CN105563518A - Mechanical arm and robot - Google Patents
Mechanical arm and robot Download PDFInfo
- Publication number
- CN105563518A CN105563518A CN201610084057.3A CN201610084057A CN105563518A CN 105563518 A CN105563518 A CN 105563518A CN 201610084057 A CN201610084057 A CN 201610084057A CN 105563518 A CN105563518 A CN 105563518A
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- China
- Prior art keywords
- arm
- wire drawing
- rotating shaft
- trunnion mount
- hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
- B25J17/025—One-dimensional joints mounted in series
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm. The mechanical arm comprises a first arm component, a second arm component, a pivot base, a third arm component and a drawn wire, wherein the second arm component is rotationally connected with the first arm component through a first rotating shaft; the first rotating shaft is substantially perpendicular to the length directions of the first arm component and the second arm component; the pivot base is rotationally connected with the second arm component and the third arm component; and the drawn wire is fixedly connected with at least one of the first arm component, the second arm component and the third arm component. The mechanical arm can enable the arm component connected with the drawn wire to rotate corresponding to the other arm component through pulling the drawn wire; and under the condition, a driving device for pulling the drawn wire can be not limited to arrange in the rotary connecting place of the two arm components, but is arranged out of the mechanical arm to relieve self weight of the mechanical arm and to simplify the structure of the mechanical arm.
Description
Technical field
The present invention relates to robot field, be specifically related to a kind of mechanical arm and robot.
Background technology
The drive unit of existing machinery arm is generally positioned at the joint that two arm are rotationally connected, and cause mechanical arm to be conducted oneself with dignity excessive, and articulation structure is complicated.
Summary of the invention
The present invention is intended to solve one of technical problem in correlation technique at least to a certain extent.For this reason, the present invention proposes a kind of mechanical arm and robot.
The mechanical arm of embodiment of the present invention comprises: first-hand arm member; Second-hand's arm member, described second-hand's arm member is connected with described first-hand arm member rotationally by the first rotating shaft, and described first rotating shaft is basically perpendicular to the length direction of described first-hand arm member and described second-hand's arm member; Trunnion mount; 3rd arm, described trunnion mount is rotationally connected described second-hand's arm member and described 3rd arm; Wire drawing, described wire drawing is fixedly connected with at least one arm in described first-hand arm member, described second-hand's arm member and described 3rd arm.
Mechanical arm of the present invention can be rotated relative to another arm by the arm pulling wire drawing to make to be connected with wire drawing, in the case, what pull the drive unit of wire drawing can be not limited to be arranged on two arm is rotationally connected place, but be arranged on outside mechanical arm, thus alleviate the deadweight of mechanical arm, simplify the structure of mechanical arm.Meanwhile, under the pulling force effect of wire drawing, arm can swing around another one arm, thus realizes weave control.
In some embodiments, each arm in described first-hand arm member and described second-hand's arm member is extended with arm connector along the length direction of described arm, described arm connector is formed with axis hole, and described first axis of rotation wears described axis hole thus described first-hand arm member and described second-hand's arm member is rotationally connected.
In some embodiments, described arm connector comprises two rotating shaft support frames of spaced and parallel setting, described axis hole is opened on described two rotating shaft support frames, and described two rotating shaft support frames of arm described in one of them are arranged between described two rotating shaft support frames of arm described in another.
In some embodiments, described rotating shaft support frame comprises first surface and the second surface opposing with described first surface, described arm connector comprises along described first surface to the wire drawing disk extended away from described second surface direction, the axis of described wire drawing disk is coaxial with described first rotating shaft, the size of described wire drawing disk is greater than the size of described first rotating shaft, described wire drawing comprises the first arm wire drawing, and described first arm wire drawing is around described wire drawing disk and be fixedly connected with described rotating shaft support frame.
In some embodiments, described wire drawing comprises the second arm wire drawing and trunnion mount wire drawing, and described second arm wire drawing is fixedly connected with described 3rd arm, and described trunnion mount wire drawing is fixedly connected with described trunnion mount.
In some embodiments, described trunnion mount is rotationally connected by the second rotating shaft and described second-hand's arm member, and is rotationally connected by the 3rd rotating shaft and described 3rd arm;
Described second rotating shaft is mutually vertical with described 3rd rotating shaft, and described second arm wire drawing is around described 3rd rotating shaft, and described trunnion mount wire drawing is around described second rotating shaft;
The axis of described second rotating shaft and the axis of described 3rd rotating shaft are intersected in a bit.
In some embodiments, one end of described 3rd arm is extended with rotating shaft support frame along the length direction of described 3rd arm, described rotating shaft support frame offers the first axis hole, described trunnion mount offers the second axis hole, wears described first axis hole and described second axis hole described 3rd axis of rotation.
In some embodiments, described rotating shaft support frame comprises spaced two bracing frames, and described first axis hole is opened on support frame as described above, and described trunnion mount is between described two bracing frames.
In some embodiments, support frame as described above comprises the first bracing frame surface towards described trunnion mount, described first bracing frame is provided with wire drawing disk on the surface, described second arm wire drawing is around on described wire drawing disk, described wire drawing disk and described 3rd rotating shaft are coaxially arranged, and the size of described wire drawing disk is greater than the size of described 3rd rotating shaft.
In some embodiments, one end away from described second-hand's arm member of described first-hand arm member is extended with rotating shaft support frame along the length direction of described second-hand's arm member, described rotating shaft support frame offers Triaxial hole, described trunnion mount offers the 4th axis hole, wears described Triaxial hole and described 4th axis hole described second axis of rotation.
In some embodiments, described trunnion mount comprises the first trunnion mount surface towards described second-hand's arm member, described first trunnion mount is provided with wire drawing disk on the surface, described trunnion mount wire drawing is around on described wire drawing disk, described wire drawing disk and described second rotating shaft are coaxially arranged, and the size of described wire drawing disk is greater than the size of described second rotating shaft.
The robot of embodiment of the present invention, comprises the mechanical arm described in above arbitrary embodiment.
The robot of embodiment of the present invention owing to comprising above-mentioned mechanical arm, thus alleviates deadweight, and improves the load efficiency of robot simultaneously.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the first schematic perspective view of the mechanical arm of embodiment of the present invention.
