CN109262601B - Light-weight mechanical arm and robot with same - Google Patents
Light-weight mechanical arm and robot with same Download PDFInfo
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- CN109262601B CN109262601B CN201811136221.6A CN201811136221A CN109262601B CN 109262601 B CN109262601 B CN 109262601B CN 201811136221 A CN201811136221 A CN 201811136221A CN 109262601 B CN109262601 B CN 109262601B
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- arm body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Abstract
The invention discloses a light-weight mechanical arm and a robot with the same. The whole weight of this arm reduces, has improved the arm load dead weight ratio, and the modularization joint is from becoming an organic whole, can direct whole dismouting.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a light-weight mechanical arm and a robot with the same.
Background
At present, China has become an important market of global industrial robots, and the robots are gradually expanding to the industry fields of semiconductors (3C), services, medical treatment and the like beyond the fields of traditional automobiles and consumer electronics, and become a new growth point of the industry. The new industry field requires improvement on the aspects of robot weight, dead weight load ratio, volume, transmission precision and the like, and simultaneously generates new requirements in the field of man-machine cooperation. Therefore, the light-weight mechanical arm facing to the man-machine cooperation direction and having the advantages of large dead weight load ratio, small volume and high transmission precision is developed, and the light-weight mechanical arm has wide market application prospect.
The invention patent with publication number CN107972021A discloses a multi-axis mechanical arm, which comprises a base, a shoulder mounting base, a main arm and a forearm, wherein the forearm is provided with a terminal mounting flange and a wrist swinging joint, and the terminal mounting flange is mounted on the wrist swinging joint. The whole mechanical arm is complex in structure, low in modularization degree and not beneficial to batch production and maintenance. The rotary joint driving device, the shoulder joint driving device and the forearm rotary joint driving device are stepping motors with planetary reducers and rotary encoders, and although the cost is low, the precision is poor. The mechanical arm is internally driven by chain, gear, belt and other modes, and has poor compactness, lower precision, higher dead weight and failure rate. Meanwhile, the whole mechanical arm has no redundant degree of freedom and lacks flexibility. The invention patent with the publication number of CN104786217A discloses a modularized mechanical arm with variable degrees of freedom, which can be spliced into modularized mechanical arms with different degrees of freedom by a plurality of modularized mechanical arm joints; however, the speed reducer, the hollow shaft motor, the double code disc and the like of the mechanical arm are arranged on the metal shell in the form of parts, the space of the metal shell is narrow, and the installation and the maintenance are inconvenient. The mechanical arm is not provided with a working state indicating signal device, so that the state of the mechanical arm in industrial production is not favorably judged, and production accidents and loss are easily caused. The invention patent with publication number CN107932551A discloses a seven-degree-of-freedom cooperative mechanical arm, which comprises seven modular joints, two connecting arms and a base. Adopt gear engagement cooperation transmission between reduction gear and the motor, but this mode can increase transmission error, and the structure is more complicated moreover, is unfavorable for reducing the volume of whole joint. The adopted servo motor is provided with a metal shell, so that the load dead weight ratio of the mechanical arm is not improved.
Disclosure of Invention
The invention aims to provide a light-weight mechanical arm and a robot with the same, and aims to solve the technical problems that the mechanical arm in the prior art is heavy in weight, small in self-weight load ratio, difficult to assemble, disassemble and maintain and the like.
