CN111844124B

CN111844124B - Mechanical arm and robot with same

Info

Publication number: CN111844124B
Application number: CN202010734089.XA
Authority: CN
Inventors: 陈修奇; 董泽锋; 朱荣佳; 钟文涛
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2022-05-27
Anticipated expiration: 2040-07-27
Also published as: CN111844124A

Abstract

The invention provides a mechanical arm and a robot with the same, wherein the mechanical arm comprises: a connecting shaft; the first joint is rotatably arranged on the connecting shaft and provided with a first open slot, and at least part of the connecting shaft is positioned in the first open slot; the connecting assembly is at least partially connected with the first joint, the connecting assembly is positioned at the opening of the first opening groove, the connecting assembly and the connecting shaft are arranged at intervals to form a communicating channel, and an outlet of the communicating channel is formed by a gap between one end of the connecting assembly, which is far away from the first joint, and the connecting shaft; and the first sealing element is arranged between the connecting assembly and the connecting shaft and is positioned at an outlet of the communication channel. The technical problem that the sealing performance of the mechanical arm in the prior art is poor is solved.

Description

Mechanical arm and robot with same

Technical Field

The invention relates to the technical field of robots, in particular to a mechanical arm and a robot with the same.

Background

At present, industrial robots have been widely used in various fields such as welding, food, medical treatment, home appliances, coal, mines, and the like. Automated operation can be conveniently performed by using an industrial robot, and highly difficult operations can also be realized.

However, in some fields, the sealing grade requirements for the robot are high. For the food processing industry, if oil leakage happens during the operation of the robot, the edibility and safety of food can be affected. In other fields, the environment is severe, and the poor sealing performance of the robot can cause dust in the air to enter the interior of the industrial robot structure, so that the bearing fit or the meshing of the driving gear and the like are affected, and the normal motion of the robot is seriously affected.

Disclosure of Invention

The invention mainly aims to provide a mechanical arm and a robot with the mechanical arm, and aims to solve the technical problem that the mechanical arm in the prior art is poor in sealing performance.

In order to achieve the above object, according to one aspect of the present invention, there is provided a robot arm including: a connecting shaft; the first joint is rotatably arranged on the connecting shaft and provided with a first open slot, and at least part of the connecting shaft is positioned in the first open slot; the connecting assembly is at least partially connected with the first joint, the connecting assembly is positioned at the opening of the first opening groove, the connecting assembly and the connecting shaft are arranged at intervals to form a communicating channel, and an outlet of the communicating channel is formed by a gap between one end of the connecting assembly, which is far away from the first joint, and the connecting shaft; and the first sealing element is arranged between the connecting assembly and the connecting shaft and is positioned at an outlet of the communication channel.

Further, the robot arm further includes: the first bearing is arranged on one side, close to the first joint, of the first sealing element and located between the connecting shaft and the connecting assembly, so that the connecting assembly can rotate relative to the connecting shaft.

Further, be provided with first location arch on the first joint, first location arch is located first open slot, and the arm still includes: the second bearing is arranged on the connecting shaft and located between the connecting shaft and the first positioning protrusions so as to be positioned through the first positioning protrusions.

Further, the robot arm still includes: the driving gear is fixedly arranged on the connecting shaft so as to drive the driving gear to rotate through the connecting shaft.

Further, the connecting shaft includes a body portion and a connecting portion, the connecting portion is provided on a side wall of the body portion, the connecting portion extends in a radial direction of the body portion, and the driving gear is provided on the connecting portion.

Further, coupling assembling includes joint gland, and joint gland sets up on first joint, and the arm still includes: and the second sealing element is arranged between the joint gland and the first joint.

Further, the joint gland is provided with an installation groove; the arm still includes: the third bearing is arranged in the mounting groove; the connecting piece, at least part of connecting piece sets up in the mounting groove, and the third bearing is located between the lateral wall of connecting piece and mounting groove to make the relative and joint gland motion of connecting piece.

Further, the robot arm further includes: and the second joint is fixedly connected with the connecting piece so as to drive the second joint to rotate through the connecting piece.

Further, the robot arm further includes: and the third sealing element is arranged in the mounting groove and is positioned between the connecting piece and the joint gland.

