CN216781877U

CN216781877U - Rotary joint module, arm body assembly, mechanical arm and robot

Info

Publication number: CN216781877U
Application number: CN202220183224.0U
Authority: CN
Inventors: 孙强; 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2022-01-22
Filing date: 2022-01-22
Publication date: 2022-06-21
Anticipated expiration: 2032-01-22

Abstract

The application relates to a rotary joint module, an arm body assembly, a mechanical arm and a robot. The rotary joint module comprises: driving piece, speed reducer, connecting axle, first band-type brake and second band-type brake. One end of the connecting shaft is rotatably connected with the output part of the speed reducer, the other end of the connecting shaft is fixedly connected with the driven arm body, the driving piece drives the connecting shaft to rotate through the speed reducer, and the connecting shaft drives the driven arm body to rotate relative to the driving arm body; the first band-type brake comprises a first dynamic friction plate and a first static friction plate and is used for ensuring that the connecting shaft and the driving arm body are relatively fixed in a power-off state; the second band-type brake comprises a second dynamic friction plate and a second static friction plate and is used for ensuring that the input part of the speed reducer and the driving arm body are relatively fixed in a power-off state. The problem that the far end of the mechanical arm is shaken due to external force can be reduced or even overcome.

Description

Rotary joint module, arm body assembly, mechanical arm and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a rotary joint, an arm body assembly, a mechanical arm and a robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table comprises a handle, a doctor sends a control command to the slave operation device through the operation handle, the slave operation device comprises a plurality of operation arms, the operation arms are provided with tail end instruments, and the tail end instruments move along with the handle in a working state so as to realize remote operation.

The slave operation apparatus includes a robot arm including a plurality of links and joints connecting adjacent links, which are classified by type into a rotary joint and a mobile joint. Most of the degrees of freedom of the mechanical arm can be realized by matching the connecting rod with the rotary joint, so that the mechanical arm is usually provided with a large number of active rotary joints during design, the active rotary joints are provided with driving force by the motor, the driving force is amplified by the speed reducer, and the controlled rotation of the corresponding connecting rod is further realized.

In order to brake a rotary joint, a static brake (also called a band-type brake) is usually installed at an input side of a speed reducer to brake the movement of the rotary joint when power is lost. However, when the rotary joint having such a structure is applied to a robot arm, it is found that, even in a power-off state, when the distal end of the corresponding rotary joint receives a force or a component force tangential to the rotational direction thereof, such as an unexpected collision or drag, the rotary joint position is displaced due to a backlash existing inside the reduction gear and poor rigidity of the output side thereof. Such an offset has a superimposed amplification effect, especially in the case of a robot arm having a plurality of such revolute joints of the same direction of rotation; or when the torque with the corresponding revolute joint is large, such deflection may be amplified at the distal end of the mechanical arm. Such amplified offset may cause a large swing amplitude of the distal end of the robot arm, which is not favorable for precise control, and especially when such a robot arm is applied to a surgical robot, since the distal end of the robot arm is equipped with a tool for surgery, such an unexpected swing may easily cause the life safety of a patient being operated to be in an uncontrollable state.

SUMMERY OF THE UTILITY MODEL

The application provides a rotation joint module, include the arm body subassembly and the arm of rotation joint module reach and include the arm body subassembly or the robot of arm. The application provides a rotary joint module can reduce or even overcome the problem that the arm distal end received external force and rocked.

In a first aspect, the present application provides a revolute joint module. The rotary joint module comprises:

the driving piece is fixedly connected with the driving arm body;

the speed reducer comprises an input part and an output part, and the input part is connected with the output shaft of the driving part;

one end of the connecting shaft is rotatably connected with the output part, the other end of the connecting shaft is fixedly connected with the driven arm body, the driving piece drives the connecting shaft to rotate through the speed reducer, and the connecting shaft drives the driven arm body to rotate relative to the driving arm body;

the first band-type brake comprises a first dynamic friction plate and a first static friction plate, one of the first dynamic friction plate and the first static friction plate is used for being fixedly connected with the driving arm body, the other one of the first dynamic friction plate and the first static friction plate is fixedly connected with the connecting shaft, the first dynamic friction plate and the first static friction plate are adsorbed under the power-off state, and the connecting shaft and the driving arm body are relatively fixed; and

the second band-type brake comprises a second dynamic friction plate and a second static friction plate, wherein the second dynamic friction plate and the second static friction plate are fixedly connected with an output shaft of the driving piece, the other second static friction plate and the driving arm body are fixedly connected, the second dynamic friction plate and the second static friction plate are adsorbed in a power-off state, and an input part of the speed reducer and the driving arm body are kept relatively fixed.