Fig. 2 is the second schematic perspective view of the mechanical arm of embodiment of the present invention.
Fig. 3 be the mechanical arm of embodiment of the present invention the 3rd schematic perspective view.
Fig. 4 is the part isometric schematic diagram of the mechanical arm of embodiment of the present invention.
Fig. 5 is another part isometric schematic diagram of the mechanical arm of embodiment of the present invention.
Fig. 6 is I enlarged diagram of the mechanical arm of Fig. 5.
Fig. 7 is the schematic perspective view of the wire drawing of the mechanical arm of embodiment of the present invention.
4th schematic perspective view of the mechanical arm of Fig. 8 embodiment of the present invention.
Fig. 9 is the 5th schematic perspective view of the mechanical arm of embodiment of the present invention.
Figure 10 is the arm of the mechanical arm of Fig. 9 and the connection schematic perspective view of wire drawing and rotating shaft.
Figure 11 is the wire drawing schematic perspective view of the mechanical arm of Fig. 9.
Figure 12 is the arm of the mechanical arm of Fig. 9 and the connection diagram of wire drawing.
Figure 13 is the 6th schematic perspective view of the mechanical arm of embodiment of the present invention.
Figure 14 is the 7th schematic perspective view of the mechanical arm of embodiment of the present invention.
Figure 15 is the 8th schematic perspective view of the mechanical arm of embodiment of the present invention.
Figure 16 is the schematic perspective view of the last arm component of the mechanical arm of embodiment of the present invention.
Figure 17 is the trunnion mount of the mechanical arm of embodiment of the present invention and the schematic perspective view of rotating shaft.
Figure 18 is the schematic perspective view of the arm wire drawing of the mechanical arm of embodiment of the present invention.
The part isometric schematic diagram of the mechanical arm of Figure 19 embodiment of the present invention.
Figure 20 is another part schematic perspective view of the mechanical arm of embodiment of the present invention.
Figure 21 is the another part isometric schematic diagram of the mechanical arm of embodiment of the present invention.
Figure 22 is the schematic perspective view of the trunnion mount wire drawing of the mechanical arm of embodiment of the present invention.
Figure 23 is the schematic perspective view of another arm of the mechanical arm of embodiment of the present invention.
Figure 24 is the 9th schematic perspective view of the mechanical arm of embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described further.In accompanying drawing, same or similar label represents same or similar element from start to finish or has element that is identical or similar functions.
In addition, the embodiments of the present invention described below in conjunction with accompanying drawing are exemplary, only for explaining embodiments of the present invention, and can not be interpreted as limitation of the present invention.
Refer to Fig. 1-3, the mechanical arm 100 of embodiment of the present invention comprises two arm 20 and 10 wire drawings 30 be fixedly connected with one of them arm 20 around the shaft that are rotationally connected by rotating shaft 10.Rotating shaft 10 is basically perpendicular to the length direction (double-head arrow direction as shown in Figure 1) of arm 20.
The mechanical arm 100 of embodiment of the present invention can be rotated relative to another arm 20 by the arm 20 pulling wire drawing 30 to make to be connected with wire drawing 30, in the case, the joint pulling the drive unit of wire drawing 30 can be not limited to be arranged on two arm 20 to be rotationally connected, but other suitable positions can be arranged on, or even be arranged on outside mechanical arm 100, thus alleviate the deadweight of mechanical arm 100, simplify the articulation structure of mechanical arm 100 simultaneously.Meanwhile, under the pulling force effect of wire drawing 30, arm 20 can swing around another one arm 20, thus realizes weave control.
See also Fig. 4 and Fig. 5, in some embodiments, arm 20 is the tubular structure of hollow form and both ends open, and such as in some examples, arm 20 is circular tube shaped.
So, the deadweight of arm 20 can be alleviated, thus alleviate the deadweight of mechanical arm 100 further.
It will be appreciated, of course, that arm 20 is not limited to the structure of embodiment discussed above, and in other embodiments, other suitable structures can be adopted as required.
In some embodiments, one end of arm 100 is extended with arm connector 21 along the length direction of arm 20.Arm connector 21 is formed with axis hole 22.Rotating shaft 10 rotate wear two arm 20 axis hole 22 in thus two arm 20 are rotationally connected.
So, rotation connection structure is simple, facilitates design and manufacture.
In some embodiments, arm connector 21 can be interval and be arranged in parallel two rotating shaft support frames 210, and each rotating shaft support frame 210 is formed with axis hole 22, and the axis hole 22 on two rotating shaft support frames 210 of same arm connector 21 aligns.
Such as, in some embodiments, arm 20 can comprise lower arms component 20 and last arm component 20 (please refer to the drawing 1).
Interval between two rotating shaft support frames 210 of lower arms component 20 can be larger than the interval of two of last arm component 20 rotating shaft support frame 210, so, two rotating shaft support frames 210 of lower arms component 20 form pin joint seat, and two of last arm component 20 rotating shaft support frames 210 can be arranged on (namely in embedding pin joint seat) between lower arms component 20 two rotating shaft support frames 210.Then be located in axis hole 22 by rotating shaft 10 and realize being rotationally connected of two arm 20.
In some embodiments, rotating shaft 10 can be straight pin, and it is fixing to wear axis hole 22.
So, be formed with receiving space between two rotating shaft support frames 210 of arm connector 21, other elements or other project organizations can be set, therefore improve the design freedom of the joint of mechanical arm 100.
Certainly, in other embodiments, the rotation connection structure between arm 20 can be not limited to embodiment discussed above, can change depending on real needs.
See also Fig. 7, wire drawing 30 can be flexible stainless steel wire or the satisfactory wire drawing of intensity of other materials.Wire drawing 20 can comprise link 31 and pull end 32.
In some embodiments, the rotating shaft support frame 210 of the arm connector 21 of last arm component 20 comprises first surface 211 and the second surface 212 opposing with first surface 211.Arm connector 21 comprises and has extended to form wire drawing disk 213 laterally along first surface 211.Axis and the rotating shaft 10 of wire drawing disk 213 are coaxially arranged, and the size of wire drawing disk 213 is greater than the size of rotating shaft 10, and wire drawing 30 is fixedly connected with rotating shaft support frame 210 after wire drawing disk 213.
