CN107498582A - Robot linking arm and there is its robot - Google Patents
Robot linking arm and there is its robot Download PDFInfo
- Publication number
- CN107498582A CN107498582A CN201710723015.4A CN201710723015A CN107498582A CN 107498582 A CN107498582 A CN 107498582A CN 201710723015 A CN201710723015 A CN 201710723015A CN 107498582 A CN107498582 A CN 107498582A
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- CN
- China
- Prior art keywords
- reinforcement
- robot
- linking arm
- connection end
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of robot linking arm and there is its robot.Wherein, robot linking arm includes：Arm body, arm body has is more than the size of second connection end so that the distance between the center of gravity of arm body and the first connection end are less than the distance between center of gravity and second connection end with the first connection end of pedestal connection and the second connection end relative with the first connection end, the size of the first connection end.It is big that the technical scheme of the application efficiently solves linking arm rotary inertia in the prior art, the problem of being easily deformed.
Description
Technical field
The present invention relates to robot field, in particular to a kind of robot linking arm and has its robot.
Background technology
Robot of the prior art has the linking arm of connection pedestal and moving component, and the linking arm uses similar flat board
Shape structure.The both ends width of the arm body of plate-like structure is identical, and center of gravity is in intermediate point.Above-mentioned linking arm rotary inertia is big, easily
Deform and then produce error at work.
The content of the invention
The present invention is intended to provide a kind of robot linking arm and there is its robot, to solve linking arm in the prior art
Rotary inertia is big, the problem of being easily deformed.
To achieve these goals, according to an aspect of the invention, there is provided a kind of robot linking arm, including：Arm
Body, arm body have the first connection end connected with pedestal and the second connection end relative with the first connection end, the first connection end
Size is more than the size of second connection end so that the distance between the center of gravity of arm body and the first connection end are less than center of gravity and connected with second
Connect the distance between end.
Further, arm body width on the first connection end to second connection end direction is gradually reduced.
Further, lightening recesses are provided with the surface of arm body, reinforcement is provided with lightening recesses.
Further, reinforcement includes main reinforcement and the branch reinforcement with main reinforcement interconnection, main reinforcement edge
The length direction extension of arm body.
Further, branch reinforcement is multiple and be arranged in parallel between each other.
Further, multiple reinforcements include first reinforcement and at least one second reinforcement, and first adds
Strengthening tendons is located between the first connection end and at least one second reinforcement, and the junction of first reinforcement and main reinforcement is set
Connecting hole is equipped with, thickness of first reinforcement along arm body length direction is more than thickness of second reinforcement along arm body length direction
Degree.
Further, main reinforcement is mutually perpendicular to branch reinforcement.
According to another aspect of the present invention, there is provided a kind of robot, including pedestal and be arranged on pedestal first connect
Arm is connect, the first linking arm is above-mentioned robot linking arm.
Further, robot also includes the second linking arm, and the first linking arm is arranged between pedestal and the second linking arm.
According to another aspect of the present invention, there is provided a kind of robot, including pedestal and the linking arm that is arranged on pedestal,
Linking arm is above-mentioned robot linking arm, and lightening recesses are arranged on the lower surface of arm body of linking arm.
Apply the technical scheme of the present invention, the size for the first connection end that arm body is connected with pedestal is more than and the first connection end
The size of corresponding second connection end, so that the center of gravity of arm body is inclined to the first connection end, namely deviation pedestal, away from second
Connection end.Said structure can reduce the rotary inertia of arm body, reduce the deformation of arm body, and then reduce arm body and produce mistake at work
Difference.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing a further understanding of the present invention, and of the invention shows
Meaning property embodiment and its illustrate be used for explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 shows the dimensional structure diagram of the embodiment of the linking arm according to the present invention；
Fig. 2 shows the dimensional structure diagram of the embodiment of the robot according to the present invention；And
Fig. 3 shows the schematic front view of Fig. 2 robot.
Wherein, above-mentioned accompanying drawing marks including the following drawings：
10th, arm body；11st, the first connection end；12nd, second connection end；13rd, lightening recesses；20th, the second linking arm；30th, strengthen
Muscle；31st, main reinforcement；32nd, branch reinforcement；321st, first reinforcement；322nd, second reinforcement；40th, connecting hole；1st, axially
Lifters；2nd, pedestal；4th, the first linking arm；3rd, the second linking arm.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, is never used as to the present invention and its application or makes
Any restrictions.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Do not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for the ease of description, each portion shown in accompanying drawing
The size divided not is to be drawn according to the proportionate relationship of reality.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as authorizing explanation
A part for book.In shown here and discussion all examples, any occurrence should be construed as merely exemplary, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms is represented in following accompanying drawing with letter, therefore, once it is defined in a certain Xiang Yi accompanying drawing, then subsequent attached
It need not be further discussed in figure.