Further, the connection assembly further comprises: the connecting seat, the connecting seat setting is on joint gland, connecting seat and third bearing interference fit, and first sealing member is located between connecting seat and the connecting axle.

According to another aspect of the present invention, there is provided a robot comprising a robot arm as provided above.

By applying the technical scheme of the invention, the first sealing element is arranged between the connecting assembly and the connecting shaft and is positioned at the outlet of the communicating channel, so that the outlet of the communicating channel can be sealed by the first sealing element, lubricating oil on the mechanical arm is prevented from flowing out through the outlet of the communicating channel, and the sealing property of the mechanical arm is improved. Therefore, the technical problem that the mechanical arm in the prior art is poor in sealing performance can be solved through the technical scheme provided by the invention.

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 partial structural section of a machine part according to the invention; and

fig. 2 shows a schematic structural view of a mechanical part according to the invention.

Wherein the figures include the following reference numerals:

10. a connecting shaft; 11. a body portion; 12. a connecting portion; 20. a first joint; 21. a first open slot; 22. a first positioning projection; 30. a connecting assembly; 31. a joint gland; 32. a connecting seat; 40. a first seal member; 50. a first bearing; 60. a second bearing; 70. a driving gear; 80. a second seal member; 90. a third bearing; 100. a connecting member; 110. a second joint; 120. a third seal member; 130. the forearm side cover.

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.

As shown in fig. 1 and 2, an embodiment of the present invention provides a robot arm including a connecting shaft 10, a first joint 20, a connecting assembly 30, and a first sealing member 40. Wherein, the first joint 20 is rotatably disposed on the connecting shaft 10, the first joint 20 has a first opening groove 21, and at least a part of the connecting shaft 10 is located in the first opening groove 21. At least a portion of the connecting assembly 30 is connected with the first joint 20, the connecting assembly 30 is located at an opening of the first opening groove 21, the connecting assembly 30 is spaced apart from the connecting shaft 10 to form a communicating channel, and a gap between one end of the connecting assembly 30, which is far away from the first joint 20, and the connecting shaft 10 forms an outlet of the communicating channel. A first sealing member 40 is provided between the connecting assembly 30 and the connecting shaft 10, the first sealing member 40 being located at an outlet of the communication passage. Specifically, the first sealing member 40 in the present embodiment may be an oil seal structure, and specifically, the first sealing member 40 may be a TC type oil seal.

Adopt the arm that this embodiment provided, can avoid the lubricating oil on the arm to flow out through the export that communicates the passageway through setting up first sealing member 40, reduced the loss of lubricating oil, also can improve the sealing performance who guarantees the arm simultaneously. Therefore, through the arm that this embodiment provided, can solve the relatively poor technical problem of sealing performance of the arm among the prior art.

Specifically, the robot arm in this embodiment further includes a first bearing 50, the first bearing 50 is disposed on a side of the first sealing member 40 close to the first joint 20, and the first bearing 50 is disposed between the connecting shaft 10 and the connecting assembly 30, so that the connecting assembly 30 rotates relative to the connecting shaft 10. With this arrangement, it is possible to facilitate the rotation of the connecting member 30 relative to the connecting shaft 10. In addition, by arranging the first bearing 50 on the side of the first sealing element 40 close to the joint, it is ensured that the first bearing 50 is located in the communication channel, so as to avoid the lubricating oil at the first bearing 50 from flowing out, and the sealing performance of the mechanical arm is further improved.

In this embodiment, the first joint 20 is provided with a first positioning protrusion 22, and the first positioning protrusion 22 is located in the first opening groove 21. The robot arm further includes a second bearing 60, the second bearing 60 being disposed on the connecting shaft 10, the second bearing 60 being located between the connecting shaft 10 and the first positioning projection 22 to position the second bearing 60 by the first positioning projection 22. By adopting the structure, the second bearing 60 can be conveniently positioned, the structural layout is optimized, the structure is compact, and meanwhile, the first joint 20 can be conveniently rotated relative to the connecting shaft 10.

Specifically, the mechanical arm further includes a driving gear 70, and the driving gear 70 is fixedly disposed on the connecting shaft 10 to drive the driving gear 70 to rotate through the connecting shaft 10. In this embodiment, the mechanical arm further includes a driven gear, and the driving gear 70 is engaged with the driven gear to drive the driven gear to rotate, so as to drive other components to rotate when the connecting shaft 10 rotates, thereby facilitating to ensure the linkage of the overall structure motion.