Be appreciated that in embodiment discussed above, namely wire drawing 30 is 10 arrange around the shaft around wire drawing disk 213.So can increase wire drawing 30 pulls the rotation arm of force of arm 20 to make wire drawing 30 pull arm 20 more laborsaving.Thus, the drive unit of smaller power can be adopted to pull wire drawing.
In some embodiments, axis hole 22 runs through wire drawing disk 213 along the axis of wire drawing disk 213.So, ensure that wire drawing disk 213 is coaxial with rotating shaft 10, thus effectively can increase the rotation arm of force that wire drawing 30 pulls arm 20.
Axle supporting surface 210 is formed with the first connecting hole 214 (see Fig. 5 and Fig. 6) running through first surface 211 and second surface 212 outside wire drawing disk 213.The size of the first connecting hole 214 is greater than the transversal dimensions of wire drawing, wears to allow wire drawing 30.The link 31 of wire drawing 30 can be formed with the plush copper 311 that size is greater than the first connecting hole 214.
So, the end 32 that pulls of wire drawing 30 pulls until the plush copper 311 of link 31 (see Fig. 8) is fastened on the first connecting hole 214 wire drawing 30 can be fixed on rotating shaft support frame 210 around wire drawing disk 213 from second surface 212 side through after the first connecting hole 214.
Being appreciated that by arranging the radian of wire drawing 30 around wire drawing disk 213 according to wire drawing 30 around on the position arranging the first connecting hole 214, such as, is 180 degree.Thus the angle that wire drawing 30 pulls arm 20 to rotate can be controlled.
In some embodiments, wire drawing 30 comprises two, and two wire drawings 20 are arranged on two rotating shaft support frames 210 of arm 20 respectively, and around on the contrary, so, arm can be pulled to rotate along two rightabouts.In conjunction with the structure that every root wire drawing 30 can pull arm 20 to rotate, the angle that two arm 20 can rotate mutually can be obtained.Such as, a wire drawing 30 can pull arm 20 to rotate 180 degree, and another root wire drawing 30 can pull arm 20 to rotate-180 degree, thus wire drawing 30 can pull arm 20 to rotate-180 degree to 180 degree.
Be appreciated that two rhizoids 30 around to the mutual slewing area that can expand arm on the contrary.
Certainly, specifically arranging of wire drawing 30 can be not limited to embodiment discussed above, and demand of can looking in other embodiments is arranged.
See also Fig. 8, in some embodiments, mechanical arm 100 comprises balancing spring 40.Two arm 20 are connected by balancing spring 40.
So, the deadweight of the support force balancing machine arm 100 provided by balancing spring 40, is made the start-up and operation of mechanical arm 100 more stable, and can increase the load capacity of mechanical arm 100, improves drive efficiency.
In some embodiments, balancing spring 40 comprises two, and is fixedly connected with two rotating shaft support frames 210 respectively.Balancing spring 40 two ends are connected with two arm 20 respectively, when arm 20 relatively rotates, need overcome the pulling force of balancing spring 40.When two arm 20 relatively rotate to all be in vertical position time, the center of gravity being in the arm 20 of upper end is in rotating shaft 10 center substantially, and now the counter balance torque that provides of balancing spring 40 is minimum; When the arm 20 of upper end relatively rotate to be horizontal time, from rotating shaft 10 center farthest, now the counter balance torque that provides of balancing spring 40 is close to maximum for the center of gravity of the arm 20 of upper end.So, balancing spring 40 can the deadweight of balancing machine arm 100, thus improves the drive unit service efficiency of driving device arm 100.
In some embodiments, balancing spring 40 comprises line spring, and comprises carbine 41.The second surface 212 of arm connector 21 is provided with connecting axle 215.Balancing spring 40 is arranged on connecting axle 215 by carbine 41.
So, balancing spring 40 is connected with connecting axle 215 by carbine 41 and is arranged in the described receiving space of arm connector 21, thus realizes the effect of balance arm 20 deadweight.
In some embodiments, connecting axle 215 can be straight pin.The second surface 212 of arm connector 21 offers screwed hole.Described straight pin and described screwed hole threaded engagement and be arranged on second surface 212.
In other embodiments, connecting axle 215 can be arranged on second surface 212 by suitable modes such as welding, therefore, it should be noted that, is not restricted to straight pin discussed above.
Certainly, in other embodiments, balancing spring 40 can also be torsion spring.Therefore, it should be noted that, balancing spring 40 is not limited in line spring discussed above.
Refer to Fig. 9 and Figure 10, embodiment of the present invention provides a kind of mechanical arm 100a, and mechanical arm 100a comprises two the arm 20a be rotationally connected by rotating shaft 10a.
In the orientation shown in Fig. 9, the wire drawing 30a of mechanical arm 100a is fixedly connected with position at upper arm 20a.
In the present embodiment, rotating shaft 10a is basically parallel to the length direction (double-head arrow direction as shown in Figure 9) of arm 20a.
So, under the pulling force effect of wire drawing 30a, arm 20a can rotate around another one arm 20a, thus realizes rotating control.
In some embodiments, two arm 20a in relative rotation angle comprise-180 degree to 180 degree.
Can arrange relative angle according to demand, in some embodiments, arm 20a has larger slewing area, goes for more occasion.
In some embodiments, rotating shaft 10a two ends are fixedly connected with one end of two arm 20a and at least one end and at least one arm 20a are rotationally connected respectively.
So, mechanical arm 100a forms rotational structure, and can arrange as the case may be.
See also Figure 10, Figure 11 and Figure 12, in some embodiments, rotating shaft 10a and one of them arm 20a (position under arm 20a) is rotationally connected.Rotating shaft 10a comprises first surface 11a and the second surface 12a opposing with first surface 11a.Rotating shaft 10a offers the second connecting hole 13a running through first surface 11a and second surface 12a.Wire drawing 30a comprises link 31a and pulls end 32a.Link 31a is formed with plush copper 311a.End 32a is pulled to pull until the described plush copper 311a of link 31a to be fastened in the second connecting hole 13a thus to be fixed on rotating shaft 10a by wire drawing 30a around first surface 11a from the second surface 12a side of rotating shaft 10a through after the second connecting hole 13a.
