpendicular to the first axis X; the load is connected to the rotating shaft assembly and can synchronously move along with the rotating shaft assembly; the rotating shaft assembly is rotatably arranged on the second joint supporting mechanism 3 and can synchronously swing along with the swing arm assembly 22. When the rotating shaft assembly swings around the first axis X, the load can be driven to swing, namely, the pitching function of the joint device is realized; when the rotating shaft component rotates around the second axis Y, the load can be driven to rotate, and the rotating function of the joint device is realized.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A robot comprising a base, a joint arrangement and a load; characterized in that the joint device comprises:

A first joint support mechanism (1) connected to the base;

The first joint mechanism (2) comprises a first driving assembly (21) and a swing arm assembly (22), wherein the swing arm assembly (22) is movably connected to the first joint supporting mechanism (1), and can swing around a first axis (X) relative to the first joint supporting mechanism (1) under the driving of the first driving assembly (21);

A second joint support mechanism (3) connected to the swing arm assembly (22) and capable of swinging synchronously with the swing arm assembly (22); and

A second articulation mechanism (4) comprising a second drive assembly (41) and a rotation shaft assembly configured to be rotatable circumferentially about a second axis (Y) under the drive of the second drive assembly (41), the second axis (Y) being perpendicular to the first axis (X); the load is connected to the rotating shaft assembly and can synchronously move along with the rotating shaft assembly; the rotating shaft assembly is rotatably arranged on the second joint supporting mechanism (3) and can synchronously swing along with the swing arm assembly (22).

2. The robot according to claim 1, wherein the first drive assembly (21) comprises:

A rack member (211), said rack member (211) having a concave rounded profile, said rack member (211) being connected to said first joint support mechanism (1);

A first gear member (212), the first gear member (212) being engaged to the rack member (211) such that the first gear member (212) is arcuately movable along the concave circular arc profile upon circumferential rotation; and

-A first power member (213), the first power member (213) being configured to drive the first gear member (212) in a circumferential rotation;

The middle part of the swing arm assembly (22) is hinged to the first joint supporting mechanism (1), one end of the swing arm assembly (22) is connected to the first gear member (212), and the swing arm assembly and the first gear member (212) can synchronously do circular arc movement, so that the other end of the swing arm assembly (22) can swing.

3. The robot according to claim 2, wherein the first drive assembly (21) further comprises: -a first transmission member (214), said first transmission member (214) being drivingly connected between said first power member (213) and said first gear member (212) for transmitting rotational torque of said first power member (213) to said first gear member (212).

4. A robot according to claim 3, characterized in that the output of the first power member (213) is configured as a first worm; the first transmission member (214) comprises:

-a transmission shaft (214 a) arranged parallel to said first axis (X); and

-A second gear member (214 b), said first gear member (212) and said second gear member (214 b) being both arranged on said transmission shaft (214 a) and rotatable synchronously with said transmission shaft (214 a), said second gear member (214 b) being configured as a turbine and being in engagement with said first worm to transmit the rotational torque of said first power member (213) to said first gear member (212).

5. The robot according to claim 4, wherein the first drive assembly (21) further comprises:

-a first connection member (215), said first power member (213) being mounted to said first connection member (215); and

At least two bearing seats (216) are axially arranged at intervals along the transmission shaft (214 a), at least two bearing seats (216) are mounted on the first connecting member (215), and the transmission shaft (214 a) is respectively mounted on the at least two bearing seats (216) through bearings so as to limit the position of the transmission shaft (214 a) through the at least two bearing seats (216).

6. The robot of claim 5, wherein the first connecting member (215), the bearing block (216), the first power member (213) and the transmission shaft (214 a) are all synchronously movable in an arc along with the first gear member (212), and the first connecting member (215) is hinged to one end of the swing arm assembly (22) to drive the other end of the swing arm assembly (22) to move in an arc.

7. The robot according to claim 4, characterized in that the drive shaft (214 a) is provided with two axial limiting structures (214 c) arranged at intervals along the axial direction thereof; the second gear member (214 b) is located between the two axial limiting structures (214 c), and an elastic piece is abutted between the second gear member and at least one axial limiting structure (214 c).

8. The robot of claim 1, wherein the swing arm assembly (22) comprises at least one link swing arm unit (22A), each link swing arm unit (22A) comprising:

A swing plate member (221) arranged perpendicularly to the first axis (X) and connected at one end to the first drive assembly (21); and

-A four-bar linkage (222) comprising a first bar (222 a), a second bar (222 b), a third bar (222 c) and a fourth bar (222 d) hinged end to end in sequence, the first bar (222 a), the second bar (222 b), the third bar (222 c) and the fourth bar (222 d) being all arranged parallel to the oscillating plate member (221), and the first bar (222 a) and the third bar (222 c) being arranged substantially parallel to the second axis (Y), a middle part of at least one of the second bar (222 b) and the fourth bar (222 d) being hinged to a middle part of the oscillating plate member (221), the first bar (222 a) and the third bar (222 c) being hinged to the second joint support mechanism (3).

