CN104626195A - Gas guide tube arrangement of mechanical arm and atmospheric mechanical arm - Google Patents
Gas guide tube arrangement of mechanical arm and atmospheric mechanical arm Download PDFInfo
- Publication number
- CN104626195A CN104626195A CN201310562914.2A CN201310562914A CN104626195A CN 104626195 A CN104626195 A CN 104626195A CN 201310562914 A CN201310562914 A CN 201310562914A CN 104626195 A CN104626195 A CN 104626195A
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- wireway
- mechanical arm
- section
- joint
- guide tube
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Abstract
The invention relates to the field of atmospheric mechanical arms, and particularly discloses a gas guide tube arrangement of a mechanical arm and the atmospheric mechanical arm adopting the gas guide tube arrangement. In the gas guide tube arrangement, a gas guide tube is in a spiral winding form in at least one joint of the mechanical arm. The wiring mode of the gas guide tube is improved, through spiral winding, the spiral gas guide tube contracts when the mechanical arm rotates, and therefore the gas guide tube can be prevented from being directly broken, the service life of the gas guide tube is prolonged, and the work reliability is ensured.
Description
Technical field
The present invention relates to atmospheric mechanical hand field, specifically disclose a kind of wireway for mechanical arm and arrange and corresponding atmospheric mechanical hand.
Background technology
Air guide loop is that atmospheric mechanical hand realizes capturing the most basic a kind of structure of function, existing atmospheric mechanical hand is mainly by arranging that this pattern of wireway carries out air guide, the gas circuit of existing wireway composition is gas circuit that is open or that not exclusively close, have part tracheorrhaphy and be distributed in mechanical hand outside, need other outer cover fitted seal.
The shortcoming of this wireway cabling mode is: have one section of tracheae to expose to mechanical arm in manipulator large arm and elbow axle, forearm and wrist shaft connection place, when axle rotates, tracheae often easily rubs, cause wireway to wear and tear even to break, have influence on the service life of mechanical hand dependability and wireway, severe patient can cause the paralysis of manipulator entirety; Moreover, due to the connection of manipulator large arm and elbow axle, forearm and wrist shaft connection place tracheae, elbow axle is corresponding on large arm housing position must offer circular hole, be used for tracheae of arranging, reduce rigidity and the intensity of large arm housing, affect the serviceability of equipment.
Therefore, the cabling mode improving air guide loop in mechanical arm is also needed.
Summary of the invention
The present invention is intended to solve the defect that in existing machinery arm, wireway is easy to wear, and the wireway improving mechanical arm is arranged.
The wireway that technical scheme of the present invention comprises a kind of mechanical arm is arranged, described wireway is spiral winding form at least one joint of described mechanical arm.Described joint can be at least one in shoulder, elbow, wrist joint.
In some embodiments, described wireway is connected with the hollow shaft of joint by the gas port be arranged on described mechanical arm each several part housing.
In some embodiments, described wireway is also fixed and is oriented in the housing of described mechanical arm by least one pipe pressing plate in arranging by described wireway.
In some embodiments, at the epimere of described mechanical arm, after the top shaft shoulder of upper shell described in described wireway spiral winding, and be connected floral disc and connect, and fixed by the pipe pressing plate of described connection floral disc.
In some embodiments, in the large arm section of described mechanical arm, described wireway enters from the gas port be located at large arm housing, passes from the gas port being located at ancon lower cover, and is fixed by least one pipe pressing plate in described large arm section and orientation.
In some embodiments, in the forearm section of described mechanical arm, described wireway is entered by hollow shaft and ancon upper belt-wheel, after spiral winding wrist axle, pass from upper finger hollow position, and fixed and orientation by least one pipe pressing plate and at least one Timing Belt demarcation strip in described forearm section.
In some embodiments, in the finger section of described mechanical arm, described wireway enters from upper finger hollow position, by the passage in end gusset piece, is connected to barb joint.
The present invention also discloses a kind of atmospheric mechanical hand on the other hand, comprises epimere, large arm section, forearm section and finger section, adopts wireway of the present invention to arrange in each several part of described atmospheric mechanical hand.
Present invention improves over the cabling mode of wireway, by spiral winding, make when mechanical arm is when rotating, spiral air-conducting pipe contractile motion, avoids wireway to be directly pulled off, and extends the service life of wireway, and ensure that functional reliability.Utilize gas port, hollow shaft to connect further, and use pipe pressing plate fixed guide, wireway is completely enclosed within manipulator inside, improves intensity and the aesthetic property of manipulator housing.