So, two wire drawing 30a are directly set around the cradle head place of arm 20a formation, thus realize rotating control by wire drawing 30a.
In some embodiments, arm 20a is the structure of hollow and both ends open.Wire drawing 30a wears arm 20a.End 32a is pulled to make a stretch of the arm component 20a.
So, wire drawing 30a makes a stretch of the arm along arm 20a inside component 20a, be beneficial to protection wire drawing 30a, and structure is attractive in appearance compact.Further, the pulling of component 20a that make a stretch of the arm holds 32a to be directly connected with the drive unit be arranged at outside mechanical arm 100a.
In some embodiments, rotating shaft 10a is bearing.Two arm joint component 21a of two arm 20a are connected with described bearing enclose respectively.Two arm joint component 21a (Figure 12) are produced relative rotation by described bearing.
So, the syndeton of arm 20a is simple, and the frictional force of the junction of two of mechanical arm 100a arm joint component 21a and bearing is less.
Particularly, described bearing in some embodiments can be crossed roller bearing.
So, described bearing can bear radial load and axial force simultaneously.
In present embodiment, wire drawing 30a comprises two.Wire drawing 30a is identical with wire drawing 30.
Two wire drawing 30a can drive an arm 20a to rotate along positive and negative contrary direction relative to another arm 20a individually respectively.
In some embodiments, mechanical arm 100a comprises steering bearing 40a (Fig. 9).Cod 40a is arranged in arm 20a.Wire drawing 30a pulls direction by steering bearing 40a change wire drawing 30a's.
So, and can carry out arranging wire drawing 30a as the case may be pull direction, the length direction that wire drawing 30a is basically perpendicular to arm 20a by steering bearing 40a becomes the length direction being basically parallel to arm 20a, be convenient to the driving of mechanical arm 100a, wire drawing 30a is facilitated to pass through in the middle of arm 20a, improve the stability that mechanical arm 100a runs, avoid wire drawing 30a exposed outside arm 20a, make compact appearance attractive in appearance simultaneously.
In present embodiment, steering bearing 40a is arranged in arm 20a.So, syndeton simple and stable.
Particularly, in present embodiment, arm 20a offers accepting hole 22a.Steering bearing 40a is arranged in accepting hole 22a.
In present embodiment, rotating shaft 10a is housed in arm 20a.
Particularly, in the example depicted in fig. 12, mechanical arm 100a comprises last arm component 20aa and lower arms component 20ab.Rotating shaft 10a is contained in lower arms component 20ab.So, structure is simple, saves space.
In present embodiment, rotating shaft 10a offers winding slot.Wire drawing 30a is housed in winding slot.
So, wire drawing 30a can stably be fixed on rotating shaft 10a.
Particularly, in the example depicted in fig. 12, wire drawing 30a wears the second connecting hole 13a and is housed in winding slot, and the end 32a that pulls of wire drawing 30a stretches out through the sidewall of lower arms component 20ab.
Refer to Figure 13, the mechanical arm 700 of embodiment of the present invention comprises two arm 710, trunnion mount 720 and arm wire drawing 740.Trunnion mount 720 is connected with two arm 710 respectively rotationally by rotating shaft 730.Arm wire drawing 740 730 is fixedly connected with one of them arm 710 around the shaft.
The mechanical arm 700 of embodiment of the present invention can make the arm 710 be connected with arm wire drawing 740 rotate by pulling arm wire drawing 740, in the case, what pull the drive unit of arm wire drawing 740 can be not limited to be arranged on two arm 710 is rotationally connected place, but be arranged on outside mechanical arm 700, thus alleviate the deadweight of mechanical arm 700, simplify the structure of mechanical arm 700.
In present embodiment, arm 710 is hollow and the structure of both ends open.
So, the deadweight of arm 710 can be alleviated, thus alleviate the deadweight of mechanical arm 700 further.
Particularly, in present embodiment, arm 710 is circular tube shaped.
In present embodiment, trunnion mount 720 is substantially in cube-shaped.In other embodiments, trunnion mount 720 can in the suitable shape such as rectangular-shaped, and therefore, what be not restricted in present embodiment is cube-shaped.
Further, in present embodiment, trunnion mount 720 is the structure of both ends open.So, the deadweight of trunnion mount 720 can be alleviated, thus alleviate the deadweight of mechanical arm 700 further.
It will be appreciated, of course, that trunnion mount 720 is not limited to the structure of embodiment discussed above, and in other embodiments, other suitable structures can be adopted according to actual needs.
In present embodiment, rotating shaft 730 is basically perpendicular to the length direction (double-head arrow direction as shown at 13) of arm 710.
So, under the pulling force effect of arm wire drawing 740, arm 710 can swing around trunnion mount 720, thus realizes weave control.Such as, in the example depicted in fig. 14, two arm 710 are respectively last arm component 710a and lower arms component 710b, last arm component 710a and lower arms component 710b and are all rotationally connected trunnion mount 720.Arm wire drawing 740 is fixedly connected with last arm component 710a.Under the pulling force effect of arm wire drawing 740, arm wire drawing 740 drives last arm component 710a to rotate relative to trunnion mount 720.
In present embodiment, mechanical arm 700 also comprises trunnion mount wire drawing 750 (see Figure 13).Trunnion mount wire drawing 750 730 is fixedly connected with trunnion mount 720 around the shaft.
So, under the active force of trunnion mount wire drawing 750, trunnion mount 710 730 is rotated around the shaft, thus drives trunnion mount 710 to rotate relative to arm 710, such as, in the example shown in Figure 21, rotates relative to lower arms component 710b.
Particularly, in present embodiment, rotating shaft 730 comprises the first rotating shaft 731 and the second rotating shaft 732.First rotating shaft 731 is mutually vertical with the second rotating shaft 732.Arm wire drawing 740 is around the first rotating shaft 731.Trunnion mount wire drawing 750 is around the second rotating shaft 732.The axis of the first rotating shaft 731 and the axis of the second rotating shaft 732 are intersected in a bit.
