CN106239557A - Robot's arm and robot - Google Patents
Robot's arm and robot Download PDFInfo
- Publication number
- CN106239557A CN106239557A CN201610814623.1A CN201610814623A CN106239557A CN 106239557 A CN106239557 A CN 106239557A CN 201610814623 A CN201610814623 A CN 201610814623A CN 106239557 A CN106239557 A CN 106239557A
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- China
- Prior art keywords
- reinforcement
- diagonal bar
- arm
- robot
- end wall
- Prior art date
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Classifications
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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
- B25J18/005—Arms having a curved shape
Abstract
The invention discloses a kind of robot's arm and robot, robot's arm includes having predetermined length and the principal arm body of thickness and lay respectively at the first connecting portion and second connecting portion at two ends, principal arm body length direction, wherein, being provided with the groove that length direction extends, thickness direction depression is formed along principal arm body on principal arm body, groove includes the first side wall of two long sides of diapire, diapire and the first end wall of two short brinks of the second sidewall and diapire and the second end wall.Being provided with two or more reinforcement in groove, two or more reinforcements arrange with predetermined pattern, for reinforcing the intensity of robot's arm；In two or more reinforcements, at least reinforcement is provided with and enables the cable length direction along large arm in groove to walk for routing hole and/or wiring groove, routing hole and/or the wiring groove passed for cable.
Description
Technical field
Industrial Robot Technology field of the present invention, particularly relates to a kind of robot's arm and robot.
Background technology
The large arm of articulated type industrial robot carries its end forearm and the Dynamic And Static Loads of wrist portion and manipulating object
The load produced, therefore should have enough intensity, and simultaneously in order to reduce the Dynamic And Static Loads of itself, large arm also should reduce as far as possible
Quality.Generally, in order to alleviate quality, groove can be set at the wall of a large arm, make large arm cross section in " C " word；With
Time, in order to ensure that it has enough intensity, reinforcement also can be set in groove.In order to enable arm body internal wiring, technology people
Member can design setting upper with the fluting relative wall (back side) of wall on arm body and sunken cord groove, and groove of sunkening cord sets along arm body length direction
Put, be used for accommodating cable.This design can make the portion cross-sectional shape arranging groove section of sunkening cord on arm body complicated, adds and designed
Difficulty to arm body static force checking process in journey.
Summary of the invention
The embodiment of the present invention provides a kind of robot's arm and robot, it is possible to facilitate the static force checking of arm body.
First aspect, it is provided that a kind of robot's arm, including having predetermined length and the principal arm body of thickness and laying respectively at master
First connecting portion at two ends, arm body length direction and the second connecting portion, wherein, principal arm body is provided with the length side along principal arm body
To the groove extended, thickness direction depression is formed, groove includes the first side wall and second side of two long sides of diapire, diapire
First end wall of two short brinks of wall and diapire and the second end wall.It is provided with in groove and arranges two or many with predetermined pattern
Individual reinforcement, for reinforcing the intensity of robot's arm.In two or more reinforcements, at least a reinforcement is provided with use
Cable length along large arm in groove is enable in routing hole and/or wiring groove, routing hole and/or the wiring groove passed for cable
Degree direction is walked.
In the first mode in the cards, define at least one with two or more reinforcements of predetermined pattern arrangement
Reinforcement group, each the reinforcement group at least one reinforcement group includes that at least two intersect the reinforcement arranged, wiring
Hole and/or cloth line groove are arranged at least one reinforcement in each reinforcement group at least two crossing reinforcements.
In conjunction with above-mentioned mode in the cards, in the second mode in the cards, the quantity of reinforcement group is one, should
At least two articles of reinforcement group intersect the reinforcement arranged respectively with the first side wall of groove, the second sidewall, the first end wall and the
At least two in two end walls connects the multiple trianglees of formation and/or polygon cancelled structure, routing hole and/or cloth line groove set
It is placed on the reinforcement that adjacent two cancelled structures share, so that cable walks adjacent two cancelled structures.
In conjunction with above-mentioned mode in the cards, in the third mode in the cards, at least two intersect adding of setting
Strong muscle includes that incline direction is contrary and intersects the first diagonal bar being connected and the second diagonal bar, routing hole and/or wiring groove are arranged at the
On other reinforcements between one diagonal bar and the first end wall.