As shown in figure 1, the robot linking arm of the present embodiment includes：Arm body 10, arm body 10 have the be connected with pedestal 2
One connection end 11 and the second connection end 12 relative with the first connection end 11, the size of the first connection end 11 are more than second connection end
12 size is so that the distance between the center of gravity of arm body 10 and the first connection end 11 are less than between center of gravity and second connection end 12
Distance.
Using the technical scheme of the present embodiment, the size of the first connection end 11 that arm body 10 is connected with pedestal 2 is more than and the
The size of second connection end 12 corresponding to one connection end 11, so that the center of gravity of arm body 10 is inclined to the first connection end 11, namely
Pedestal 2 is inclined to, away from second connection end 12.Said structure can reduce the rotary inertia of arm body 10, reduce arm body 10 and deform, enter
And reduce arm body 10 and produce error at work.
As shown in figure 1, in the technical scheme of the present embodiment, arm body 10 is in the first connection end 11 to the side of second connection end 12
Upward width is gradually reduced.Said structure is easily worked, and Stability Analysis of Structures.
As shown in figure 1, in the technical scheme of the present embodiment, lightening recesses 13, loss of weight are provided with the surface of arm body 10
Reinforcement 30 is provided with groove 13.Lightening recesses 13 can mitigate the weight of arm body 10, and the setting of reinforcement 30 can be effective
Ground improves the rigidity of arm body 10, effectively Reducing distortion.The setting of lightening recesses 13 and reinforcement 30 taken into account mitigation weight and
Improve rigidity so that robot linking arm, which reaches, preferably to be designed.
As shown in figure 1, in the technical scheme of the present embodiment, reinforcement 30 include main reinforcement 31 and with main reinforcement 31
The branch reinforcement 32 of interconnection, length direction extension of the main reinforcement 31 along arm body 10.Said structure stiffening effect it is good and
It is easily worked.
As shown in figure 1, in the technical scheme of the present embodiment, branch reinforcement 32 is multiple and be arranged in parallel between each other,
Said structure causes being more uniformly stressed for arm body 10, and stability is good, can be further ensured that Reducing distortion.
In the present embodiment, multiple reinforcements 32 include first reinforcement 321 and at least one second reinforcement
322, first reinforcement 321 is between the first connection end 11 and at least one second reinforcement 322, first reinforcement
321 and the junction of main reinforcement 31 be provided with connecting hole 40, thickness of first reinforcement 321 along the length direction of arm body 10 is big
In thickness of second reinforcement 322 along the length direction of arm body 10.Using thickening design, Ke Yibao at first reinforcement 321
After beating connecting hole 40 on card arm body, on the premise of 10 certain rigidity of arm body is ensured, the part-structure of arm body 10 will not be caused to become
Shape.
Main reinforcement 31 can be arranged as required into branch reinforcement 32 to be mutually perpendicular to, it can also be provided that folder at an acute angle
Angle.
According to another aspect of the present invention, there is provided a kind of robot, as shown in Figures 2 and 3, according to the machine of the application
The embodiment of people includes the first linking arm 4 of pedestal 2 and setting on the base 2, and the first linking arm 4 connects for above-mentioned robot
Arm.Above-mentioned robot can reduce the rotary inertia of the arm body of the first linking arm 4, reduce arm body 10 and deform, and then reduce arm body
10 produce error at work.
As shown in Figures 2 and 3, robot also includes the second linking arm 3, and the first linking arm 4 is arranged on the company of pedestal 2 and second
Connect between arm 3.It is pivotally connected between first linking arm 4 and the second linking arm 3, is connected coordinate by reductor between the two.The
To wear axial lifters 1, the axial lifters 1 are preferably integral type rolling for the one end of two linking arms 3 away from the first linking arm 4
Ballscrew.
Preferably, the material of the first linking arm 4 is cast aluminium alloy.
The robot of the present embodiment is a kind of selective compliance assembly robot arm, and it has four joints, three rotary joints, its
Axis is parallel to each other, and the position and orientation in plane can be achieved.
Preferably, lightening recesses 13 are arranged on the lower surface of arm body 10 of linking arm.Robot is not interfered with so
Outward appearance.
Second linking arm 3 includes arm body and reinforcement, and arm body has the first connection end and second connection end, the surface of arm body
On be provided with lightening recesses；Reinforcement is arranged in lightening recesses, the both ends of reinforcement respectively with lightening recesses along its length
Two cell walls at the both ends in direction are correspondingly connected.First connection end of the second linking arm 3 is pivotally connected with the first linking arm 4,
Second connection end is wearing axial lifters 1.Reinforcement is gradually reduced on the direction of the first connection end to second connection end.
As shown in Fig. 2 the reinforcement is V-shaped, the big end close to the first connection end part for the reinforcement of V-arrangement, the big end can improve
Rigidity, Reducing distortion；Small end close to second connection end part for the reinforcement of V-arrangement, can effectively reduce rotary inertia, together
When to mitigate weight also have certain help.