So, when last arm component 710a rotates around trunnion mount 720 under the active force of arm wire drawing 740, lower arms component 710b can not be affected, simultaneously, when trunnion mount 720 is rotated relative to lower arms component 710b under the active force of trunnion mount wire drawing 750, last arm component 710a can not be affected.First rotating shaft 731 and the second rotating shaft 732 are mutually vertical thus can form gimbal suspension, thus the arm 710 of mechanical arm 700 can be made to rotate relative to trunnion mount 720, and the angle between two arm 710 can rotate relative to trunnion mount 20 along with two arm 710 and change.
Such as, last arm component 710a is rotated around trunnion mount 720 by the first rotating shaft 731, and lower arms component 710b is rotated around trunnion mount 720 by the second rotating shaft 732, and then achieves the variable angle between two arm 10.
Arm 710a is in A position in fig. 14, upper, and now, the axis of last arm component 710a and the axis of lower arms component 710b are on same axis substantially, and the angle between two arm 710 is close to 180 degree.When last arm component 710a rotates, lower arms component 710b can be fixed, when last arm component 710a is subject to the active force of arm wire drawing 740, last arm component 710a is rotated around trunnion mount 720 by the first rotating shaft 731.Rotate result as shown in figure 15, under the active force of arm wire drawing 740, last arm component 710a carries out turning to B position around trunnion mount 720.Now, the axis of last arm component 710a is substantially vertical with the axis of lower arms component 710b, angle between two arm 710, close to 90 degree, certainly, can enter to pull arm wire drawing 740 to make angle between two arm 710 between 100 ~ 120 degree.
Be appreciated that in other embodiments, under the active force of arm wire drawing 740, the angle between last arm component 710a and lower arms component 710b can rotate around trunnion mount 720 along with last arm component 710a and change.Therefore, it should be noted that, this example only can carry out rotating and mutually unaffected around trunnion mount 720 for illustration of two arm 710 respectively, and can not as the restriction to embodiment of the present invention.
In present embodiment, one end of arm 710 is extended with rotating shaft support frame 711 along the length direction of arm 710.
Particularly, refer to Figure 16 and Figure 17, in the example shown in the series of figures, one end of last arm component 710a is extended with rotating shaft support frame 711a along the length direction of last arm component 710a.Rotating shaft support frame 711a offers the first axis hole 7111a.Trunnion mount 720 offers the second axis hole 721a.First rotating shaft 731 is rotated and is worn the first axis hole 7111a and the second axis hole 721a.
Particularly, refer to Figure 21 and Figure 23, in the example shown in the series of figures, one end of lower arms component 710b is extended with rotating shaft support frame 711b along the length direction of lower arms component 710b.Rotating shaft support frame 711b offers Triaxial hole 7111b.Trunnion mount 720 offers the 4th axis hole 721b.Second rotating shaft 732 wears Triaxial hole 7111b and the 4th axis hole 721b rotationally.
So, rotation connection structure is simple, facilitates design and manufacture.
In present embodiment, the first rotating shaft 731 and the second rotating shaft 732 can be straight pins.
Certainly, in other embodiments, the rotation connection structure between arm 710 and trunnion mount 720 can be not limited to the structure of embodiment discussed above, can change depending on real needs.
In present embodiment, rotating shaft support frame 711 comprises spaced two bracing frames 712.First axis hole 7111 is opened on bracing frame 712.Trunnion mount 720 is between two bracing frames 712.
So, be formed with receiving space between two bracing frames 712 of rotating shaft support frame 711, trunnion mount 720 is contained in the receiving space that formed between two bracing frames 712, compact conformation.Meanwhile, described receiving space can arrange other elements or other project organizations, therefore improves the design freedom of the joint of mechanical arm 700.
In the example shown in Figure 16, the rotating shaft support frame 711a of last arm component 710a comprises spaced two bracing frame 712a.First axis hole 7111a is opened on bracing frame 712a.Trunnion mount 720 is between two bracing frame 712a.
In present embodiment, the quantity of arm wire drawing 740 is two, and wherein every root arm wire drawing 740 can pull separately arm 710 to swing around trunnion mount 720.
Such as, in the example shown in Figure 19, the quantity of the arm wire drawing 740 be connected with last arm component 710a is two, and wherein every root arm wire drawing 740 can pull separately last arm component 710a to swing around trunnion mount 720.
In present embodiment, one end of arm wire drawing 740 is fixed on bracing frame 712.
So, under the active force of arm wire drawing 740, arm 710 is owing to being subject to the active force that acts on bracing frame 712 and being rotated around trunnion mount 720 by rotating shaft 730.
Such as, in the example shown in Figure 19, one end of arm wire drawing 740 is fixed on bracing frame 712a.Under the active force of arm wire drawing 740, last arm component 710a is owing to being subject to the active force that acts on bracing frame 712a and being rotated around trunnion mount 720 by the first rotating shaft 731.
In present embodiment, bracing frame 712 comprises the first bracing frame surface 7121 towards trunnion mount 720.First bracing frame surface 7121 is provided with the first wire drawing disk 7122.Arm wire drawing 740 is around on the first wire drawing disk 7122.
So, arm wire drawing 740 is arranged around the first wire drawing disk 7122, facilitates the fixing of arm wire drawing 740.
Such as, in the example shown in Figure 16, the bracing frame 712a of last arm component 710a comprises the first bracing frame surface 7121a towards trunnion mount 720.First bracing frame surface 7121a is provided with the first wire drawing disk 7122.Arm wire drawing 740 is around on the first wire drawing disk 7122.
Particularly, the first wire drawing disk 7122 is upwards projection and being formed inside arm 710a on the first bracing frame surface 7121a.First wire drawing disk 7122 and the first rotating shaft 731 are coaxially arranged.
In present embodiment, the size of the first wire drawing disk 7122 is greater than the size of the first rotating shaft 731.
So, the first wire drawing disk 7122 can increase arm wire drawing 740 and pulls the rotation arm of force of last arm component 710a to make arm wire drawing 740 pull last arm component 710a more laborsaving.Thus, the drive unit of smaller power can be adopted to pull wire drawing.
In present embodiment, the first axis hole 7111 runs through the first wire drawing disk 7122 along the axis of the first wire drawing disk 7122.
