CN110625598A - Rotating arm mechanism and robot - Google Patents
Rotating arm mechanism and robot Download PDFInfo
- Publication number
- CN110625598A CN110625598A CN201911013388.8A CN201911013388A CN110625598A CN 110625598 A CN110625598 A CN 110625598A CN 201911013388 A CN201911013388 A CN 201911013388A CN 110625598 A CN110625598 A CN 110625598A
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- arm
- section
- rotating arm
- segment
- rotating
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a rotating arm mechanism and a robot, wherein the rotating arm mechanism comprises a rotating arm body, the rotating arm body is of a columnar structure, the rotating arm body is provided with accommodating cavities, the accommodating cavities extend to two ends of the rotating arm body, and the rotating arm body is of a hollow structure. The rotor arm body is arranged to be a hollow structure, so that the hollow rotor arm body structure not only enables the space of the accommodating cavity to be larger, but also reduces the self weight of the rotor arm body, further facilitates the reduction of the integral size and the integral weight of the rotor arm mechanism, enhances the structural compactness of the rotor arm mechanism and realizes the light weight of the rotor arm mechanism; the rotating arm mechanism is applied to the robot, so that the problems of large overall size and heavy weight of the robot in the prior art are solved.
Description
Technical Field
The invention relates to the field of robots, in particular to a rotating arm mechanism and a robot.
Background
Robots are machine devices that automatically perform work, and at present, robots have been able to assist or replace work such as parts of the manufacturing, construction or hazardous industries.
In the field of robots of the prior art, a robot generally has a plurality of rotating arms, two adjacent rotating arms are rotatably connected with each other, each joint of the robot is formed between two adjacent rotating arms, and electrical components are arranged at each joint of the robot, and the motion of each joint of the robot is driven by the electrical components.
However, the rotating arm of the existing robot is mostly formed by casting a machine housing, and the structure of the rotating arm not only makes the internal space smaller, but also has heavier weight, which is not favorable for the compactness and light weight of the whole robot.
Disclosure of Invention
The invention mainly aims to provide a rotating arm mechanism and a robot, and aims to solve the problems that the robot in the prior art is large in overall size and heavy in weight.
In order to achieve the above object, according to one aspect of the present invention, there is provided a rotor arm mechanism applied to a robot, the rotor arm mechanism including a rotor arm body having a cylindrical structure, the rotor arm body having accommodating cavities extending to two ends of the rotor arm body, the rotor arm body having a hollow structure.
Furthermore, the rotating arm body comprises a plurality of arm sections, the arm sections are sequentially arranged along the extending direction of the rotating arm body, and two adjacent arm sections are connected through a support ring; wherein, each arm section all has a plurality of fretwork holes.
Furthermore, each arm section comprises a plurality of first supporting strips and a plurality of second supporting strips, the plurality of first supporting strips are arranged around the accommodating cavity, and the plurality of second supporting strips are arranged around the accommodating cavity; the plurality of first supporting strips and the plurality of second supporting strips are arranged in a crossed mode, so that a plurality of hollow holes are formed in the corresponding arm sections.
Further, the plurality of first supporting strips are uniformly arranged along the circumferential direction of the corresponding arm section, and the plurality of second supporting strips are uniformly arranged along the circumferential direction of the corresponding arm section.
Further, along the extending direction of the rotating arm body, the rotating arm body is provided with a first end face and a second end face; the cross-sectional areas of the plurality of arm sections are gradually reduced along the direction from the first end face to the second end face; wherein the cross-sectional area of each arm segment is the area of a cross-section of the corresponding arm segment perpendicular to the direction of extension of the arm segment.
Further, the length of the plurality of arm segments gradually decreases in the direction from the first end face to the second end face.
Furthermore, the rotating arm body comprises a first arm section, a second arm section and a third arm section, wherein the second arm section is arranged between the first arm section and the third arm section; the first arm section, the second arm section and the third arm section are provided with a plurality of hollowed holes, the first arm section is provided with a first cavity section, the second arm section is provided with a second cavity section, the third arm section is provided with a third cavity section, and the first cavity section, the second cavity section and the third cavity section are communicated to form an accommodating cavity; wherein, connect through first support ring between first arm section and the second arm section, connect through the second support ring between second arm section and the third arm section.