In some embodiments, the output shaft of the driving member is exposed from two opposite sides of the driving member, a portion of the output shaft exposed from one side of the driving member is connected to the input portion of the speed reducer, and a portion exposed from the other side of the driving member is fixedly connected to one of the second dynamic friction plate and the second static friction plate.

In some embodiments, the rotary joint module further includes a cross roller bearing, the cross roller bearing includes an inner ring bearing and an outer ring bearing which are rotatably connected with each other, the inner ring bearing is disposed on the periphery of the connecting shaft and is coaxially and fixedly connected with the connecting shaft, and the outer ring bearing is fixedly connected with the driving arm body;

one of the first dynamic friction plate and the first static friction plate is fixedly connected with the outer ring bearing, and the other one of the first dynamic friction plate and the first static friction plate is fixedly connected with the connecting shaft.

In some embodiments, the rotational joint module further includes a first flange plate, the first flange plate is sleeved on the periphery of the connecting shaft, the first flange plate includes an inner portion and an outer portion, the inner portion is close to the connecting shaft, the inner portion is connected between the outer ring bearing and the first dynamic friction plate or the first static friction plate, and the outer portion is fixedly connected with the driving arm body.

In some embodiments, the rotary joint module further includes a second flange plate, the second flange plate is sleeved on the periphery of the connecting shaft, and the second flange plate is connected between the connecting shaft and the first static friction plate or the first dynamic friction plate.

In some embodiments, the rotary joint module further includes a first transmission member and a second transmission member, the first transmission member is connected to the output portion of the speed reducer, the second transmission member is fixedly connected to the end portion of the connecting shaft close to the speed reducer, and the second rotation member is rotatably connected to the first rotation member; the second flange plate is fixedly connected to the second transmission piece, and is connected to the connecting shaft through the second transmission piece.

In some embodiments, the first static friction plate is fixedly connected to the first flange, and the first dynamic friction plate is fixed to the second flange.

In some embodiments, a first annular groove is formed in a contact region between the outer side of the connecting shaft and the first flange, and a first elastic gasket is sleeved on the first annular groove to achieve shock absorption and sealing between the connecting shaft and the first flange.

In some embodiments, a second annular groove is formed in an outer peripheral edge of the second flange, and a second elastic gasket is sleeved in the second annular groove to achieve damping and sealing between the second flange and the side wall of the driving arm body.

In a second aspect, the present application provides an arm assembly. The arm body assembly comprises a driving arm body, a driven arm body and a rotary joint module in any one of the above embodiments, wherein the rotary joint module is connected between the driving arm body and the driven arm body.

In a third aspect, the present application provides a robot arm. The arm includes:

the arm bodies are arranged in a series structure;

wherein at least one pair of adjacent arm bodies are rotatably connected through the rotary joint module in any one of the above embodiments.

In some embodiments, the plurality of arms of the robotic arm includes a first arm, a second arm, a third arm, and a fourth arm arranged in sequence from a proximal end to a distal end; the second arm body and the first arm body, the third arm body and the second arm body, and the fourth arm body and the third arm body are respectively connected through a rotary joint module so as to be capable of rotating relative to each other;

the rotation directions of the relative rotation between the second arm body and the first arm body, between the third arm body and the second arm body, and between the fourth arm body and the third arm body are completely the same, partially the same or completely different.

In a fourth aspect, the present application provides a robot. The robot comprises a base and the mechanical arm in any one of the above embodiments, wherein the mechanical arm is connected to the base through a mobile shutdown module and can ascend and descend relative to the base.