So, ensure that the first wire drawing disk 7122 and the first rotating shaft 731 are coaxially arranged, and make arm wire drawing 740 effective constitution more can rotate the arm of force in labour-saving around the first wire drawing disk 7122.
Such as, in the example shown in Figure 16, the first axis hole 7111a of last arm component 710a runs through the first wire drawing disk 7122 along the axis of the first wire drawing disk 7122.
In present embodiment, the size of the first wire drawing disk 7122 on the first bracing frame surface 7121a of last arm component 710a can be arranged as the case may be.
In present embodiment, bracing frame 712 comprises the second bracing frame surface 7123 opposing with the first bracing frame surface 7121.Bracing frame 712 offers the first fixing hole 7124 running through the first bracing frame surface 7121 and the second bracing frame surface 7123.Arm wire drawing 740 comprises link 741 and pulls end 742 (see Figure 18).Link 741 is formed with plush copper 741a.End 742 is pulled to pull until the plush copper 741a of link 741 to be fastened in the first fixing hole 7124 thus arm wire drawing 740 to be fixed on bracing frame 712 around the first wire drawing disk 7122 from 7123 sides, the second bracing frame surface through after the first fixing hole 7124.
So, the end 742 that pulls of arm wire drawing 740 pulls until the plush copper 741a of link 741 is fastened on the first fixing hole 7124 arm wire drawing 740 can be fixed on bracing frame 712 around the first wire drawing disk 7122 from 7123 sides, the second bracing frame surface through after the first fixing hole 7124.
In present embodiment, the quantity of arm wire drawing 740 is two, and two arm wire drawings 740 are separately positioned on two the first bracing frame surfaces 7121 of arm 710, and around on the contrary, so, arm 710 can be pulled to rotate along two rightabouts.
In conjunction with the structure that every root arm wire drawing 740 can pull arm 710 to rotate, the angle that two arm 710 can rotate mutually can be obtained.Such as, an arm wire drawing 740 can pull arm 710 to rotate 90 degree, and another root arm wire drawing 740 can pull arm 710 to rotate-90 degree, thus two arm wire drawings 740 can pull arm 710 to rotate rotation between-90 degree are to 90 degree.
Be appreciated that two arm wire drawings 740 around to the mutual slewing area that can expand arm 710 on the contrary.
Certainly, specifically arranging of arm wire drawing 740 can be not limited to embodiment discussed above, and demand of can looking in other embodiments is arranged.
Particularly, refer to Figure 19 and Figure 20, in the example shown in diagram, bracing frame 712a comprises the second bracing frame surface 7123a opposing with the first bracing frame surface 7121a (see Figure 16).The end 742 that pulls of arm wire drawing 740 pulls until the plush copper 741a of link 741 to be fastened in the first fixing hole 7124a thus arm wire drawing 740 to be fixed on the bracing frame 712 of last arm component 710a around the first wire drawing disk 7122 from the second 7123a side, bracing frame surface through after the first fixing hole 7124a.
So, under the active force of arm wire drawing 740, last arm component 710a is rotated around trunnion mount 720 by the first rotating shaft 731.
Such as, when initial position, last arm component 710a is in C position; When last arm component 710a is subject to the active force of arm wire drawing 40, last arm component 710a turns to D position around trunnion mount 720 from C position by the first rotating shaft 731.
In present embodiment, arm 710 is the structure of hollow and both ends open.Arm wire drawing 740 wears arm 710.End 742 is pulled to make a stretch of the arm component 710.
So, arm wire drawing 740 makes a stretch of the arm along arm 710 inside component 710, be beneficial to protection arm wire drawing 740, and structure is attractive in appearance compact.
In present embodiment, the end 742 that pulls of arm wire drawing 740 can be stretched out by arm 710.So, the end 742 that pulls of the arm wire drawing 740 of being stretched out by arm 710 can directly be connected with drive unit.
In present embodiment, mechanical arm 700 comprises the steering bearing 760 (see Figure 20) be arranged on rotationally in trunnion mount 720.What arm wire drawing 740 changed arm wire drawing 740 by steering bearing 760 pulls direction.
So, and can carry out arranging arm wire drawing 740 as the case may be pull direction, be convenient to the driving of mechanical arm 700, and improve the stability that mechanical arm 700 runs, make compact appearance attractive in appearance simultaneously.
Such as, in the example depicted in fig. 14, what the arm wire drawing 740 be fixedly connected with last arm component 710a changed arm wire drawing 740 by steering bearing 760 pulls direction.
In present embodiment, trunnion mount 720 is formed with groove 725 (see Figure 17).Steering bearing 760 is arranged in groove 725 rotationally.
So, the more compact structure of mechanical arm 700 and more stable can be made.
In present embodiment, the structure of trunnion mount wire drawing 750 is substantially identical with the structure of arm wire drawing 740.Trunnion mount wire drawing 750 and arm wire drawing 740 can be flexible stainless steel wire or the satisfactory wire drawing of intensity of other materials.
In present embodiment, trunnion mount 720 is driven by trunnion mount wire drawing 750.Trunnion mount 720 is connected with arm 710 around the second rotating shaft 732 rotationally by trunnion mount wire drawing 750.Such as, trunnion mount 720 is connected with lower arms component 710b around the second rotating shaft 732 rotationally by trunnion mount wire drawing 750.
In present embodiment, trunnion mount 720 comprises the first trunnion mount surface 722 towards arm 710.First trunnion mount surface 722 is provided with the second wire drawing disk 7122b (see Figure 17).Trunnion mount wire drawing 750 is around on the second wire drawing disk 7122b.
So, trunnion mount wire drawing 750 is arranged around the second wire drawing disk 7122b, facilitates the fixing of trunnion mount wire drawing 750.
In present embodiment, the second wire drawing disk 7122b for being formed to projection outside trunnion mount 720 on the first trunnion mount surface 722.Second wire drawing disk 7122b and the second rotating shaft 732 are coaxially arranged.
So, namely trunnion mount wire drawing 750 is arrange around the second rotating shaft 732 around the second wire drawing disk 7122b, is beneficial to driving.
In present embodiment, the size of the second wire drawing disk 7122b is greater than the size of the second rotating shaft 732.