Furthermore, the rotating arm body also comprises a first fixing ring, one end of the first arm section is connected with the first fixing ring, and the other end of the first arm section is connected with the first supporting ring; the first fixing ring is used for being connected with a transmission piece of the robot so that the transmission piece drives the rotating arm body to move.
Furthermore, the rotating arm body also comprises a second fixing ring, one end of the third arm section is connected with the second support ring, and the other end of the third arm section is connected with the second fixing ring; the second fixing ring is used for being connected with a connecting piece of the robot so as to enable the rotating arm body to drive the connecting piece to move.
According to another aspect of the present invention, there is provided a robot comprising a plurality of rotating arm mechanisms, at least one of which is the above-described rotating arm mechanism.
According to the technical scheme, the rotating arm mechanism comprises a rotating arm body, the rotating arm body is of a columnar structure, the rotating arm body is provided with accommodating cavities, the accommodating cavities extend to two ends of the rotating arm body, and the rotating arm body is of a hollow structure. The rotor arm body is arranged to be a hollow structure, so that the hollow rotor arm body structure not only enables the space of the accommodating cavity to be larger, but also reduces the self weight of the rotor arm body, further facilitates the reduction of the integral size and the integral weight of the rotor arm mechanism, enhances the structural compactness of the rotor arm mechanism and realizes the light weight of the rotor arm mechanism; the rotating arm mechanism is applied to the robot, so that the problems of large overall size and heavy weight of the robot in the prior art are solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic structural view of a robot according to an embodiment of the robot of the invention; and
fig. 2 shows an enlarged schematic view at a of the robot in fig. 1.
Wherein the figures include the following reference numerals:
10. a rotating arm mechanism; 11. a rotating arm body; 111. a first arm segment; 112. a second arm segment; 113. a third arm segment; 114. a first retaining ring; 115. a first support ring; 116. a second support ring; 117. a first support bar; 118. a second supporting strip; 119. hollowing out holes;
20. a robot; 21. a third rotating arm; 22. a connecting member; 23. a third joint; 24. a fourth joint; 25. a fifth joint; 26. a sixth joint; 27. a drive member; 28. a transmission member.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The invention provides a rotating arm mechanism 10, the rotating arm mechanism 10 is applied to a robot 20, please refer to fig. 1 and fig. 2, the rotating arm mechanism 10 includes a rotating arm body 11, the rotating arm body 11 is a columnar structure, the rotating arm body 11 has a containing cavity, the containing cavity extends to two ends of the rotating arm body 11, and the rotating arm body 11 is a hollow structure.
In the rotor arm mechanism 10 of the present invention, the rotor arm body 11 is designed as a hollow structure, and the hollow rotor arm body 11 structure not only makes the space of the accommodating cavity larger, but also reduces the self weight of the rotor arm body 11, thereby being beneficial to reducing the overall size and the overall weight of the rotor arm mechanism 10, enhancing the structural compactness of the rotor arm mechanism 10 and realizing the light weight of the rotor arm mechanism 10, thereby solving the problems of the prior art that the overall size of the robot is larger and the weight is heavier.
It should be noted that the accommodating cavity may be used to mount electrical components, and the electrical components are mainly used to drive each joint of the robot 20 to move; for example, the electric components include a motor, a speed reducer, and the like.
Specifically, the rotating arm body 11 comprises a plurality of arm sections, the arm sections are sequentially arranged along the extending direction of the rotating arm body 11, and two adjacent arm sections are connected through a support ring; wherein each arm segment has a hollowed-out hole 119. Each arm section is set to be of a hollow structure, so that the whole rotating arm body 11 is of the hollow structure.
In the present embodiment, the rotating arm body 11 includes three arm segments, as shown in fig. 2, which are a first arm segment 111, a second arm segment 112, and a third arm segment 113, respectively, the second arm segment 112 being disposed between the first arm segment 111 and the third arm segment 113; the first arm section 111, the second arm section 112 and the third arm section 113 are all provided with hollow holes 119, the first arm section 111 is provided with a first cavity section, the second arm section 112 is provided with a second cavity section, the third arm section 113 is provided with a third cavity section, and the first cavity section, the second cavity section and the third cavity section are communicated to form an accommodating cavity; the first arm segment 111 and the second arm segment 112 are connected through a first support ring 115, and the second arm segment 112 and the third arm segment 113 are connected through a second support ring 116; one end of the second arm segment 112 is connected to a first support ring 115 and the other end of the second arm segment 112 is connected to a second support ring 116.