The invention is realized by the following technical scheme:
one aspect of the invention provides a lightweight robotic arm comprising a base, a first arm, a second arm, a third arm, a fourth arm, a fifth arm, a sixth arm, an end effector, a first modular joint, a second modular joint, a third modular joint, a fourth modular joint, a fifth modular joint, a sixth modular joint, and a seventh modular joint, the first modular joint, the second modular joint, the third modular joint, the fourth modular joint, the fifth modular joint, the sixth modular joint, and the seventh modular joint each having rotational degrees of freedom, the base, the second arm, the fourth arm, and the sixth arm each having a hollow cavity, the first modular joint located within the hollow cavity of the base, the second modular joint, the third modular joint located within the second arm, the fourth modular joint and the fifth modular joint are located in the fourth arm body, and the sixth modular joint and the seventh modular joint are located in the sixth arm body;
the fixed end of the first modular joint is fixedly connected with the base, the output end of the first modular joint is connected with the first end of the first arm body, the fixed ends of the second modular joint and the third modular joint are fixedly connected with the second arm body, the output end of the second modular joint is connected with the second end of the first arm body, the output end of the third modular joint is connected with the first end of the third arm body, the fixed ends of the fourth modular joint and the fifth modular joint are fixedly connected with the fourth arm body, the output end of the fourth modular joint is connected with the second end of the third arm body, the output end of the fifth modular joint is connected with the first end of the fifth arm body, and the fixed ends of the sixth modular joint and the seventh modular joint are fixedly connected with the sixth arm body, the output end of the sixth modular joint is connected with the second end of the fifth arm body, and the output end of the seventh modular joint is connected with the end effector;
every modularization joint all includes drive assembly, joint assembly and electric assembly, drive assembly includes harmonic speed reducer ware and motor, the joint assembly includes joint mounting flange, joint output shaft, the motor is fixed in on the joint mounting flange, the output shaft of motor with harmonic speed reducer ware's wave generator is connected, the first end of joint output shaft with harmonic speed reducer ware's steel wheel is connected, the second end and the adjacent arm body of joint output shaft are connected, electric assembly includes the encoder.
As described above, in the lightweight robot arm, the first arm, the third arm, and the fifth arm have the same structure; the second arm body, the fourth arm body and the sixth arm body have the same structure; the first modular joint, the third modular joint, the fifth modular joint and the seventh modular joint are horizontal rotation driving joints, and the second modular joint, the fourth modular joint and the sixth modular joint are vertical rotation driving joints.
As above light-weight type arm, the structure of the first arm body, the third arm body, the fifth arm body is the same, all includes two detachable flange and first body, flange is hollow structure, the second arm body, the fourth arm body, the sixth arm body all include second body, first protective cover and second protective cover, flange with the second body is the metal material, the material of first body, first protective cover and second protective cover is reinforcing nylon.
As the light-weight mechanical arm, the connecting flange and the arm body connected with the connecting flange are provided with the mutually matched boss and the groove for preventing the joint of the connecting flange and the adjacent connecting arm body from rotating or translating, and the sealing groove is formed between the connecting flange and the adjacent arm body.
As mentioned above, in the light-weight mechanical arm, there is a boss on the side of the second protective cover, and there is a groove on the inner side of the first protective cover, and the boss is embedded into the groove when the protective cover is installed.
As mentioned above, the connecting flange and the mounting flange are both hollow flanges.
As described above, in the lightweight robot arm, the first, third, fifth, and seventh modular joints are horizontal rotation driving joints, and the second, fourth, and sixth modular joints are vertical rotation driving joints.
As mentioned above, the joint between the adjacent arms is provided with the dustproof ring rubber ring.
As mentioned above, in the lightweight robot arm, the seventh modular joint is connected to the end effector through an output flange, where the output flange includes a flange, a flange connection ring, and a display light band, the display light band is disposed on the flange connection ring, and the flange connection ring is connected to the flange.
As described above, in the lightweight mechanical arm, the first arm, the third arm, and the fifth arm are provided with wire-pressing grooves.
Another aspect of the invention provides a robot comprising a lightweight robot arm as described above.
According to the lightweight mechanical arm, the first modular joint, the second modular joint, the third modular joint, the fourth modular joint, the fifth modular joint, the sixth modular joint and the seventh modular joint are arranged in the hollow cavities of the second arm body, the fourth arm body and the sixth arm body, so that the overall weight of the mechanical arm is reduced, the load dead weight ratio of the mechanical arm is improved, the modular joints are integrated into a whole, the mechanical arm can be directly and integrally disassembled and assembled, the limitation caused by the size constraint of an outer frame when joint parts are installed in the traditional manner is avoided, the quick replacement and installation are facilitated, and the maintenance is also facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a lightweight robot arm according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first arm of a lightweight robot arm according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second arm of the lightweight robot arm according to the embodiment of the present invention;
fig. 4 is a schematic view of a modular joint structure of a lightweight robot arm according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a joint between the second arm and the third arm according to the embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an output flange of a lightweight robot arm according to an embodiment of the present invention;
fig. 7 is a schematic view of a line pressing structure on the first arm according to an embodiment of the present invention.