In conjunction with above-mentioned mode in the cards, in the 4th kind of mode in the cards, at least one reinforcement group number
For multiple, each reinforcement group includes the first diagonal bar and the second diagonal bar that incline direction is contrary and intersection is connected, and adjacent two add
In strong muscle group, the incline direction of the first diagonal bar is identical, and routing hole and/or wiring groove are disposed in proximity to the reinforcement group of the first end wall
In the first diagonal bar and near the second end wall reinforcement group in the first diagonal bar between other reinforcements on, other reinforcements
Do not include the first diagonal bar in the reinforcement group of the first end wall and the second end wall.
In conjunction with above-mentioned mode in the cards, in the 5th kind of mode in the cards, at least one reinforcement group number
For multiple, each reinforcement group includes the first diagonal bar and the second diagonal bar that incline direction is contrary and intersection is connected, and adjacent two add
In strong muscle group, the incline direction of the first diagonal bar is identical, and routing hole and/or wiring groove are disposed in proximity to the reinforcement group of the first end wall
In the first diagonal bar and near the second end wall reinforcement group in the second diagonal bar between other reinforcements on, other reinforcements
Do not include the first diagonal bar in the reinforcement group of the first end wall and the second diagonal bar in the reinforcement group of the second end wall.
In conjunction with above-mentioned mode in the cards, in the 6th kind of mode in the cards, the reinforcement that any two is adjacent
Being further provided with horizontal bar between group, horizontal bar is at least connected with the first side wall and the second sidewall, and routing hole and/or wiring groove enter one
Step is arranged at horizontal bar.
In conjunction with above-mentioned mode in the cards, in the 7th kind of mode in the cards, at least two intersect adding of setting
Strong muscle farther includes the first horizontal bar, the first horizontal bar and the first diagonal bar and the equal interconnection of the second diagonal bar and is connected to the first side wall
With the second sidewall.
Second aspect, it is provided that a kind of robot, this robot includes in pedestal and any one technique scheme
Robot's arm, this large arm is connected on pedestal by the second connecting portion.
The robot's arm of embodiment of the present invention offer and robot, by being arranged on reinforcement by routing hole and/or groove
On, it is to avoid groove of sunkening cord is set on arm body length direction to a wide range, the least on the impact of arm body section shape, reduce skill
The static force checking workload of art personnel and design efforts would.
It addition, by only arranging routing hole/wiring groove on part reinforcement, make another part reinforcement remain completely
Structure, it is possible to alleviate and routing hole/wiring groove is set on reinforcement and the impact of arm body intensity.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, will make required in the embodiment of the present invention below
Accompanying drawing be briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the axonometric chart of an embodiment of robot's arm of the present invention.
Fig. 2 is the front view of embodiment illustrated in fig. 1.
Fig. 3 is the A-A profile in embodiment illustrated in fig. 2.
Fig. 4 be robot's arm of the present invention an alternative embodiment in the schematic diagram of routing hole.
Fig. 5 is the schematic diagram of another alternative embodiment of robot's arm of the present invention.
Fig. 6 is the schematic diagram of another embodiment of robot's arm of the present invention.
Fig. 7 is the schematic diagram of another embodiment of robot's arm of the present invention.
Fig. 8 is the schematic diagram of another embodiment of robot's arm of the present invention.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
Feature and the exemplary embodiment of various aspects of the invention are described more fully below.In following detailed description
In, it is proposed that many details, in order to complete understanding of the present invention is provided.But, to those skilled in the art
It will be apparent that the present invention can implement in the case of some details in need not these details.Accompanying drawing and under
In the description in face, it is shown without known structure and technology, in order to avoid the present invention causes unnecessary obscuring.
It is described more fully with example embodiment referring now to accompanying drawing.But, example embodiment can be with multiple shape
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, it is provided that these embodiments make the present invention more
Fully and completely, and by the design of example embodiment those skilled in the art is conveyed to all sidedly.The most identical is attached
Figure labelling represents same or similar structure, thus by their description being described in detail in the embodiment of the present invention of omission, needs
Being noted that except as otherwise noted, it is exhausted that " vertically ", " parallel ", " 30 ° of angles " and " 45° angle " etc. are more than on geometric meaning
To meaning it can be understood as " substantially vertical ", " almost parallel ", " substantially 30 ° of angles " and " substantially 45° angle ".