9. The robot according to claim 8, wherein the first joint mechanism (2) further comprises:

A first magnetic member (23) provided on one of the swing plate member (221) and the four-bar member (222);

A first magnetic encoder (24) provided on the other of the swing plate member (221) and the four-bar member (222);

Wherein, along with the swing of the swing arm assembly (22), the first magnetic piece (23) and the first magnetic encoder (24) can rotate relatively.

10. The robot according to claim 1, characterized in that the swing arm assembly (22) comprises two link swing arm units (22A), the two link swing arm units (22A) being arranged spaced apart in the direction of extension of the first axis (X), the two link swing arm units (22A) being connected to each other and being synchronously movable; wherein the second joint support mechanism (3) comprises two support seats arranged at intervals along the second axis (Y), the rotating shaft assembly comprises a rotating main shaft (421), the rotating main shaft (421) is rotatably supported on the two support seats through bearings, and the two support seats are connected between the two connecting rod swing arm units (22A).

11. The robot of claim 1, wherein the spindle assembly comprises a rotating spindle (421); the second drive assembly (41) comprises:

a third gear member (411), wherein the third gear member (411) is coaxially arranged with the rotating main shaft (421) and can rotate relatively, and gear teeth are circumferentially arranged on the third gear member (411);

A second transmission member (424), the second transmission member (424) being in mesh with circumferential gear teeth of the third gear member (411); and

A second power member (412), said second power member (412) being in driving connection with said third gear member (411) through said second transmission member (424);

Wherein the second power member (412) is connected with the rotating spindle (421); the second power member (412) is configured to drive itself to perform a circular motion in the circumferential direction of the third gear member (411) to rotate the rotating main shaft (421) when outputting a rotational power.

12. The robot of claim 11, wherein the second power member (412) is further configured to be locked against the third gear member (411) when no rotational power is output, wherein an output end of the second power member (412) is configured as a second worm; the second transmission member (424) includes a fourth gear member (424 a), the first stage teeth of the fourth gear member (424 a) configured as a worm gear and meshed with the second worm.

13. The robot of claim 11, wherein the second joint mechanism (4) further comprises a damping assembly (43) for impeding circumferential rotation of the third gear member, the damping assembly (43) comprising: a first friction plate (431) and a second friction plate (432) provided on the rotation main shaft; wherein the first friction plate (431) is fixedly connected to the third gear member (411) and can rotate circumferentially relative to the rotating spindle (421); the second friction plate (432) is connected to the second joint support mechanism (3) and is locked by the second joint support mechanism (3) in the circumferential direction; the first friction plate (431) and the second friction plate (432) are in friction fit.

14. The robot according to claim 13, characterized in that the second friction plate (432) is configured to be axially movable with respect to the second joint support mechanism (3); the damping assembly (43) further comprises a damper (433) and a damping spring (434), wherein one end of the damper (433) is limited and stopped, and the other end of the damper is propped against the second friction plate (432) so as to apply a thrust directed to the first friction plate (431) to the second friction plate (432); the damping spring (434) is sleeved on the telescopic rod of the damper (433) and is propped between the damper (433) and the second friction plate (432).

15. The robot of claim 11, wherein the spindle assembly comprises:

a rotating spindle (421) rotatably connected to the second joint support mechanism (3);

a second connection member (426) that connects the load; and

And the second power component (412) is mounted on the third connecting component (427), the second connecting component (426) and the third connecting component (427) are fixedly connected to the rotating main shaft (421) so as to synchronously rotate along with the rotating main shaft (421), and the mounting position of the second power component (412) is deviated from the axle center of the rotating main shaft (421).

16. A joint device, comprising:

a first joint support mechanism (1) for connection to a base;

the first joint mechanism (2) comprises a first driving assembly (21) and a swing arm assembly (22), wherein the swing arm assembly (22) is movably connected to the first joint supporting mechanism, and can swing around a first axis (X) relative to the first joint supporting mechanism (1) under the driving of the first driving assembly (21);

A second articulation mechanism (4) comprising a second drive assembly (41) and a rotation shaft assembly configured to be rotatable circumferentially about a second axis (Y) under the drive of the second drive assembly (41), the second axis (Y) being perpendicular to the first axis (X); wherein,

The rotating shaft assembly is rotatably arranged on the second joint supporting mechanism (3) so as to synchronously swing along with the swing arm assembly (22); the rotating shaft component is used for connecting a load so as to drive the load to synchronously move along with the rotating shaft component.