The utility model provides a rotation joint module, arm body subassembly, arm and robot have following beneficial effect:

this application is through setting up first band-type brake and second band-type brake, and under the power-off state, first band-type brake plays the effect of overcoming the speed reducer back clearance, improving the rigidity of this rotation joint module in one side of the output of speed reducer, avoids or reduces the unexpected rotation that appears between the adjacent arm body under the power-off state from the source. The second band-type brake plays a role in overcoming the backlash of the speed reducer and improving the rigidity of the rotary joint module at one side of the input part of the speed reducer, and realizes the power-off braking at the side of the input part of the speed reducer. That is to say, first band-type brake and second band-type brake realize the power-off braking of speed reducer output side and input side respectively, all realize the power-off braking at the both ends of speed reducer, the braking of realization speed reducer that can be better to improve the rigidity of rotation joint module front and back end, reduce or even overcome the problem that the arm distal end received external force and takes place to rock completely.

Drawings

FIG. 1 is a schematic structural diagram of a robot provided herein in one embodiment;

FIG. 2 is a partial schematic view of the robot shown in FIG. 1;

FIG. 3 is a schematic structural diagram of a rotary joint module of the robot shown in FIG. 1;

fig. 4 is a cross-sectional view of a partial structure of the rotational joint module shown in fig. 3.

Detailed Description

To facilitate an understanding of the utility model, the utility model will now be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. When an element is described as being "fixedly coupled" to another element, it can be directly fixedly coupled to the other element or be indirectly fixedly coupled to the other element via a coupling structure.

The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a robot provided by the present application in an embodiment; fig. 2 is a partial structural schematic view of the robot shown in fig. 1.

The robot in the present application may be a surgical robot, a transfer robot, a cleaning robot or other robot having a robot arm. The robot shown in fig. 1 is described by taking a surgical robot as an example.

The surgical robot may include a master operation table 1 and a slave operation device 2. The main console 1 has a handle 11 and a display 12, and a doctor transmits a control command to the slave operation device 2 through the handle 11 to make the slave operation device 2 perform a corresponding operation according to the control command of the doctor operating the handle 11, and observes an operation area through the display 12. The handle 11 can move and rotate freely, so that the doctor has a larger operation space, for example, the handle 11 is connected with the main operating table 1 through a connecting wire. Of course, in other embodiments, the handle 11 may be connected to the main operating board 1 through a rotating link.

The slave operation device 2 includes an operation arm 31 (i.e., a surgical instrument), the operation arm 31 includes a link 32, a connection assembly 33 and a tip instrument 34 which are connected in sequence, wherein the connection assembly 33 has a plurality of joint assemblies, and the operation arm 31 adjusts the position of the tip instrument 34 by adjusting the joint assemblies; end instruments 34 include an image end instrument 34A and a manipulation end instrument 34B.

With continued reference to fig. 1, the manipulator apparatus 2 includes a base 21, a robotic arm 22, an adjustment arm 23, and a manipulator assembly connected in series from a proximal end to a distal end.

Base 21 provides support and fixturing for robotic arm 22, adjustment arm 23, and manipulator assembly. The base 21 is proximal and the manipulator assembly distal.

The robot arm 22 has a degree of freedom formed by a plurality of joint assemblies. Before operation, the main console controls the movement of the robotic arm 22 to adjust the orientation of the manipulator assembly within a larger workspace. The robot arm 22 includes a plurality of arms which are arranged in a serial structure and mounted on the base 21.

The distal end of the robotic arm 22 is provided with an orienting platform 224, and the adjustment arm 23 is connected to the orienting platform 224. Specifically, the orienting platform 224 includes a body 2241 and a rotation part 2242 installed on the body 2241 and capable of rotating relative to the body 2241, the proximal end of the adjusting arm 23, i.e., the end of the adjusting arm 23 away from the manipulator assembly, is connected to the rotation part 2242 so as to be capable of rotating relative to the body 2241, and the adjusting arm 23 can be oriented by using the orienting platform 224.

The adjustment arm 23 has a degree of freedom formed by a plurality of joint components. Before surgery, the adjustment arm 23 may be manually moved to adjust the orientation of the manipulator assembly to suit the procedure.