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As depicted in figs. 1 and 2, Fig. 1 is the axonometric chart of an embodiment of robot's arm of the present invention, and Fig. 2 is shown in Fig. 1
The front view of embodiment.Large arm 1 includes principal arm body the 10, first articulated section 20 and the second articulated section 30.Principal arm body 10 has pre-fixed length
Degree and thickness, the first articulated section 20 and the second articulated section 30 are respectively arranged at the two ends in principal arm body length direction.First articulated section
20 can be used for connecting the forearm (not shown) of robot, and the second articulated section 30 can be used for connecting the pedestal (not shown) of robot.
Principal arm body 10 has predetermined thickness, on principal arm body 10 on the axis direction of the first articulated section 20 and/or the second articulated section 30
It is formed with extension along its length, the groove 100 of its thickness direction depression.
Groove 100 includes diapire 105, the first side wall the 103, second sidewall the 104, first end wall 101 and the second end wall 102,
Diapire 105 is rectangle.The first side wall 103 and the second sidewall 104 are connected with the two of diapire 105 long limits (figure is not marked) respectively,
First end wall 101 and the second end wall 102 are connected with two minor faces (figure is not marked) of diapire 105 respectively.Therefore, it is connected with diapire 105
First end wall the 101, second sidewall the 104, second end wall 102 be sequentially connected with the first side wall 103 and diapire 105 enclose definition recessed
The inner space of groove 100.
It is provided with in groove 100 and is extended, by diapire 105, the multiple reinforcements formed to groove 100 inner space, multiple
A part for reinforcement forms the first reinforcement group 110 and the second reinforcement group 120, the first reinforcement group with predetermined pattern arrangement
110 and second reinforcement group 120 adjacent and split by horizontal bar 141, the first reinforcement group 110 includes cross one another first diagonal bar
111, the second diagonal bar 113 and the first horizontal bar 112, the second reinforcement group 120 includes that cross one another first diagonal bar 121, second is oblique
Muscle 123 and the second horizontal bar 122.The bearing of trend of first horizontal bar the 112, second horizontal bar 122 and horizontal bar 141 is consistent, is basically perpendicular to
The first side wall 103 and/or the second sidewall 104.The incline direction of the first diagonal bar 111 and 121 is the most consistent, with the first side wall
103 and/or second sidewall 104 substantially form the angle of about 45 °, the incline direction of the second diagonal bar 113 and 123 is the most consistent,
With the angle that the first side wall 103 and/or the second sidewall 104 substantially form about 45 °.
Further, one end of the first diagonal bar 111 is connected to the first end wall 101 and infall of the second sidewall 104, and first
The other end of diagonal bar 111 is connected to the infall of the first side wall 103 and horizontal bar 141.One end of second diagonal bar 113 is connected to first
End wall 101 and the infall of the first side wall 103, the other end of the second diagonal bar 113 is connected to the second sidewall 104 and horizontal bar 141
Infall, and form X-shaped interconnection with the first diagonal bar 111.First horizontal bar 112 is through the first diagonal bar 111 and the second diagonal bar
The X-shaped infall of 113, two ends are connected on the first side wall 103 and the second sidewall 104.Thus, the first diagonal bar 111,
Two diagonal bar the 113, first horizontal bars 112, horizontal bar 141 and the first end wall 101, the first side wall 103 and the second sidewall 104 are collectively forming tool
There is the pattern of six triangle cancelled structures.
Further, one end of the first diagonal bar 121 is connected on the infall of the second end wall 102 and the first side wall 103, the
The other end of one diagonal bar 121 is connected on the infall of the second sidewall 104 and horizontal bar 141.One end of second diagonal bar 123 is connected to
On the infall of the second end wall 102 and the second sidewall 104, the other end of the second diagonal bar 123 is connected to the first side wall 103 and horizontal bar
On the infall of 141, and form X-shaped interconnection with the first diagonal bar 121.First horizontal bar 122 is through the first diagonal bar 121 and the
The X-shaped infall of two diagonal bars 123, two ends are connected on the first side wall 103 and the second sidewall 104.Thus, the first diagonal bar
121, second diagonal bar the 123, first horizontal bar 122, horizontal bar 141 are common with the second end wall 102, the first side wall 103 and the second sidewall 104
Form the structure with six minimum unit triangle lattices.