So, the second wire drawing disk 7122b can increase trunnion mount wire drawing 50 and pulls the rotation arm of force of trunnion mount 720 to make trunnion mount wire drawing 750 pull trunnion mount 720 more laborsaving.Thus, the drive unit of smaller power can be adopted to pull trunnion mount wire drawing 750.Such as, in the example shown in Figure 21, the second wire drawing disk 7122b can increase when trunnion mount wire drawing 750 pulls the rotation arm of force of trunnion mount 720 to make trunnion mount wire drawing 750 pull trunnion mount 720 more laborsaving.
In present embodiment, trunnion mount 720 comprises the second trunnion mount surface 723 (see Figure 21) opposing with the first trunnion mount surface 722.Trunnion mount 720 offers the second fixing hole 724 (see Figure 21) running through the first trunnion mount surface 722 and the second trunnion mount surface 723.Trunnion mount wire drawing 750 comprises link 751 and pulls end 752 (see Figure 22).Link 751 is formed with plush copper 751a.End 752 is pulled to pull until the plush copper 751a of link 751 to be fastened in the second fixing hole 724 thus trunnion mount wire drawing 750 to be fixed on trunnion mount 720 around the second wire drawing disk 7122b from 723 sides, the second trunnion mount surface of trunnion mount 720 through after the second fixing hole 724.
So, the end 752 that pulls of trunnion mount wire drawing 750 pulls until the plush copper 751a of link 751 is fastened on the second fixing hole 724 trunnion mount wire drawing 750 can be fixed on trunnion mount 720 around the second wire drawing disk 7122b from 723 sides, the second trunnion mount surface through after the second fixing hole 724.
In present embodiment, rotating shaft support frame 711b offers perforation 713 (see Figure 23).Trunnion mount wire drawing 750 wears perforation 713 and stretches out lower arms component 710b.Second rotating shaft 732 wears rotating shaft support frame 711b rotationally.
So, lower arms component 710b is connected by the second rotating shaft 732 rotationally with trunnion mount 720, and trunnion mount wire drawing 750 stretches out lower arms component 710b along lower arms component 710b inside, be beneficial to protection trunnion mount wire drawing 50, and structure is attractive in appearance compact.
In present embodiment, the 4th axis hole 721b runs through the second wire drawing disk 7122b along the axis of the second wire drawing disk 7122b.
So, ensure that the second wire drawing disk 7122b and the second rotating shaft 732 are coaxially arranged, and make trunnion mount wire drawing 750 effective constitution more can rotate the arm of force in labour-saving around the second wire drawing disk 7122b.
Refer to Figure 24, and composition graphs 1, Fig. 9 and Figure 13, the mechanical arm 200 of present embodiment comprises mechanical arm 100, mechanical arm 100a and mechanical arm 700.In the example shown in diagram, the quantity of mechanical arm 100 is two, and two mechanical arms 100 are interconnected.The quantity of mechanical arm 100a is two.One of them mechanical arm 100 is rotationally connected one of them mechanical arm 100a, and another one mechanical arm 100 is rotationally connected mechanical arm 700, and mechanical arm 700 is rotationally connected another mechanical arm 100a.In the example shown in diagram, mechanical arm 200 can be gimbal suspension six axis robot arm.
From mechanical arm 200 end to front end, be disposed with the cradle head 201 formed by one of them mechanical arm 100a, the swinging joint 202 formed by one of them mechanical arm 100, the swinging joint 203 formed by another one mechanical arm 100, the universal swing joint 205 formed by mechanical arm 700, the cradle head 204 that formed by another one mechanical arm 100a.Further, all joints all adopt wire drawing 206 to drive.Such as, wire drawing 206 can comprise wire drawing 30,30a, arm wire drawing 740 and trunnion mount wire drawing 750.
In the mechanical arm 200 of present embodiment, pull the drive unit 210a of wire drawing 206 can be arranged on outside mechanical arm 200, thus alleviate the deadweight of mechanical arm 200, simplify the structure of mechanical arm 200.
In present embodiment, wire drawing 206 overcoat has bourdon tube 220.Wire drawing 206 one end is fixed on mechanical arm 200, and its other end is connected with drive unit 210a through the cavity formed in mechanical arm 200.
So, structure is simple, and alleviates the deadweight of mechanical arm 200, improves load efficiency.
Particularly, mechanical arm 200 comprises trunnion mount 207a and multiple arm.Multiple arm comprises first-hand arm member 200a, second-hand's arm member 200b and the 3rd arm 200c.Second-hand's arm member 200b is connected with first-hand arm member 200a rotationally by the first rotating shaft 207.First rotating shaft 207 is basically perpendicular to the length direction of first-hand arm member 200a and second-hand's arm member 200b.
Trunnion mount 207a is rotationally connected second-hand's arm member 200b and the 3rd arm 200c.
Wire drawing 206 is fixedly connected with at least one arm in first-hand arm member 200a, second-hand's arm member 200b and the 3rd arm 200c.Particularly, in some embodiments, such as, wire drawing 206 can comprise wire drawing 30, wire drawing 30a, arm wire drawing 740 and trunnion mount wire drawing 750, and wire drawing 30 (can be regarded as the first arm wire drawing) is fixedly connected with second-hand's arm member 200b to drive second-hand's arm member 200b to rotate around the first rotating shaft 207.
Trunnion mount wire drawing 750 is fixedly connected with trunnion mount 207a to drive trunnion mount 207a to rotate around the second rotating shaft 208.
Arm wire drawing 740 (can be regarded as the second arm wire drawing) is fixedly connected with the 3rd arm 200c to drive the 3rd arm 200c to rotate around the 3rd rotating shaft 209.
In present embodiment, first rotating shaft 207 and first-hand arm member 200a and the concrete structure of second-hand's arm member 200b and the connected mode of three can join the explanation of the mechanical arm 100 of above embodiment, second rotating shaft 208 and the concrete structure of second-hand's arm member 200b and trunnion mount 207a and the connected mode of three, and the 3rd rotating shaft 209 and the concrete structure of the 3rd arm 200c and trunnion mount 207a and the connected mode of three can join the explanation of the mechanical arm 700 of above embodiment, at this, no longer describe in detail.
In present embodiment, second-hand's arm member 200b to be connected rotationally with first-hand arm member 200a by the first rotating shaft 207 and to form swinging joint 203.