The number of the adjustment arms 23 is 2 or more, and if the number of the adjustment arms 23 is 4, the plurality of adjustment arms 23 are connected to the robot arm 22 and can move independently with respect to the robot arm 22. Of course, in other embodiments, there may be one or two adjustment arms.

The manipulator assembly includes a manipulator arm 24 and an operating arm 31 detachably mounted to the manipulator arm 24. The manipulator arm 24 and the operation arm 31 each have a degree of freedom formed by a plurality of joint components. During operation, the main operating platform 1 controls the movement of the manipulator assembly, namely controls the manipulator arm 24 and the operating arm 31 to be linked together to complete operation actions.

Typically, the number of effective degrees of freedom of the manipulator assembly is no less than the number of degrees of freedom desired for positioning and movement of end instrument 34 at the surgical site. In some embodiments, it may be desirable for the number of degrees of freedom in positioning and movement of end instrument 34 at the surgical site to be 6 to satisfy the flexibility, and the manipulator assembly may in turn provide no less than 6 effective degrees of freedom, e.g., the manipulator assembly provides 6 effective degrees of freedom.

In this embodiment, the number of manipulator assemblies is the same as the number of adjustment arms 23, and one manipulator assembly is correspondingly mounted to one adjustment arm 23. One of the plurality of manipulator arms 31 includes an end effector 34A for providing a surgical field and one or more other manipulator arms 34B for providing surgical procedures such as cutting, stapling, fusing, etc., optionally while controlling one or more of the end effectors included in the manipulator assembly.

At least one pair (i.e., two) of adjacent arms of the robot arm 22 are rotatably connected by the rotary joint module 4, and such a pair of rotatably connected adjacent arms may also be referred to as an arm assembly in the present invention. The adjacent arm bodies in the mechanical arm shown in fig. 1 are connected in a rotating mode through a rotating joint module 4.

In one embodiment, with continued reference to fig. 1, the plurality of arms in the robotic arm 22 includes a first arm 221, a second arm 222, a third arm 223, and a fourth arm 224 arranged in sequence from proximal to distal. The first arm 221 is connected to the base 21 through a movable joint module (not shown) and can be lifted relative to the base 21, and the movable joint module can be implemented by a lead screw driven by a motor, for example. The second arm 222 and the first arm 221, the third arm 223 and the second arm 222, and the fourth arm 224 and the third arm 223 are connected by different rotation joint modules 4 so that the adjacent arms of the same pair can rotate relative to each other.

The rotation direction of the relative rotation between the second arm 222 and the pair of first arms 221, between the third arm 223 and the pair of second arms 222, and between the fourth arm 224 and the pair of third arms 223 may be selected from the completely same, partially same, and completely different ones, and may be specifically set according to the required degree of freedom, and is not limited herein.

The following description will be given by taking an example in which the rotary joint module is connected to any two adjacent arms, and it should be noted that, in the same pair of arms of each pair of adjacent arms, one end of the rotary joint module is connected to the arm at the near end, and the other end of the rotary joint module is connected to the arm at the far end. In two adjacent arms, the arm body at the near end is defined as a driving arm body, and the arm body at the far end is defined as a driven arm body. The driven arm at the distal end is controllably rotatable relative to the drive arm at the proximal end.

It should be noted that for the same arm, it can be regarded as a driven arm as compared with the arm whose proximal end is connected by one rotational joint module 4, and it can be regarded as a driving arm as compared with the arm whose distal end is also connected by another rotational joint module 4. That is, the definition of the identity of the same arm in different environments may vary.

In an embodiment, please refer to fig. 3 and 4, fig. 3 is a schematic structural diagram of a rotational joint module of the robot shown in fig. 1; fig. 4 is a cross-sectional view of a partial structure of the rotational joint module shown in fig. 3.

The rotary joint module 4 includes a driving element 41, a speed reducer 42, a connecting shaft 43, a first band-type brake 44, and a second band-type brake 45.

The driving member 41 is fixedly connected with the driving arm body, the speed reducer 42 comprises an input portion 421 and an output portion 422, the input portion 421 of the speed reducer 42 is connected with the output shaft 411 of the driving member 41, one end of the connecting shaft 43 is rotatably connected with the output portion 422 of the speed reducer 42, and the other end of the connecting shaft is fixedly connected with the driven arm body. The driving member 41 drives the connecting shaft 43 to rotate through the speed reducer 42, and the connecting shaft 43 drives the driven arm body to rotate relative to the driving arm body. The driving member 41 and the speed reducer 42 together form a driving module to drive the connecting shaft 43 to rotate.