Second diagonal bar the 113, first diagonal bar 121 forms a big triangle cancelled structure, this big trigonal lattice with the first side wall 103
Structure structure comprises six minimum unit triangle cancelled structures.Wherein, first horizontal bar the 112, first diagonal bar 111, horizontal bar 141, second
The part being positioned at this big triangle cancelled structure of diagonal bar 123 and the second horizontal bar 122 be provided with wiring groove and/or hole 1121,
1111,1231,1411 and 1221.
Seeing also Fig. 3, Fig. 3 is Fig. 2 A-A profile.As a example by the wiring groove 1411 arranged on horizontal bar 141, in conjunction with
Fig. 3 illustrates the structure of wiring groove on reinforcement.As it is shown on figure 3, horizontal bar 141 cross section is rectangle, at horizontal bar 141 back (top)
It is provided with wiring groove 1411.It is internal that wiring groove 1411 concaves towards horizontal bar 141 from horizontal bar 141 top along the thickness direction of principal arm body 10,
And on the thickness direction of horizontal bar 141, run through horizontal bar 141.The cross sectional shape of wiring groove 1411 is the most particularly limited, with line
The cross sectional shape of cable L is substantially matching so that cable L can be contained in wiring groove 1411.
Wiring groove on first horizontal bar the 112, first diagonal bar the 111, second diagonal bar 123 and the second horizontal bar 122 1121,1111,
1231,1221 have identical structure with the wiring groove 1411 on horizontal bar 141, do not repeat them here.
It is minimum single that wiring groove 1121,1111,1411,1231 can connect six in above-mentioned big triangle lattice with 1221
Unit's triangle cancelled structure so that cable L length direction along large arm 1 can walk in groove 100.
Owing to wiring groove/routing hole is arranged on reinforcement so that arrange on arm body wiring groove/routing hole position cut
Face shape changes, and the cross sectional shape being not provided with the position of wiring groove/routing hole does not changes.In the present embodiment,
It is provided with wiring groove/wiring on only first diagonal bar the 111, first horizontal bar 112, horizontal bar the 141, second horizontal bar 122 and the second diagonal bar 123
Hole, is equivalent to only have the shape in cross section at five on the whole length direction of large arm 1 and there occurs change.Long relative at whole arm body
Arranging the design of wiring groove on degree, technical solution of the present invention reduces the change of the cross sectional shape to large arm 1, it is possible to reduce large arm
Static force checking difficulty and design efforts would.
Further, since wiring groove/routing hole is provided only on part reinforcement, on the second diagonal bar 113 and the first diagonal bar 121
It is not provided with wiring groove/routing hole, by the position of reasonable selective interconnection groove/routing hole, it is possible to ensure that cable is in principal arm body 10
While walking, alleviate the weakening degree to reinforcement intensity, alleviate the impact on large arm 1 intensity, arm body will not be increased simultaneously
Weight.
As an alternative embodiment, see also the optional enforcement that Fig. 4, Fig. 4 are robot's arms of the present invention
The schematic diagram of routing hole in example, it is shown that the another kind of deformation of wiring groove shown in Fig. 3.Wiring groove can be substituted with routing hole to supply
Cable L walks in groove 100.As shown in Figure 4, as a example by the routing hole 1412 arranged on horizontal bar 141, cloth on reinforcement is described
The structure of string holes.Horizontal bar 141 cross section is rectangle, and is provided with routing hole 1412 in the middle part of horizontal bar 141.Routing hole 1412 is positioned at horizontal stroke
Horizontal bar 141 is also run through in the middle part of the short transverse (thickness direction of principal arm body 10) of muscle 141.The cross sectional shape of routing hole 1412 is not
Make particularly to limit, substantially matching with the cross sectional shape of cable L so that cable L can be contained in routing hole 1412.
Referring to Fig. 5, as an alternative embodiment, wiring groove/routing hole can also be separately positioned on the first horizontal bar
112, the first diagonal bar 111, horizontal bar the 141, first diagonal bar 121 are positioned at, with the second horizontal bar 122, the second diagonal bar that incline direction is consistent
113 and second parts between diagonal bar 123.
As an alternative embodiment, arrange further and run through the first reinforcement group 110 and the second reinforcement group 120,
The perpendicular muscle extended along the length direction of principal arm body 10.