In order to realize that each arm section is of a hollow structure, each arm section comprises a plurality of first supporting strips 117 and a plurality of second supporting strips 118, the plurality of first supporting strips 117 are arranged around the accommodating cavity, and the plurality of second supporting strips 118 are arranged around the accommodating cavity; the plurality of first support bars 117 and the plurality of second support bars 118 are arranged in a crossing manner, so that a plurality of hollow holes 119 are formed on the corresponding arm sections, and each arm section is of a hollow structure by forming a plurality of hollow holes 119 on each arm section. Alternatively, most of the hollowed-out holes 119 are any one of triangular holes and quadrangular holes.
Specifically, the plurality of first support bars 117 and the plurality of second support bars 118 are disposed around the accommodating cavity, and each of the first support bars 117 is disposed to intersect with at least a portion of the first support bars 117 in the plurality of second support bars 118, so that each of the first support bars 117 is used to form a hollow hole. Preferably, the first support bar 117 and the second support bar 118 are rod bodies.
In a specific implementation process, the plurality of first supporting strips 117 are uniformly arranged along the circumferential direction of the corresponding arm section, and similarly, the plurality of second supporting strips 118 are uniformly arranged along the circumferential direction of the corresponding arm section; this not only makes the overall structure of each arm segment more stable, but also improves the aesthetic appearance of the swing arm mechanism 10.
In a specific implementation process, in order to make the overall structure of the rotating arm mechanism 10 more matched with the transmission piece 28 and the connecting piece 22 of the robot 20, the rotating arm body 11 has a first end face and a second end face along the extending direction of the rotating arm body 11; the cross-sectional areas of the plurality of arm sections are gradually reduced along the direction from the first end face to the second end face; wherein the cross-sectional area of each arm segment is the area of a cross-section of the corresponding arm segment perpendicular to the direction of extension of the arm segment. Further, the length of the plurality of arm segments gradually decreases in the direction from the first end face to the second end face.
In order to achieve the assembly between the rotating arm mechanism 10 and the transmission member 28 of the robot 20, the rotating arm body 11 further includes a first fixing ring 114, one end of the first arm segment 111 is connected to the first fixing ring 114, and the other end of the first arm segment 111 is connected to the first support ring 115; the first fixing ring 114 is used to connect with the transmission member 28 of the robot, so that the transmission member 28 drives the rotating arm body 11 to move.
In a specific implementation process, two ends of each first supporting bar 117 of the first arm segment 111 are respectively connected to the first fixing ring 114 and the first supporting ring 115, and similarly, two ends of each second supporting bar 118 of the first arm segment 111 are respectively connected to the first fixing ring 114 and the first supporting ring 115; both ends of each first supporting bar 117 of the second arm section 112 are respectively connected to the first supporting ring 115 and the second supporting ring 116; similarly, each second support bar 118 of the second arm segment 112 is connected at both ends to a first support ring 115 and a second support ring 116, respectively.
In order to realize the assembly between the rotating arm mechanism 10 and the connecting piece 22 of the robot 20, the rotating arm body 11 further includes a second fixing ring, one end of the third arm section 113 is connected with the second support ring 116, and the other end of the third arm section 113 is connected with the second fixing ring; the second fixing ring is used for connecting with the connecting piece 22 of the robot, so that the rotating arm body 11 drives the connecting piece 22 to move.
In a specific implementation process, both ends of each first supporting bar 117 of the third arm section 113 are respectively connected to the second supporting ring 116 and the second fixing ring; similarly, each second support bar 118 of the third arm segment 113 is connected at both ends to the second support ring 116 and the second fixing ring, respectively.
The present invention further provides a robot 20, wherein the robot 20 includes a plurality of rotating arm mechanisms, and at least one of the plurality of rotating arm mechanisms is the rotating arm mechanism 10.