Description of reference numerals:
1-a base; 2-a first arm; 3-a second arm body;
4-a third arm body; 5-a fourth arm body; 6-a fifth arm body;
7-a sixth arm body; 8-an end effector; 9-a connecting flange;
10-a first body; 11-a second body; 12-a first protective cover;
13-a second protective cover; 14-a dust ring; 15-rubber ring;
16-a flange; 17-flange connection ring; 18-a display light strip;
19-a light belt protective cover; 20-teaching button; 21-horizontal rotation drive joint;
22-vertical rotary drive joint; 23-drive board 24-radiator fan;
25-a drive plate carrier; 26-line pressing grooves; and 27-opening the hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
The following describes the lightweight robot arm and the robot having the same according to the present invention in detail with reference to specific embodiments.
The first embodiment is as follows:
fig. 1 is a schematic structural diagram of a lightweight robot arm according to an embodiment of the present invention, please refer to fig. 1, where the lightweight robot arm according to the embodiment includes a base 1, a first arm 2, a second arm 3, a third arm 4, a fourth arm 5, a fifth arm 6, a sixth arm 7, an end effector 8, a first modular joint, a second modular joint, a third modular joint, a fourth modular joint, a fifth modular joint, a sixth modular joint, and a seventh modular joint, where the first modular joint, the second modular joint, the third modular joint, the fourth modular joint, the fifth modular joint, the sixth modular joint, and the seventh modular joint all have a rotational degree of freedom, the base, the second arm 3, the fourth arm 5, and the sixth arm 7 all have hollow cavities, the first modular joint is located in the hollow cavity of the base 1, the second modular joint and the third modular joint are positioned in the second arm body 3, the fourth modular joint and the fifth modular joint are positioned in the fourth arm body 5, and the sixth modular joint and the seventh modular joint are positioned in the sixth arm body 7; the fixed end of the first modular joint is fixedly connected with the base 1, the output end of the first modular joint is connected with the first end of the first arm body 2, the fixed ends of the second modular joint and the third modular joint are fixedly connected with the second arm body 3, the output end of the second modular joint is connected with the second end of the first arm body, the output end of the third modular joint is connected with the first end of the third arm body, the fixed ends of the fourth modular joint and the fifth modular joint are fixedly connected with the fourth arm body 5, the output end of the fourth modular joint is connected with the second end of the third arm body 4, the output end of the fifth modular joint is connected with the first end of the fifth arm body 6, and the fixed ends of the sixth modular joint and the seventh modular joint are fixedly connected with the sixth arm body 7, the output end of the sixth modular joint is connected with the second end of the fifth arm body 6, and the output end of the seventh modular joint is connected with the end effector;
each modular joint comprises a driving assembly, a joint assembly and an electric assembly;
the drive assembly includes harmonic speed reducer ware and motor, the joint assembly includes joint mounting flange, joint output shaft, the motor is fixed in on the joint mounting flange, the output shaft of motor with the wave generator of harmonic speed reducer ware is connected, the first end of joint output shaft with the steel wheel of harmonic speed reducer ware is connected, the second end and the adjacent arm of joint output shaft are connected, electric assembly includes the encoder.
In this embodiment, the motor includes hollow motor rotor, hollow motor stator and hollow motor shaft, has further reduced the whole quality of arm. The specific form of the encoder is not particularly limited, and the encoder in this embodiment includes an absolute encoder and an incremental encoder, where the incremental encoder is used to detect the position of the rotor of the motor, the absolute encoder is used to detect the position of the modular joint output shaft, the incremental encoder is connected to the motor shaft, and the absolute encoder is connected to the joint output shaft.
The light-weight mechanical arm of this embodiment is through with first modularization joint, second modularization joint, third modularization joint, fourth modularization joint, fifth modularization joint, sixth modularization joint and seventh modularization joint set up at the second armlet, the fourth armlet, in the cavity of the sixth armlet, make the whole weight of arm reduce, the load and the dead weight ratio of arm have been improved, the modularization joint is from an organic whole, can direct whole dismouting, receive the restriction of frame size constraint when having avoided traditional installation joint spare part, be favorable to the quick replacement installation, also convenient maintenance simultaneously.