Accompanying drawing explanation
Fig. 1 is according to preferred embodiment, and the wireway of section is arranged on a robotic arm.
Fig. 2 is according to preferred embodiment, arranges at the wireway of the large arm section of manipulator.
Fig. 3 is according to preferred embodiment, arranges at the wireway of the forearm section of manipulator.
Fig. 4 is according to preferred embodiment, arranges at the wireway of the finger section of manipulator.
Reference numeral:
11,21,31,41 wireways; 12,22,32 pipe pressing plates; 13 upper shells; 23 large arm housings; 33 little arm housings; 14 shaft shoulders; 24 gas ports; 34 ancon upper belt-wheels; 15 connect floral disc; 25 belts; 35 synchronous cog belts; 26,36 ancon lower covers; 37 Timing Belt demarcation strips; 38 wrist axles; On 42, finger connects; 43 end gusset pieces; 44 barb joints
Detailed description of the invention
Atmospheric mechanical hand mainly comprises epimere, large arm section, forearm section and finger section.In the wireway layout of the mechanical arm of prior art, wireway is exposed to outside mechanical hand and is not exclusively wrapped in mechanical hand inside, not only affects attractive in appearance, also the easy generation abrasion when joint shaft rotates; In addition, by arranging that the mode of wireway can reduce the mechanical strength of housing in the perforate of elbow axle.The wireway that the present invention improves mechanical arm is for this reason arranged, to ensure, under the condition that mechanical hand housing is complete, to realize sealing distribution, is increasing casing rigidity, attractive in appearance, extends the service life of wireway and promote its functional reliability.
In arranging according to the wireway of mechanical arm of the present invention, wireway is at least one joint of mechanical arm, and such as, at least one or more place in shoulder axle, elbow axle, wrist axle is spiral winding form.Wireway is become and is similar to the spring that can stretch, thus when axle rotates, spiral air-conducting pipe correspondingly shrinks operation, so avoids the wearing and tearing of wireway, prevents from breaking.Improve the functional reliability of manipulator.
According to the present invention, the connection of wireway between each several part of mechanical arm is realized by the hollow shaft being arranged on gas port on each several part housing and joint.And in the preferred situation, also use at least one pipe pressing plate, make wireway in the housing internal fixtion of mechanical arm and orientation.Which reduce because of perforate on the joint shaft corresponding site of mechanical arm housing, and cause the infringement to housing rigidity and intensity.Improve mechanical strength and the serviceability of atmospheric mechanical hand.In addition, wireway can be completely sealed in housing, not only attractive in appearance, also reduces and seals for outer cover the burden and cost that cause.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail, drawings and Examples should be understood and only preferred embodiment is shown, but not limiting the scope of the invention.Because the wireway in mechanical arm arranges point several sections of cablings, below with reference to Fig. 1 to Fig. 4 from epimere, large arm section, forearm section and finger section four parts, the wireway describing the preferred embodiment of the present invention is respectively arranged.
First with reference to figure 1, be the wireway arrangement of mechanical arm epimere.As shown in the figure, wireway 11 first from magnetic valve out after, by the through hole of upper shell 13.Wireway 11 is spirally wound on the uppermost shaft shoulder 14 of upper shell 13, be wound around after certain angle be connected floral disc 15 above and connect, and be connected to next part.Wherein there is pipe pressing plate 12 that wireway 11 is fixed at connection floral disc 15 place.
With reference to figure 2, illustrate and to arrange at the wireway of the large arm section of manipulator.As shown in the figure, pass in the gas port 24 in the first large arm housing 23 of wireway 21, by two pipe pressing plates 22, wireway 21 is fixing and be oriented in the intra-zone of belt 25.Pass from the gas port 24 ancon lower cover 26 again, be connected to next part.
With reference to figure 3, illustrate and to arrange at the wireway of the forearm section of manipulator.As shown in the figure, wireway 31 from large arm section out after, by hollow shaft and ancon upper belt-wheel 34 cabling.In little arm housing 33 inside successively by two tracheae Timing Belt demarcation strips 37 and a pipe pressing plate 32, be fixed and the intra-zone being oriented in synchronous cog belt 35, finally by ancon lower cover 36 and wrist axle 38, pass after upper finger hollow position spiral winding certain angle.