In a specific implementation process, as shown in fig. 1, the robot 20 includes a second rotating arm, a third rotating arm 21, a fourth rotating arm, a fifth rotating arm, and a sixth rotating arm, where the fourth rotating arm is the rotating arm mechanism 10. The third rotating arm 21 is rotatably connected with the fourth rotating arm, a fourth joint 24 of the robot 20 is formed between the third rotating arm 21 and the fourth rotating arm, the transmission member 28 is located at the fourth joint 24, and the transmission member 28 can drive the fourth rotating arm to rotate relative to the third rotating arm 21. The fifth rotating arm is rotatably connected with the fourth rotating arm, and a fifth joint 25 of the robot 20 is formed between the fifth rotating arm and the fourth rotating arm; the sixth rotating arm is rotatably connected with the fourth rotating arm, and a sixth joint 26 of the robot 20 is formed between the sixth rotating arm and the fourth rotating arm; the fifth joint 25 is adjacent to the sixth joint 26, the connecting element 22 is located adjacent to the fifth joint 25 and the sixth joint 26, and the fourth rotating arm can drive the fifth rotating arm and the sixth rotating arm to move through the connecting element 22. The second rotating arm is rotatably connected to the third rotating arm 21, and a third joint 23 of the robot 20 is formed between the second rotating arm and the third rotating arm 21. Optionally, a driving component 27 for driving the fifth rotating arm to move is disposed at the fifth joint 25, and the driving component 27 includes a motor, a speed reducer, and the like.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
in the rotating arm mechanism 10 of the present invention, the rotating arm mechanism 10 includes a rotating arm body 11, the rotating arm body 11 is a columnar structure, the rotating arm body 11 has accommodating cavities, the accommodating cavities extend to two ends of the rotating arm body 11, and the rotating arm body 11 is a hollow structure. By arranging the rotating arm body 11 in a hollow structure, the hollow rotating arm body 11 structure not only enables the space of the accommodating cavity to be larger, but also reduces the self weight of the rotating arm body 11, so that the overall size and the overall weight of the rotating arm mechanism 10 are reduced, the structural compactness of the rotating arm mechanism 10 is enhanced, and the lightweight of the rotating arm mechanism 10 is realized; the rotating arm mechanism 10 is applied to the robot 20, so that the problems of large overall size and heavy weight of the robot in the prior art are solved.
The robot 20 of the present invention includes at least one rotating arm mechanism 10, and therefore has at least the same technical effects as the rotating arm mechanism 10, and will not be described herein again.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, 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.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A rotating arm mechanism applied to a robot, characterized by comprising:
the rotating arm comprises a rotating arm body (11), wherein the rotating arm body (11) is of a columnar structure, the rotating arm body (11) is provided with accommodating cavities, the accommodating cavities extend to two ends of the rotating arm body (11), and the rotating arm body (11) is of a hollow structure.
2. The swivel arm mechanism according to claim 1, characterized in that the swivel arm body (11) comprises a plurality of arm segments, which are arranged in sequence along the extension direction of the swivel arm body (11), and adjacent two arm segments are connected by a support ring; wherein each arm segment has a plurality of hollowed-out holes (119).
3. The swivel arm mechanism of claim 2, wherein each of the arm segments comprises a plurality of first support bars (117) and a plurality of second support bars (118), the plurality of first support bars (117) being disposed around the receiving cavity and the plurality of second support bars (118) being disposed around the receiving cavity; the plurality of first supporting strips (117) and the plurality of second supporting strips (118) are arranged in a crossed mode, so that a plurality of hollow holes (119) are formed in the corresponding arm sections.
4. The swivel arm mechanism according to claim 3, wherein the plurality of first support bars (117) are evenly arranged along the circumference of the respective arm section and the plurality of second support bars (118) are evenly arranged along the circumference of the respective arm section.
5. The swivel arm mechanism according to claim 2, characterized in that the swivel arm body (11) has a first end face and a second end face in the extension direction of the swivel arm body (11); the cross-sectional areas of the plurality of arm segments gradually decrease in a direction from the first end face to the second end face; wherein the cross-sectional area of each arm segment is the area of a cross-section of the corresponding arm segment perpendicular to the extending direction of the arm segment.
6. The rotating arm mechanism of claim 5 wherein the plurality of arm segments progressively decrease in length in a direction from the first end face to the second end face.