As an alternative embodiment, the first diagonal bar 111 also can be arranged to one end and be connected on the second sidewall 104, no
Being connected with the first end wall 101, first diagonal bar 111 other end is just connected on the first side wall 103, not with or horizontal bar 141 be connected.Change
Yan Zhi, the first diagonal bar 111 and the second sidewall 104, horizontal bar 141 and the first side wall 103 form tetragon cancelled structure；First diagonal bar
111 and first end wall 101, the first side wall 103 and horizontal bar 141 form another tetragon cancelled structure.In like manner, the second diagonal bar
113, the first diagonal bar 121 and the second diagonal bar 123 can also be arranged to only be connected with the first side wall 103 and the second sidewall 104, and
It is not connected with first end wall the 101, second end wall 102 and horizontal bar 141.Second diagonal bar the 113, first diagonal bar 121 and therebetween
Part the first side wall 103 and the second sidewall 104 form trapezoidal cancelled structure, routing hole/wiring groove be arranged at the first diagonal bar 111,
In first horizontal bar 112, horizontal bar the 141, second horizontal bar 122 and second diagonal bar 123 part between this trapezoidal cancelled structure.
Fig. 6 is the schematic diagram of another embodiment of robot's arm of the present invention.In the present embodiment, large arm 1a have with
Large arm 1 essentially identical configuration in above-described embodiment, something in common will no longer be repeated by the present embodiment, only to difference
Elaborate.Compared with embodiment illustrated in fig. 1, in the embodiment shown in Fig. 6, the first reinforcement group 110 does not include first
Horizontal bar 112, does not include the second horizontal bar 122 in the second reinforcement group 120.Therefore, second diagonal bar the 113, first diagonal bar 121 and first
In the big triangle cancelled structure that sidewall 103 is formed, only include four minimum unit triangle cancelled structures.Routing hole/wiring groove sets
Put on the reinforcement that adjacent minimum unit triangle cancelled structure shares, the i.e. first diagonal bar 111, horizontal bar 141 and the second diagonal bar
123 are positioned in the part in big triangle cancelled structure.
Fig. 7 is the schematic diagram of another embodiment of robot's arm of the present invention.In the present embodiment, large arm 1b have with
Large arm 1 essentially identical configuration in embodiment illustrated in fig. 1, something in common will no longer be repeated by the present embodiment, only to difference
Part elaborates.In the present embodiment, first diagonal bar the 111, second diagonal bar 113 and first only it is provided with in groove 100 horizontal
Muscle 112.First diagonal bar 111 one end is connected on the infall of the first end wall 101 and the second sidewall 104, and the other end is connected to
Two end walls 102 and the infall of the first side wall 103, the first diagonal bar 111 is 30 ° of angles with the length direction of large arm 1b.Second diagonal bar
One end of 113 is connected to the infall of the first end wall 101 and the first side wall 103, and the other end is connected to the second end wall 102 and second
The infall of sidewall 104.Second diagonal bar 113 is 30 ° of angles with the length direction of large arm 1b and is "X" shape with the first diagonal bar 111
Interconnection.Second diagonal bar the 113, second end wall 102 and the first side wall 103 form a big triangle cancelled structure, this big triangle
Cancelled structure contains three minimum unit triangle cancelled structures.First diagonal bar 111 and the first horizontal bar 112 are positioned at this big triangle
It is provided with routing hole, i.e. routing hole 1111 and routing hole 1121, routing hole 1111 and routing hole in part in cancelled structure
1121 make above three minimum unit triangle lattice connect, to allow cable length side along principal arm body 10 in groove 100
To walking.
The robot's arm that the present invention provides, by arranging wiring groove so that cable can be in arm body on reinforcement
Walk, reduce the interference radius of arm body, expand the range of activity of robot.Meanwhile, relative on whole arm body length
The design of wiring groove is set, present invention decreases the change of the cross sectional shape to large arm, reduce the static force checking of large arm and set
Meter difficulty.Further, since wiring groove/routing hole is provided only on part reinforcement, by reasonable selective interconnection groove/routing hole
Position, it is possible to while ensureing that cable is walked in principal arm body, alleviate the weakening degree to reinforcement intensity, can not increase
Alleviate the impact on large arm intensity in the case of arm body weight, will not increase the power demand driven.