With reference to figure 4, illustrate and to arrange at the wireway of the finger section of manipulator.As shown in the figure, wireway 41 from upper finger connection 42 out, is connected to barb joint 44 by cable tray special in end gusset piece 43.In some embodiments, in the finger section of described mechanical arm, described wireway enters from upper finger hollow position, by the passage in end gusset piece, is connected to barb joint
Present invention improves over the cabling mode of wireway, by spiral winding, make when mechanical arm is when rotating, spiral air-conducting pipe contractile motion, avoids wireway to be directly pulled off, and extends the service life of wireway, and ensure that functional reliability.Utilize gas port, hollow shaft to connect further, and use pipe pressing plate fixed guide, wireway is completely enclosed within manipulator inside, improves intensity and the aesthetic property of manipulator housing.
The above the specific embodiment of the present invention, does not form limiting the scope of the present invention.Any various other done by technical conceive of the present invention change and distortion accordingly, all should be included in the protection domain of the claims in the present invention.
Claims (9)
1. the wireway of a mechanical arm is arranged, it is characterized in that, described wireway is spiral winding form at least one joint of described mechanical arm.
2. wireway as claimed in claim 1 is arranged, wherein, described joint is at least one in shoulder, elbow, wrist joint.
3. wireway as claimed in claim 2 is arranged, wherein, described wireway is connected with the hollow shaft of joint by the gas port be arranged on described mechanical arm each several part housing.
4. wireway as claimed in claim 3 is arranged, wherein, by least one pipe pressing plate, described wireway is fixed and is oriented in the housing of described mechanical arm.
5. wireway as claimed in claim 4 is arranged, wherein, at the epimere of described mechanical arm, after the top shaft shoulder of upper shell described in described wireway spiral winding, and is connected floral disc and connects, and fixed by the pipe pressing plate of described connection floral disc.
6. wireway as claimed in claim 4 is arranged, wherein, in the large arm section of described mechanical arm, described wireway enters from the gas port be located at large arm housing, pass from the gas port being located at ancon lower cover, and fixed by least one pipe pressing plate in described large arm section and orientation.
7. wireway as claimed in claim 4 is arranged, wherein, in the forearm section of described mechanical arm, described wireway is entered by hollow shaft and ancon upper belt-wheel, after spiral winding wrist axle, pass from upper finger hollow position, and fixed and orientation by least one pipe pressing plate and at least one Timing Belt demarcation strip in described forearm section.
8. wireway as claimed in claim 4 is arranged, wherein, in the finger section of described mechanical arm, described wireway enters from upper finger hollow position, by the passage in end gusset piece, is connected to barb joint.
9. an atmospheric mechanical hand, comprises epimere, large arm section, forearm section and finger section, it is characterized in that, adopts the wireway as described in claim 1 to 8 to arrange in each several part of described atmospheric mechanical hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310562914.2A CN104626195A (en) | 2013-11-12 | 2013-11-12 | Gas guide tube arrangement of mechanical arm and atmospheric mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310562914.2A CN104626195A (en) | 2013-11-12 | 2013-11-12 | Gas guide tube arrangement of mechanical arm and atmospheric mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104626195A true CN104626195A (en) | 2015-05-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310562914.2A Pending CN104626195A (en) | 2013-11-12 | 2013-11-12 | Gas guide tube arrangement of mechanical arm and atmospheric mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104626195A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108568830A (en) * | 2017-03-14 | 2018-09-25 | 通用汽车环球科技运作有限责任公司 | Robot system with the end effector component that can be re-matched |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1575220A (en) * | 2001-10-22 | 2005-02-02 | 株式会社安川电机 | Industrial robot |
| CN1788943A (en) * | 2004-12-16 | 2006-06-21 | 精工爱普生株式会社 | Horizontal articulated robot |
| JP2008018475A (en) * | 2006-07-10 | 2008-01-31 | Rorze Corp | Wiring or piping mechanism of revolving part |
| CN103192373A (en) * | 2012-01-05 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Manipulator with gas guiding pipe therein |
-
2013
- 2013-11-12 CN CN201310562914.2A patent/CN104626195A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1575220A (en) * | 2001-10-22 | 2005-02-02 | 株式会社安川电机 | Industrial robot |
| CN1788943A (en) * | 2004-12-16 | 2006-06-21 | 精工爱普生株式会社 | Horizontal articulated robot |
| JP2008018475A (en) * | 2006-07-10 | 2008-01-31 | Rorze Corp | Wiring or piping mechanism of revolving part |
| CN103192373A (en) * | 2012-01-05 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Manipulator with gas guiding pipe therein |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108568830A (en) * | 2017-03-14 | 2018-09-25 | 通用汽车环球科技运作有限责任公司 | Robot system with the end effector component that can be re-matched |
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Application publication date: 20150520 |
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| WD01 | Invention patent application deemed withdrawn after publication |