The first band brake 44 includes a first dynamic friction plate 441 and a first static friction plate 442, and the first dynamic friction plate 441 and the first static friction plate 442 are separated from each other in an energized state and attracted to each other in a de-energized state. In the present embodiment, the first dynamic friction plate 441 is fixedly connected to the connecting shaft 43, and the first static friction plate 442 is fixedly connected to the driving arm, so that in the power-off state, the first dynamic friction plate 441 and the first static friction plate 442 are attracted to each other, and the connecting shaft 43 can be held relatively fixed to the driving arm, that is, the input portion 421 of the speed reducer 42 can be held relatively fixed to the driving arm. Of course, in other embodiments, the first dynamic friction plate 441 may be fixedly connected to the driving arm, and the first static friction plate 442 may be fixedly connected to the connecting shaft 43.

The second band brake 45 includes a second dynamic friction plate 451 and a second static friction plate 452. The second dynamic friction plate 451 and the second static friction plate 452 are separated from each other in an energized state and attracted to each other in a de-energized state. One of the second dynamic friction plate 451 and the second static friction plate 452 is fixedly connected to the output shaft 411 of the driver 41, and the other is fixedly connected to the driving arm body, so that in a power-off state, the second dynamic friction plate 451 and the second static friction plate 452 are attracted to each other, and the input portion of the speed reducer 42 is held in a relatively fixed state with respect to the driving arm body.

It can be understood that, by providing the first band-type brake 44 and the second band-type brake 45, in the power-off state, the first band-type brake 44 plays a role in overcoming the backlash of the speed reducer 42 and improving the rigidity of the rotary joint module on one side of the output part 422 of the speed reducer 42, so as to avoid or reduce the undesirable rotation occurring between the adjacent arm bodies in the power-off state. The second band-type brake 45 overcomes the backlash of the speed reducer 42 on the input portion 421 side of the speed reducer 42 to improve the rigidity of the rotary joint module, thereby realizing the power-off braking on the input portion 421 side of the speed reducer 42. That is to say, the first band-type brake 44 and the second band-type brake 45 respectively realize the power-off braking of the output part 422 side and the input part 421 side of the speed reducer 42, and the power-off braking is realized at both ends of the speed reducer 42, so that the braking of the speed reducer 42 can be better realized, the rigidity of the front end and the rear end of the rotary joint module is improved, and the problem of shaking caused by the external force applied to the far end of the mechanical arm 22 is reduced or even completely overcome.

In this embodiment, the output shaft 411 of the driver 41 is exposed on opposite sides of the driver 41, a portion of the output shaft 411 exposed on one side of the driver 41 is connected to the input portion 421 of the speed reducer 42, and a portion exposed on the other side of the driver 41 is fixedly connected to one of the second dynamic friction plate 451 and the second static friction plate 422. That is, the output shaft 411 of the driving element 41 is exposed from the two opposite sides of the driving element 41, so that one side of the output shaft 411 can be connected to the input portion 421 of the speed reducer 42, and the other side of the output shaft 411 can realize that the input portion 421 of the speed reducer 42 is fixedly connected to one of the second dynamic friction plate 451 and the second static friction plate 452, so that the second band-type brake 45 realizes the electric-loss braking on the side of the input portion 421 of the speed reducer 42.

Meanwhile, the output shaft 411 of the driving element 41 is exposed out of two opposite sides of the driving element 41, so that the second band-type brake 45 can be arranged on one side of the driving element 41, which faces away from the speed reducer 42, and the second band-type brake 45 is conveniently arranged with the position between the driving element 41 and the speed reducer 42.

The driving member 41 in this embodiment is a bidirectional output shaft motor, and is configured to drive the speed reducer 42 to rotate, so as to drive the connecting shaft 43 to rotate, so as to enable the driven arm to rotate relative to the driving arm. The speed reducer 42 is a planetary gear speed reducer 42. Of course, in other embodiments, the driving member 41 may be other driving components, and the type of the speed reducer 42 may not be limited to the above description.