Fig. 8 is the schematic diagram of another embodiment of robot's arm of the present invention.In the present embodiment, large arm 1c have with
Large arm 1 essentially identical configuration in embodiment illustrated in fig. 1, something in common will no longer be repeated by the present embodiment, only to difference
Part elaborates.In the present embodiment, also add in groove 100 by first diagonal bar the 131, second diagonal bar the 133, the 3rd horizontal stroke
3rd reinforcement group 130 of muscle 132 definition.3rd reinforcement group 130 is arranged on the first reinforcement group 110 and the second reinforcement group
Between 120.Being additionally provided with horizontal bar 151 between 3rd reinforcement group 130 and the second reinforcement group 120, horizontal bar 141 is arranged at
Between one reinforcement group 110 and the 3rd reinforcement group 130.
Wherein, horizontal bar 141, horizontal bar 151 and part the first side wall therebetween 103 thereof and the second common shape of sidewall 104
Quadrangularly cancelled structure.One end of first diagonal bar 131 is connected to horizontal bar 141 and the infall of the second sidewall 104, and the other end is even
It is connected on the infall of horizontal bar 151 and the first side wall 103.One end of second diagonal bar 133 is connected to horizontal bar 141 and the first side wall 103
Infall, the other end is connected to horizontal bar 151 and the infall of the second sidewall 104, and, the first diagonal bar 131 and the second diagonal bar
133 are "X" shape intersection is connected.The two ends of the 3rd horizontal bar 132 are connected with the second sidewall 104 respectively at the first side wall 103, and wear
Cross the first diagonal bar 131 and infall of the second diagonal bar 133.
Second diagonal bar the 113, first diagonal bar 121 and the first side wall therebetween 103 and the second sidewall 104 thereof are collectively forming
Big tetragon cancelled structure.First horizontal bar the 112, first diagonal bar 111, horizontal bar 141 second diagonal bar the 133, the 3rd horizontal bar 132, first
Diagonal bar 131, horizontal bar the 151, second diagonal bar 123 and the second horizontal bar 122 are positioned in the part of above-mentioned big tetragon cancelled structure and set
It is equipped with wiring groove.Wiring groove 1121,1111,1411,1331,1321,1311,1511,1231,1221 can connect shared first
Horizontal bar the 112, first diagonal bar 111, horizontal bar 141 second diagonal bar the 133, the 3rd horizontal bar the 132, first diagonal bar 131, horizontal bar 151, second are oblique
Muscle 123 and the minimum unit triangle cancelled structure of the second horizontal bar 122, so that cable L can be along principal arm body 10 in groove 100
Length direction walk.
Owing to wiring groove/routing hole is arranged on reinforcement so that arrange on arm body wiring groove/routing hole position cut
Face shape changes, and the cross sectional shape being not provided with the position of wiring groove/routing hole does not changes.Static(al) to large arm 1c
Check and design impact is the least.
Further, since wiring groove/routing hole is provided only on part reinforcement, on the second diagonal bar 113 and the first diagonal bar 121
It is not provided with wiring groove/routing hole, is ensureing that cable can alleviate reinforcement intensity while walking in principal arm body 10
Weakening degree, alleviates the impact on large arm 1c intensity.
The present invention also provides for a kind of robot, it may include pedestal, large arm and forearm etc..Wherein, large arm can be any one
Plant the robot's arm described in above-described embodiment.Large arm is connected on pedestal by its second connecting portion, it is possible to relative to base
Seat performs to rotate or shift action.Large arm can connect forearm by its first connecting portion, and forearm can rotate relative to large arm or move
Dynamic action.
The robot that the present invention provides, cable can walk in portion by the routing hole/wiring groove along large arm reinforcement in arm body,
Avoid arm external body cabling, reduce the interference radius of large arm.Meanwhile, routing hole/wiring groove is arranged on part reinforcement,
Less on the cross sectional shape of large arm and the impact of intensity.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art, in the technical scope that the invention discloses, can readily occur in the amendment of various equivalence or replace
Changing, these amendments or replacement all should be contained within protection scope of the present invention.Therefore, protection scope of the present invention should be with right
The protection domain required is as the criterion.
Claims (9)
1. a robot's arm, including having predetermined length and the principal arm body of thickness and laying respectively at described principal arm body length direction
First connecting portion at two ends and the second connecting portion, it is characterised in that:
The groove that length direction extends, thickness direction depression is formed along described principal arm body it is provided with on described principal arm body, described
Groove includes the first side wall of two long sides of diapire, described diapire and the second sidewall and two short brinks of described diapire
The first end wall and the second end wall；
It is provided with two or more reinforcement, said two or multiple reinforcement in described groove to arrange with predetermined pattern, is used for
Reinforce the intensity of described robot's arm；
In said two or multiple reinforcement, at least a reinforcement is provided with the routing hole for passing and/or cloth for cable
Wire casing, described routing hole and/or wiring groove enable described cable to walk along the length direction of described large arm in described groove.