7. The swing arm mechanism according to claim 1, wherein the swing arm body (11) comprises a first arm segment (111), a second arm segment (112) and a third arm segment (113), the second arm segment (112) being arranged between the first arm segment (111) and the third arm segment (113);
the first arm section (111), the second arm section (112) and the third arm section (113) are provided with a plurality of hollowed-out holes (119), the first arm section (111) is provided with a first cavity section, the second arm section (112) is provided with a second cavity section, the third arm section (113) is provided with a third cavity section, and the first cavity section, the second cavity section and the third cavity section are communicated to form the accommodating cavity;
wherein the first arm segment (111) and the second arm segment (112) are connected by a first support ring (115), and the second arm segment (112) and the third arm segment (113) are connected by a second support ring (116).
8. The swing arm mechanism according to claim 7, wherein the swing arm body (11) further comprises a first fixing ring (114), one end of the first arm segment (111) is connected with the first fixing ring (114), and the other end of the first arm segment (111) is connected with the first support ring (115); the first fixing ring (114) is used for being connected with a transmission piece (28) of the robot, so that the transmission piece (28) drives the rotating arm body (11) to move.
9. The swivel arm mechanism according to claim 7, characterized in that the swivel arm body (11) further comprises a second fixing ring, one end of the third arm segment (113) being connected with the second support ring (116), the other end of the third arm segment (113) being connected with the second fixing ring; the second fixing ring is used for being connected with a connecting piece (22) of the robot, so that the rotating arm body (11) drives the connecting piece (22) to move.
10. A robot comprising a plurality of swivel arm mechanisms, characterized in that at least one of said swivel arm mechanisms of said plurality of swivel arm mechanisms is a swivel arm mechanism (10) according to any of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911013388.8A CN110625598A (en) | 2019-10-23 | 2019-10-23 | Rotating arm mechanism and robot |
| PCT/CN2020/110874 WO2021077887A1 (en) | 2019-10-23 | 2020-08-24 | Rotating arm mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911013388.8A CN110625598A (en) | 2019-10-23 | 2019-10-23 | Rotating arm mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110625598A true CN110625598A (en) | 2019-12-31 |
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ID=68977498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911013388.8A Pending CN110625598A (en) | 2019-10-23 | 2019-10-23 | Rotating arm mechanism and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110625598A (en) |
| WO (1) | WO2021077887A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021077887A1 (en) * | 2019-10-23 | 2021-04-29 | 珠海格力智能装备有限公司 | Rotating arm mechanism and robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029123B (en) * | 2012-12-22 | 2015-04-01 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN104858892B (en) * | 2015-06-11 | 2017-03-01 | 佛山市南海区广工大数控装备协同创新研究院 | Modularization robot based on intelligent machine arm |
| CN204772591U (en) * | 2015-07-03 | 2015-11-18 | 江苏小铁人机床有限公司 | Novel arm of structure |
| CN205086005U (en) * | 2015-11-13 | 2016-03-16 | 山东山姆自动化设备有限公司 | Foundry industry robot's arm structure |
| US10035261B2 (en) * | 2016-06-17 | 2018-07-31 | Schaeffler Technologies AG & Co. KG | Actuatable joint for a robotic system having an axial angular contact roller bearing |
| CN206748421U (en) * | 2016-11-02 | 2017-12-15 | 惠州市小七电子科技有限公司 | A kind of built-in multi-axis robot |
| CN210879643U (en) * | 2019-10-23 | 2020-06-30 | 珠海格力智能装备有限公司 | Rotating arm mechanism and robot |
| CN110625598A (en) * | 2019-10-23 | 2019-12-31 | 珠海格力智能装备有限公司 | Rotating arm mechanism and robot |
-
2019
- 2019-10-23 CN CN201911013388.8A patent/CN110625598A/en active Pending
-
2020
- 2020-08-24 WO PCT/CN2020/110874 patent/WO2021077887A1/en active Application Filing
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021077887A1 (en) * | 2019-10-23 | 2021-04-29 | 珠海格力智能装备有限公司 | Rotating arm mechanism and robot |
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| Publication number | Publication date |
|---|---|
| WO2021077887A1 (en) | 2021-04-29 |
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