The rotary joint module 4 further includes a first transmission member 46 and a second transmission member 47, the first transmission member 46 is connected to the output portion 422 of the speed reducer 42, the second transmission member 47 is fixedly connected to the end portion of the connecting shaft 43 close to the speed reducer 42, and the second transmission member 47 is rotatably connected to the first transmission member 46. The rotary connection between the speed reducer 42 and the connecting shaft 43 is realized through the first transmission piece 46 and the second transmission piece 47 in the embodiment.

In this embodiment, the second transmission member 47 may be a bevel gear coaxially and fixedly connected to one end of the connection shaft 43, and when the second transmission member 47 is a bevel gear, the first transmission member 46 is another bevel gear adapted to the bevel gear. The second transmission member 47 is designed by a bevel gear, so that the height of the rotary joint module 4 can be reduced to a certain extent, and the size of the mechanical arm 22 can be reduced. Of course, in other embodiments, the second transmission element 47 can also be in other forms, such as a synchronizing wheel, or other forms of gear.

In one embodiment, the revolute joint module 4 further includes a cross roller bearing 48. The cross roller bearing 48 includes an inner race bearing 481 and an outer race bearing 482. The inner race bearing 481 is rotatably connected to the outer race bearing 482. The inner ring bearing 481 is arranged on the periphery of the connecting shaft 43 and is coaxially and fixedly connected with the connecting shaft 43, and the outer ring bearing 482 is fixedly connected with the driving arm body, so that the connecting shaft 43 is fixedly connected with the driving arm body through the crossed roller bearing 48, and the connecting shaft 43 is also conveniently connected with the driven arm body in a rotating manner. The cross roller bearing 48 is particularly designed to facilitate load bearing to share the forces in the radial and axial directions of the connecting shaft 43.

One of the first dynamic friction plate 441 and the first static friction plate 442 is fixedly connected to the outer ring bearing 482, and the other is fixedly connected to the connecting shaft 43. For example, as shown in fig. 4, the first static friction plate 442 is fixedly connected to the outer ring bearing 482, and the first dynamic friction plate 441 is fixedly connected to the connecting shaft 43. That is, the first static friction sheet 442 is connected to the driving arm body through the outer ring bearing 482, but the first static friction sheet 442 may be connected to the driving arm body through another member in other embodiments. For another example, the first dynamic friction plate 441 is fixedly connected to the outer ring bearing 482, and the first static friction plate 442 is fixedly connected to the connecting shaft 43.

In some embodiments, the connecting shaft 43 is provided with a mounting groove 430 at the periphery thereof, the mounting groove 430 is provided at a side of the connecting shaft 43 away from the reducer 42, and the cross roller bearing 48 is provided in the mounting groove 430. It can be understood that the connecting shaft 43 is provided with a mounting groove 430 matched with the crossed roller bearing 48 at the periphery to accommodate and limit the crossed roller bearing 48, so that the crossed roller bearing 48 is stably fixed on the connecting shaft 43, and the overall stability of the rotary joint module is improved.

With continued reference to fig. 4, the rotational joint module 4 further includes a first flange 491 and a second flange 492. The first flange 491 is sleeved on the periphery of the connecting shaft 43, and includes an inner portion and an outer portion, the inner portion is close to the connecting shaft 43, the inner portion is connected between the outer ring bearing 482 and the first static friction sheet 442, and the outer portion is fixedly connected with the driving arm. That is, the outer race bearing 482 is fixedly connected to the drive arm via the first flange 491. Specifically, the first flange 491 may be fixedly connected to the sidewall of the driving arm through a housing 50 sleeved outside the first band-type brake 44, for example, the first flange 491 may be fastened to the sidewall of the driving arm through screws. Of course, in other embodiments, the inner portion may also be connected between the outer race bearing 482 and the first dynamic friction plate 441.

For example, the inner portion may be fastened to the outer race bearing 482 by screws, and the first friction plate 442 may be fastened to the inner portion of the first flange 491 by screws. Of course, in other embodiments, the inner portion may be fixedly connected to the outer ring bearing 482 and the first static friction plate 442 by other connection methods such as clamping, bonding, and the like.