In present embodiment, trunnion mount 207a is rotationally connected second-hand's arm member 200b by the second rotating shaft 208, and is rotationally connected the 3rd arm 200c formation universal swing joint 205 by the 3rd rotating shaft 209.
The robot of embodiment of the present invention comprises mechanical arm.Mechanical arm can be the mechanical arm of above arbitrary embodiment.
Therefore, the robot of embodiment of the present invention alleviates deadweight, and improves the load efficiency of robot simultaneously.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
In the description of this description, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this description or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (12)
1. a mechanical arm, is characterized in that, comprising:
First-hand arm member;
Second-hand's arm member, described second-hand's arm member is connected with described first-hand arm member rotationally by the first rotating shaft, and described first rotating shaft is basically perpendicular to the length direction of described first-hand arm member and described second-hand's arm member;
Trunnion mount;
3rd arm, described trunnion mount is rotationally connected described second-hand's arm member and described 3rd arm;
Wire drawing, described wire drawing is fixedly connected with at least one arm in described first-hand arm member, described second-hand's arm member and described 3rd arm.
2. mechanical arm as claimed in claim 1, it is characterized in that, each arm in described first-hand arm member and described second-hand's arm member is extended with arm connector along the length direction of described arm, described arm connector is formed with axis hole, and described first axis of rotation wears described axis hole thus described first-hand arm member and described second-hand's arm member is rotationally connected.
3. mechanical arm as claimed in claim 2, it is characterized in that, described arm connector comprises two rotating shaft support frames of spaced and parallel setting, described axis hole is opened on described two rotating shaft support frames, and described two rotating shaft support frames of arm described in one of them are arranged between described two rotating shaft support frames of arm described in another.
4. mechanical arm as claimed in claim 3, it is characterized in that, described rotating shaft support frame comprises first surface and the second surface opposing with described first surface, described arm connector comprises along described first surface to the wire drawing disk extended away from described second surface direction, the axis of described wire drawing disk is coaxial with described first rotating shaft, the size of described wire drawing disk is greater than the size of described first rotating shaft, described wire drawing comprises the first arm wire drawing, and described first arm wire drawing is around described wire drawing disk and be fixedly connected with described rotating shaft support frame.
5. mechanical arm as claimed in claim 1, it is characterized in that, described wire drawing comprises the second arm wire drawing and trunnion mount wire drawing, and described second arm wire drawing is fixedly connected with described 3rd arm, and described trunnion mount wire drawing is fixedly connected with described trunnion mount.
6. mechanical arm as claimed in claim 5, it is characterized in that, described trunnion mount is rotationally connected by the second rotating shaft and described second-hand's arm member, and is rotationally connected by the 3rd rotating shaft and described 3rd arm;
Described second rotating shaft is mutually vertical with described 3rd rotating shaft, and described second arm wire drawing is around described 3rd rotating shaft, and described trunnion mount wire drawing is around described second rotating shaft;
The axis of described second rotating shaft and the axis of described 3rd rotating shaft are intersected in a bit.
7. mechanical arm as claimed in claim 6, it is characterized in that, one end of described 3rd arm is extended with rotating shaft support frame along the length direction of described 3rd arm, described rotating shaft support frame offers the first axis hole, described trunnion mount offers the second axis hole, wears described first axis hole and described second axis hole described 3rd axis of rotation.
8. mechanical arm as claimed in claim 7, it is characterized in that, described rotating shaft support frame comprises spaced two bracing frames, and described first axis hole is opened on support frame as described above, and described trunnion mount is between described two bracing frames.
9. mechanical arm as claimed in claim 8, it is characterized in that, support frame as described above comprises the first bracing frame surface towards described trunnion mount, described first bracing frame is provided with wire drawing disk on the surface, described second arm wire drawing is around on described wire drawing disk, described wire drawing disk and described 3rd rotating shaft are coaxially arranged, and the size of described wire drawing disk is greater than the size of described 3rd rotating shaft.
10. mechanical arm as claimed in claim 6, it is characterized in that, one end away from described second-hand's arm member of described first-hand arm member is extended with rotating shaft support frame along the length direction of described second-hand's arm member, described rotating shaft support frame offers Triaxial hole, described trunnion mount offers the 4th axis hole, wears described Triaxial hole and described 4th axis hole described second axis of rotation.
11. mechanical arms as claimed in claim 10, it is characterized in that, described trunnion mount comprises the first trunnion mount surface towards described second-hand's arm member, described first trunnion mount is provided with wire drawing disk on the surface, described trunnion mount wire drawing is around on described wire drawing disk, described wire drawing disk and described second rotating shaft are coaxially arranged, and the size of described wire drawing disk is greater than the size of described second rotating shaft.
12. 1 kinds of robots, is characterized in that, comprise the mechanical arm as described in claim 1-11 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610084057.3A CN105563518A (en) | 2016-02-06 | 2016-02-06 | Mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610084057.3A CN105563518A (en) | 2016-02-06 | 2016-02-06 | Mechanical arm and robot |
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| Publication Number | Publication Date |
|---|---|
| CN105563518A true CN105563518A (en) | 2016-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610084057.3A Pending CN105563518A (en) | 2016-02-06 | 2016-02-06 | Mechanical arm and robot |
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| CN106182073A (en) * | 2016-08-30 | 2016-12-07 | 江苏华航威泰机器人科技有限公司 | A kind of joint of robot connector |
| WO2017133131A1 (en) * | 2016-02-06 | 2017-08-10 | 深圳市赛尔西生物科技有限公司 | Robotic arm |
| CN107662197A (en) * | 2016-07-28 | 2018-02-06 | 深圳市赛尔西生物科技有限公司 | Robot |
| CN107662196A (en) * | 2016-07-28 | 2018-02-06 | 深圳市赛尔西生物科技有限公司 | Robot |
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Effective date of registration: 20161116 Address after: Futian District Huaqiang road Shenzhen City, Guangdong province 518028 No. 4002 Changsheng building room 1205 Applicant after: Shenzhen city Serse Biological Technology Co. Ltd. Address before: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A Applicant before: Pioneer intelligent machinery (Shenzhen) Co., Ltd. |
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