Robot's arm the most according to claim 1, it is characterised in that described with predetermined pattern arrangement two or more
Reinforcement defines at least one reinforcement group, and each the reinforcement group at least one reinforcement group described includes at least two
Intersecting the reinforcement arranged, described routing hole and/or cloth line groove are arranged at least two phases in each reinforcement group described
At least one reinforcement in the reinforcement handed over.
Robot's arm the most according to claim 2, it is characterised in that the quantity of described reinforcement group is one, this reinforcement
At least two of muscle group intersect the reinforcement arranged respectively with the described the first side wall of described groove, the second sidewall, the first end wall
Connect with at least two in the second end wall and form multiple trianglees and/or polygon cancelled structure, described routing hole and/or cloth
Line groove is arranged on the reinforcement that described adjacent two cancelled structures share, so that described cable walks adjacent two lattices knot
Structure.
Robot's arm the most according to claim 3, it is characterised in that described at least two intersect the reinforcement bag arranged
Including incline direction is contrary and intersection is connected the first diagonal bar and the second diagonal bar, described routing hole and/or wiring groove are arranged at described
On other reinforcements between first diagonal bar and described first end wall.
Robot's arm the most according to claim 2, it is characterised in that at least one reinforcement group number described is many
Individual, each reinforcement group includes the first diagonal bar and the second diagonal bar, adjacent two reinforcements that incline direction is contrary and intersection is connected
In group, the incline direction of the first diagonal bar is identical, and described routing hole and/or wiring groove are disposed in proximity to the reinforcement of described first end wall
On other reinforcements between the first diagonal bar in muscle group and the first diagonal bar in the reinforcement group of described second end wall, institute
State other reinforcements and do not include described the first diagonal bar in the reinforcement group of described first end wall and the second end wall.
Robot's arm the most according to claim 2, it is characterised in that at least one reinforcement group number described is many
Individual, each reinforcement group includes the first diagonal bar and the second diagonal bar, adjacent two reinforcements that incline direction is contrary and intersection is connected
In group, the incline direction of the first diagonal bar is identical, and described routing hole and/or wiring groove are disposed in proximity to the reinforcement of described first end wall
On other reinforcements between the first diagonal bar in muscle group and the second diagonal bar in the reinforcement group of described second end wall, institute
State the first diagonal bar and close described second end wall that other reinforcements do not include in the reinforcement group of described first end wall
The second diagonal bar in reinforcement group.
Robot's arm the most according to claim 6, it is characterised in that between the described reinforcement group that any two is adjacent
Being further provided with horizontal bar, described horizontal bar is at least connected with described the first side wall and the second sidewall, described routing hole and/or wiring
Groove is further disposed upon described horizontal bar.
8. according to the robot's arm described in claim 4～7 any one, it is characterised in that described at least two intersect
The reinforcement arranged farther includes the first horizontal bar, described first horizontal bar and described first diagonal bar and the equal interconnection of the second diagonal bar
And it is connected to described the first side wall and the second sidewall.
9. a robot, including the large arm described in any one in pedestal and claim 1 to 8, described large arm is by described
Two connecting portions are connected on described pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610814623.1A CN106239557A (en) | 2016-09-09 | 2016-09-09 | Robot's arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610814623.1A CN106239557A (en) | 2016-09-09 | 2016-09-09 | Robot's arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106239557A true CN106239557A (en) | 2016-12-21 |
Family
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| CN201610814623.1A Pending CN106239557A (en) | 2016-09-09 | 2016-09-09 | Robot's arm and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108818520A (en) * | 2018-09-13 | 2018-11-16 | 珠海格力电器股份有限公司 | Robot linking arm and robot with it |
| CN111791265A (en) * | 2020-06-24 | 2020-10-20 | 深圳市优必选科技股份有限公司 | Rotating arm structure and mechanical arm |
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| CN111791265B (en) * | 2020-06-24 | 2022-04-15 | 深圳市优必选科技股份有限公司 | Rotating arm structure and mechanical arm |
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Application publication date: 20161221 |