In some embodiments, the inner portion of the first flange 491 includes a fixing groove 4910, the first static friction sheet 442 is fixed to the fixing groove 4910, and the fixing groove 4910 is used for restraining the first static friction sheet 442 so that the first static friction sheet 442 is stably fixed to the inner portion of the first flange 491.

The second flange 492 is sleeved on the periphery of the connecting shaft 43, and the second flange 492 is connected between the connecting shaft 43 and the first dynamic friction plate 441. The second flange 492 may be directly fixedly connected to the connecting shaft 43 or indirectly fixedly connected to the connecting shaft 43. As shown in fig. 4, the second flange 492 is fixedly connected to the second transmission member 47, and is connected to the connecting shaft 43 through the second transmission member 47. Of course, in other embodiments, the second flange 492 may be connected between the connecting shaft 43 and the first static friction plate 442.

For example, the second flange 492 can be screwed to the second transmission member 47. The first dynamic friction plate 441 and the second flange 492 can be connected and fixed by screwing. Of course, in other embodiments, the second flange 492, the second transmission member 47 and the first dynamic friction plate 441 may be fixedly connected by other connection methods such as clipping, bonding, etc.

Of course, the first flange 491 and the second flange 492 may be replaced by other connecting members, as long as they can achieve a reliable connecting and fixing function, and they are not limited in this respect. Each of the first flange 491 and the second flange 492 may be constituted by one flange, or may be constituted by connecting two or more flanges to each other in consideration of parameters such as a space size between the driving arm and the driven arm.

In some embodiments, a first annular groove 431 is formed in a contact area of the outer side of the connecting shaft 43 and the first flange 491. The first annular groove 431 is sleeved with a first elastic washer 432, and the first elastic washer 432 can be used for achieving shock absorption and sealing between the connecting shaft 43 and the first flange 491, so that on one hand, the rotating stability of the driven arm body relative to the driving arm body can be improved, and on the other hand, dust and the like can be prevented from entering from a gap between the connecting shaft 43 and the first flange 491 to cause adverse effects on the braking performance of the first band-type brake 44.

In some embodiments, a second annular groove 4921 is formed in the outer periphery of the second flange 492, a second elastic washer 4922 is sleeved on the second annular groove 4921, and the second elastic washer 4922 can be used to achieve shock absorption and sealing between the second flange 492 and the side wall of the driving arm body, so that on one hand, the stability of the driven arm body relative to the driving arm body in rotation can be improved, and on the other hand, dust and the like can be prevented from entering from a gap between the second flange 492 and the side wall of the driving arm body to adversely affect the braking performance of the first band-type brake 44.

The first elastic washer 432 and/or the second elastic washer 4922 may be a silicone washer, a rubber washer, or the like.

In some embodiments, if the output torque of the driving element 41 is large enough, the speed reducer 42 may be omitted, and only the first band-type brake 44 as described above needs to be disposed in the rotary joint module 4, which may also have other beneficial effects besides eliminating backlash of the speed reducer 42, that is, eventually, the problem of shaking of the distal end of the mechanical arm 22 due to external force may also be reduced or even overcome. Of course, the speed reducer 42 is arranged to match the motor 5 to improve the torque, so that the rotating speed can be better controlled, and the model selection requirement on the motor 5 can be reduced.

It should be noted that the above-mentioned rotary joint module 4 is also applicable to other structures of the robot arm 22, such as the adjusting arm 23, the manipulator arm 24, etc. shown in fig. 1, and the above-mentioned rotary joint module 4 can be used as long as the robot arm 22 that needs to rotate between the adjacent arm bodies.