Fig. 2 is a schematic structural diagram of a first arm of a lightweight robot arm according to an embodiment of the present invention, fig. 3 is a schematic structural diagram of a second arm of the lightweight robot arm according to the embodiment of the present invention, fig. 4 is a schematic structural diagram of a modular joint of the lightweight robot arm according to the embodiment of the present invention, fig. 5 is a schematic structural diagram of a connection between the second arm and a third arm according to the embodiment of the present invention, as shown in fig. 1 to 5, further, in the embodiment, the first arm 2, the third arm 4, and the fifth arm 6 have the same structure; the second arm body 1, the fourth arm body 3 and the sixth arm body 5 have the same structure; the first modular joint, the third modular joint, the fifth modular joint and the seventh modular joint are horizontal rotation driving joints 21, the second modular joint, the fourth modular joint and the sixth modular joint are vertical rotation driving joints 22, and flexibility is high.
First arm body 2, third arm body 4, fifth arm body 6 all include two detachable flange 9 and first body 10, flange 9 is hollow structure, second arm body 3, fourth arm body 5, sixth arm body 7 all include second body 11, first protective cover 12 and second protective cover 13, flange with second body 11 is the metal material, the material of first body 10, first protective cover 12 and second protective cover 13 is the reinforcing nylon. Second body 11, first protection cover 12 pass through the mould and mould plastics and form, and the arm is through using combined material, on the basis of the rigidity and the intensity that satisfy the arm, has reduced the whole weight of arm, has further improved the load dead weight ratio of arm.
Furthermore, the connecting flange 9 and the arm body connected with the connecting flange 9 are provided with a boss and a groove which are matched with each other, the boss and the groove are used for preventing the connecting end of the connecting flange 9 and the arm body from rotating or translating, and a sealing groove is formed between the connecting flange and the adjacent arm body.
Furthermore, there is the boss on the second visor 13 side, first visor 12 inboard has the recess, and when installing the visor the boss embedding in the recess, can guarantee the relative position of visor and compound member, the mounting means is simple swift. The protective cover is provided with a sealing groove, and an O-shaped ring is arranged in the sealing groove and used for sealing between the protective cover and the arm body.
In this embodiment, a dust ring 14 and a rubber ring 15 are arranged at the joint of the arm body and the arm body.
Fig. 6 is a schematic structural diagram of an output flange of a lightweight robot provided in an embodiment of the present invention, please refer to fig. 6, further, in this embodiment, the seventh joint module is connected to the end effector through an output flange 8, the output flange 8 includes a flange 16, a flange connection ring 17, and a display light band, the display light band is disposed on the flange connection ring 17, the flange connection ring 17 is connected to the flange 16, a light band protection cover 19 is disposed on the display light band in this embodiment, and a teaching button 20 is further disposed on the output flange, in this embodiment, a working state of the robot is indicated by a color of the display light band, where when the display light band emits a constant blue color, it indicates that the robot is in a normal working state, when the display light band emits a blue color, it indicates that a user is training the robot, and when the display light band 18 emits a red color, it indicates, indicate the arm to be in dragging the teaching state when showing light strip 18 and sending out permanent green, indicate the arm to be in the setting state when showing light strip 18 and sending out permanent white. During installation, the lamp strip protective cover 19 and the display lamp strip 18 are installed on the flange connecting ring 17, then the flange protective cover and the flange 16 are connected through screws, the whole body is installed on the joint installation flange of the modular joint, radial fastening is carried out through the screws, and finally the rubber ring 18 is sleeved on the screw installation ring surface. The flange 16 is sized in diameter to be grasped by a human hand. Make the operator press teaching button 20 with the finger when can holding the output flange, only use the singlehanded teaching process that can accomplish the arm, reduced manual operation intensity and greatly improved the convenient degree of operation.