As can be seen from the above description, the above embodiments of the present invention realize following technique effect：
Arm body is more than the chi of second connection end corresponding with the first connection end with the size for the first connection end that pedestal connects
It is very little, so that the center of gravity of arm body is inclined to the first connection end, namely deviation pedestal, away from second connection end.Said structure can
Reduce the rotary inertia of arm body, reduce the deformation of arm body, and then reduce arm body and produce error at work.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. robot linking arm, it is characterised in that including：Arm body (10), the arm body (10) have the first connection end (11) for being connected with pedestal (2) and with first connection end (11) relative second connection end (12), the size of first connection end (11) are more than the size of the second connection end (12) So that the distance between the center of gravity of the arm body (10) and first connection end (11) are less than the center of gravity and connected with described second Connect the distance between end (12).
- 2. robot linking arm according to claim 1, it is characterised in that the arm body (10) is in first connection end (11) it is gradually reduced to width on the second connection end (12) direction.
- 3. robot linking arm according to claim 1, it is characterised in that be provided with and subtract on the surface of the arm body (10) Weight groove (13), the lightening recesses (13) are interior to be provided with reinforcement (30).
- 4. robot linking arm according to claim 3, it is characterised in that the reinforcement (30) includes main reinforcement (31) and the branch reinforcement (32) with main reinforcement (31) interconnection, the main reinforcement (31) is along the arm body (10) Length direction extension.
- 5. robot linking arm according to claim 4, it is characterised in that the branch reinforcement (32) is multiple and mutual Between be arranged in parallel.
- 6. robot linking arm according to claim 5, it is characterised in that multiple branch reinforcements (32) include first Branch reinforcement (321) and at least one second reinforcement (322), first reinforcement (321) connect positioned at described first Connect between end (11) and at least one second reinforcement (322), first reinforcement (321) and the main reinforcement The junction of muscle (31) is provided with connecting hole (40), and first reinforcement (321) is along arm body (10) length direction Thickness is more than thickness of second reinforcement (322) along arm body (10) length direction.
- 7. robot linking arm according to claim 4, it is characterised in that the main reinforcement (31) and the Zhi Jiaqiang Muscle (32) is mutually perpendicular to.
- 8. a kind of robot, including pedestal (2) and the first linking arm (4) for being arranged on pedestal (2), it is characterised in that it is described First linking arm (4) is the robot linking arm any one of the claim 1 to 7.
- 9. robot according to claim 8, it is characterised in that the robot also includes the second linking arm (3), described First linking arm (4) is arranged between the pedestal (2) and second linking arm (3).
- 10. a kind of robot, including pedestal (2) and the linking arm that is arranged on pedestal (2), it is characterised in that the linking arm For the robot linking arm any one of the claim 3 to 7, the lightening recesses (13) are arranged on the linking arm Arm body (10) lower surface on.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710723015.4A CN107498582A (en) | 2017-08-21 | 2017-08-21 | Robot linking arm and there is its robot |
| PCT/CN2017/118285 WO2019037364A1 (en) | 2017-08-21 | 2017-12-25 | Robot connecting arm and robot having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710723015.4A CN107498582A (en) | 2017-08-21 | 2017-08-21 | Robot linking arm and there is its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107498582A true CN107498582A (en) | 2017-12-22 |
Family
ID=60692378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710723015.4A Pending CN107498582A (en) | 2017-08-21 | 2017-08-21 | Robot linking arm and there is its robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107498582A (en) |
| WO (1) | WO2019037364A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019037363A1 (en) * | 2017-08-21 | 2019-02-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Robot connecting arm and robot having same |
| WO2019037364A1 (en) * | 2017-08-21 | 2019-02-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Robot connecting arm and robot having same |
| CN113043323A (en) * | 2021-02-05 | 2021-06-29 | 深圳众为兴技术股份有限公司 | Horizontal joint mechanical arm and manufacturing method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2024089120A (en) * | 2022-12-21 | 2024-07-03 | セイコーエプソン株式会社 | robot |
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- 2017-08-21 CN CN201710723015.4A patent/CN107498582A/en active Pending
- 2017-12-25 WO PCT/CN2017/118285 patent/WO2019037364A1/en active Application Filing
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| US6457380B1 (en) * | 1999-05-21 | 2002-10-01 | Hutchinson | Connecting rod intended to limit relative movements between two rigid components |
| CN204772591U (en) * | 2015-07-03 | 2015-11-18 | 江苏小铁人机床有限公司 | Novel arm of structure |
| CN205184768U (en) * | 2015-11-25 | 2016-04-27 | 浙江理工大学 | Driven SCARA robot of gear train and four -bar linkage |
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| WO2019037363A1 (en) * | 2017-08-21 | 2019-02-28 | 珠海格力节能环保制冷技术研究中心有限公司 | Robot connecting arm and robot having same |
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| CN113043323A (en) * | 2021-02-05 | 2021-06-29 | 深圳众为兴技术股份有限公司 | Horizontal joint mechanical arm and manufacturing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019037364A1 (en) | 2019-02-28 |
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Application publication date: 20171222 |