The mechanical arm and the rotary joint module thereof have the following beneficial effects:

this application is through setting up first band-type brake 44 and second band-type brake 45, and under the power failure state, first band-type brake 44 plays the effect of overcoming speed reducer 42 back clearance, improving the rigidity of this rotation joint module in one side of speed reducer 42's output 422, avoids or reduces the unexpected rotation that appears between the adjacent arm body under the power failure state in the source. The second band-type brake 45 plays a role of overcoming the backlash of the speed reducer 42 and improving the rigidity of the rotary joint module on the side of the input part 421 of the speed reducer 42, and realizes the power-off braking on the side of the input part 421 of the speed reducer 42. That is to say, the first band-type brake 44 and the second band-type brake 45 respectively realize the power-off braking of the output part 422 side and the input part 421 side of the speed reducer 42, and the power-off braking is realized at both ends of the speed reducer 42, so that the braking of the speed reducer 42 can be better realized, the rigidity of the front end and the rear end of the rotary joint module is improved, and the problem of shaking caused by the external force applied to the far end of the mechanical arm 22 is reduced or even completely overcome. The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the utility model, and these changes and modifications are all within the scope of the utility model. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A revolute joint module, comprising:

the driving piece is fixedly connected with the driving arm body;

2. The revolute joint module of claim 1, wherein: the output shaft of the driving piece is exposed out of two opposite sides of the driving piece, the part of the output shaft exposed out of one side of the driving piece is connected with the input part of the speed reducer, and the part exposed out of the other side of the driving piece is fixedly connected with one of the second dynamic friction plate and the second static friction plate.

3. The revolute joint module according to claim 1 or 2, wherein:

the rotary joint module also comprises a crossed roller bearing, the crossed roller bearing comprises an inner ring bearing and an outer ring bearing which are mutually and rotatably connected, the inner ring bearing is arranged on the periphery of the connecting shaft and is coaxially and fixedly connected with the connecting shaft, and the outer ring bearing is fixedly connected with the driving arm body;

4. The revolute joint module according to claim 3, wherein:

the rotary joint module further comprises a first flange plate, the periphery of the connecting shaft is sleeved with the first flange plate, the first flange plate comprises an inner side portion and an outer side portion which are connected, the inner side portion is close to the connecting shaft, the inner side portion is connected between the outer ring bearing and the first dynamic friction plate or the first static friction plate, and the outer side portion is fixedly connected with the driving arm body.

5. The revolute joint module of claim 4, wherein:

the rotary joint module further comprises a second flange plate, the second flange plate is sleeved on the periphery of the connecting shaft, and the second flange plate is connected between the connecting shaft and the first static friction plate or the first dynamic friction plate.

6. The revolute joint module according to claim 5, wherein:

the rotary joint module further comprises a first transmission piece and a second transmission piece, the first transmission piece is connected with the output part of the speed reducer, the second transmission piece is fixedly connected to the end part, close to the speed reducer, of the connecting shaft, and the second transmission piece is in rotary connection with the first transmission piece; the second flange plate is fixedly connected to the second transmission piece, and is connected to the connecting shaft through the second transmission piece.

7. The revolute joint module according to claim 6, wherein: the first static friction plate is fixedly connected to the first flange plate, and the first dynamic friction plate is fixed to the second flange plate.

8. The revolute joint module according to claim 5, wherein:

the connecting shaft outside with first ring flange contact's region has seted up first annular groove, first annular groove cover is equipped with first elastic gasket in order to realize the connecting shaft with shock attenuation and sealing between the first ring flange.

9. The revolute joint module of claim 8, wherein:

and a second annular groove is formed in the outer peripheral edge of the second flange plate, and a second elastic gasket is sleeved on the second annular groove to realize the damping and sealing between the second flange plate and the side wall of the driving arm body.

10. An arm assembly comprising a driving arm, a driven arm and the rotary joint module as claimed in any one of claims 1 to 9, wherein the rotary joint module is connected between the driving arm and the driven arm.

11. A robot arm, comprising:

the arm bodies are arranged in a series structure;

wherein at least one pair of adjacent arms are rotatably connected by a rotary joint module according to any one of claims 1 to 9.

12. The mechanical arm as claimed in claim 11, wherein the plurality of arms of the mechanical arm comprise a first arm, a second arm, a third arm and a fourth arm which are arranged from the near end to the far end; the second arm body and the first arm body, the third arm body and the second arm body, and the fourth arm body and the third arm body are respectively connected through a rotary joint module so as to be capable of rotating relative to each other;

13. A robot comprising a base and a robot arm according to claim 11 or 12, said robot arm being connected to said base by a movable joint module and being liftable with respect to said base.