In this embodiment, the first, third, fifth, and seventh modular joints are horizontal rotation driving joints 21, and the second, fourth, and sixth modular joints are vertical rotation driving joints 22. The driving plate 23, the cooling fan 24 and the driving plate support 25 are arranged in the hollow cavity in the second arm body, the fourth arm body and the sixth arm body, the cooling fan 24 is installed on the driving plate 23, the driving plate 23 is installed on the driving plate support 25, and the driving plate support 25 is installed on the arm bodies. Wherein, the driving plate 23 and the driving plate bracket 25 are both provided with hollow holes, which is beneficial to the fixation and the penetration of the wire harness. The heat dissipation fan 24 can reduce the heat on the driving plate, so that the heat in the mechanical arm can circularly flow along with the airflow, and the condition of local overheating in the mechanical arm is relieved.
Fig. 7 is a schematic view of a wire pressing structure on the first arm according to an embodiment of the present invention, please refer to fig. 7, further, wire pressing grooves 26 are formed on the base, the first arm, the third arm, and the fifth arm, and wires exposed outside are laid in the wire pressing grooves 26; the inner sides of the first arm body, the third arm body and the fifth arm body are provided with openings 27, the openings are used for fixing external cables, and the mechanical arm is prevented from being wound by the external cables during movement.
Example two:
this embodiment provides a robot including the lightweight robot arm of the first embodiment.
The light-weight mechanical arm of this embodiment robot is through with first modularization joint, second modularization joint, third modularization joint, fourth modularization joint, fifth modularization joint, sixth modularization joint and seventh modularization joint set up at the second arm body, the fourth arm body, in the cavity of the sixth arm body, make the whole weight of arm reduce, the load and the dead weight ratio of arm have been improved, the modularization joint is from an organic whole, direct whole dismouting, receive the restriction of frame size restraint when having avoided traditional installation joint spare part, be favorable to the quick replacement installation, also convenient maintenance simultaneously.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A light-weight mechanical arm is characterized in that:
the robot comprises a base, a first arm body, a second arm body, a third arm body, a fourth arm body, a fifth arm body, a sixth arm body, an end effector, a first modular joint, a second modular joint, a third modular joint, a fourth modular joint, a fifth modular joint, a sixth modular joint and a seventh modular joint, wherein the first modular joint, the second modular joint, the third modular joint, the fourth modular joint, the fifth modular joint, the sixth modular joint and the seventh modular joint all have rotational freedom, the base, the second arm body, the fourth arm body and the sixth arm body all have hollow cavities, the first modular joint is located in the hollow cavity of the base, the second modular joint and the third modular joint are located in the second arm body, the fourth modular joint and the fifth modular joint are located in the fourth arm body, the sixth modular joint and the seventh modular joint are located in the sixth arm body;
the fixed end of the first modular joint is fixedly connected with the base, the output end of the first modular joint is connected with the first end of the first arm body, the fixed ends of the second modular joint and the third modular joint are fixedly connected with the second arm body, the output end of the second modular joint is connected with the second end of the first arm body, the output end of the third modular joint is connected with the first end of the third arm body, the fixed ends of the fourth modular joint and the fifth modular joint are fixedly connected with the fourth arm body, the output end of the fourth modular joint is connected with the second end of the third arm body, the output end of the fifth modular joint is connected with the first end of the fifth arm body, and the fixed ends of the sixth modular joint and the seventh modular joint are fixedly connected with the sixth arm body, the output end of the sixth modular joint is connected with the second end of the fifth arm body, and the output end of the seventh modular joint is connected with the end effector;
each modular joint comprises a driving assembly, a joint assembly and an electric assembly;
the driving assembly comprises a harmonic reducer and a motor, the joint assembly comprises a joint mounting flange and a joint output shaft, the motor is fixed on the joint mounting flange, the output shaft of the motor is connected with a wave generator of the harmonic reducer, the first end of the joint output shaft is connected with a steel wheel of the harmonic reducer, the second end of the joint output shaft is connected with an adjacent arm body, and the electric assembly comprises an encoder;
the first arm body, the third arm body and the fifth arm body have the same structure;
the second arm body, the fourth arm body and the sixth arm body have the same structure;
the first modular joint, the third modular joint, the fifth modular joint and the seventh modular joint are horizontal rotation driving joints, and the second modular joint, the fourth modular joint and the sixth modular joint are vertical rotation driving joints.
2. A lightweight robotic arm as claimed in claim 1, wherein:
the structure of the first arm body, the third arm body and the fifth arm body is the same, and the first arm body, the third arm body and the fifth arm body all comprise two detachable connecting flanges and a first body, the connecting flanges are of a hollow structure, the second arm body, the fourth arm body and the sixth arm body all comprise a second body, a first protective cover and a second protective cover, the connecting flanges and the second body are made of metal materials, and the materials of the first body, the first protective cover and the second protective cover are reinforced nylon.
3. A lightweight robotic arm as claimed in claim 2, wherein:
the connecting flange and the arm body connected with the connecting flange are provided with a boss and a groove which are matched with each other and used for preventing the joint of the connecting flange and the adjacent arm body from rotating or translating, and a sealing groove is arranged between the connecting flange and the adjacent arm body.
4. A lightweight robotic arm as claimed in claim 2, wherein:
there is the boss on the second visor side, first visor inboard has the recess, and during the installation visor the boss embedding in the recess.
5. A lightweight robotic arm as claimed in claim 2, wherein:
the connecting flange and the joint mounting flange are both hollow flanges.
6. A lightweight robotic arm as claimed in claim 4, wherein:
and a dustproof ring and a rubber ring are arranged at the joint between the adjacent arm bodies.
7. A lightweight robot arm according to any of claims 1-6, wherein: the seventh modular joint is connected with the end effector through an output flange, the output flange comprises a flange, a flange connecting ring and a display lamp band, the display lamp band is arranged on the flange connecting ring, and the flange connecting ring is connected with the flange.
8. A lightweight robotic arm as claimed in claim 7, wherein:
and wire pressing grooves are formed in the first arm body, the third arm body and the fifth arm body.
9. A robot, characterized by: the robot comprises a lightweight robotic arm as claimed in any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811136221.6A CN109262601B (en) | 2018-09-28 | 2018-09-28 | Light-weight mechanical arm and robot with same |
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| CN201811136221.6A CN109262601B (en) | 2018-09-28 | 2018-09-28 | Light-weight mechanical arm and robot with same |
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| CN109262601A CN109262601A (en) | 2019-01-25 |
| CN109262601B true CN109262601B (en) | 2021-02-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106671074A (en) * | 2016-12-13 | 2017-05-17 | 昆山奥迪尔智能科技有限公司 | Six-axis mechanical arm effectively improving installing speed and precision |
| CN111655434A (en) * | 2019-06-12 | 2020-09-11 | 上海非夕机器人科技有限公司 | Robot and industrial robot with light device for indicating actuator status |
| CN110434844A (en) * | 2019-08-02 | 2019-11-12 | 中科新松有限公司 | Quick-changing type restructural desktop grade robot and its inverse kinetics solution general calculation method |
| CN111085988B (en) * | 2019-12-19 | 2022-07-15 | 中科新松有限公司 | Light-weight cooperative robot with quick-release connection mode |
| CN112476475B (en) * | 2020-11-18 | 2022-05-10 | 北京镁伽机器人科技有限公司 | Robot joint and robot |
| CN113847404A (en) * | 2021-09-30 | 2021-12-28 | 深圳市越疆科技有限公司 | Joint, mechanical arm, robot and harmonic reducer device thereof |
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| CN203622451U (en) * | 2013-09-28 | 2014-06-04 | 上海摩西海洋工程有限公司 | Industrial robot visualizing system |
| CN204673643U (en) * | 2015-05-15 | 2015-09-30 | 广东中聪机器人科技有限公司 | A kind of articulated robot arm |
| IT201600130715A1 (en) * | 2016-12-23 | 2018-06-23 | Comau Spa | "Functional device, in particular robots, with modular modules for educational use" |
| US10022861B1 (en) * | 2017-04-27 | 2018-07-17 | Engineering Services Inc. | Two joint module and arm using same |
| CN107775662A (en) * | 2017-10-20 | 2018-03-09 | 大族激光科技产业集团股份有限公司 | A kind of articulated robot and the module for building articulated robot |
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