In the present embodiment, the connecting shaft 10 includes a body portion 11 and a connecting portion 12, the connecting portion 12 is disposed on a side wall of the body portion 11, the connecting portion 12 extends in a radial direction of the body portion 11, and the driving gear 70 is disposed on the connecting portion 12. Specifically, connecting portion 12 is the loop configuration, and driving gear 70 is spiral bevel gear, is provided with the location step on the spiral bevel gear, and spiral bevel gear is the loop configuration, and spiral bevel gear's location step card is established at the tip of connecting portion 12 to fix a position spiral bevel gear, also be convenient for in addition make spiral bevel gear can set up on connecting portion 12 steadily, improved the stability of connecting, also can be convenient for make connecting portion 12 can drive spiral bevel gear to rotate steadily.

Specifically, the connecting assembly 30 in this embodiment includes a joint gland 31, the joint gland 31 is disposed on the first joint 20, and the robot arm further includes a second sealing member 80, and the second sealing member 80 is disposed between the joint gland 31 and the first joint 20. With this arrangement, the sealing performance of the structure can be further improved, and the lubricating oil can be prevented from flowing out through the gap between the joint cover 31 and the first joint 20. Specifically, joint gland 31 is the loop configuration, and joint gland 31 cover is established on connecting axle 10, and joint gland 31 includes connecting plate and first connecting sleeve, and connecting plate and first connecting sleeve are connected and are set up, and the connecting plate is laminated with at least part of first joint 20 to be connected first joint 20 and connecting plate through the bolt, in order to improve the stability of connecting. The connecting sleeve is sleeved on the connecting shaft 10, and the caliber of the connecting sleeve is larger than the shaft diameter of the connecting shaft 10. Specifically, the second seal 80 in this embodiment may be an O-ring.

Specifically, the joint gland 31 in this embodiment is provided with a mounting groove. The robot arm further comprises a third bearing 90 and a connecting piece 100, the third bearing 90 being arranged in the mounting groove. At least a portion of the connector 100 is disposed within the mounting groove and the third bearing 90 is located between the connector 100 and the side wall of the mounting groove to move the connector 100 relative to the joint gland 31. By adopting the structure, the compactness of the structure can be conveniently improved, the structural layout is optimized, and meanwhile, the relative motion between the connecting piece 100 and the joint gland 31 is convenient.

In this embodiment, the mechanical arm further includes a second joint 110, and the second joint 110 is fixedly connected to the connecting member 100, so that the connecting member 100 drives the second joint 110 to rotate. With such a structural arrangement, the layout of the structure can be further optimized, the compactness of the structure is improved, and meanwhile, the first joint 20 and the second joint 110 can stably rotate relatively, so that the stability of the movement is improved.

Specifically, the robot arm in this embodiment further includes a third sealing element 120, the third sealing element 120 is disposed in the mounting groove, and the third sealing element 120 is located between the connecting member 100 and the joint gland 31. Adopt such structure setting, can avoid third bearing 90 department lubricating oil to flow out, also avoid external dust to get into simultaneously, further improved the sealing performance of structure. Specifically, the third sealing element 120 in this embodiment may be an oil seal structure, and preferably, the third sealing element 120 may be a TC type oil seal.

In this embodiment, the connecting assembly 30 further includes a connecting seat 32, the connecting seat 32 is disposed on the joint gland 31, the connecting seat 32 is in interference fit with the third bearing 90, and the first sealing member 40 is located between the connecting seat 32 and the connecting shaft 10. By adopting the structure, the compactness of the structure can be further improved, the layout of the structure is optimized, and the stability of the connecting component 30 rotating along with the first joint 20 is also improved.

As shown in fig. 1 and 2, the present embodiment further includes a forearm side cover 130, the second joint 110 is a forearm joint, and the forearm side cover 130 covers an opening of the forearm joint, so as to improve the sealing performance of the overall structure.

In the assembly of the industrial robot, as shown in fig. 2, the second bearing 60 is first mounted on the central shaft (i.e., the connecting shaft 10), the spiral bevel gear is mounted on the central shaft, the second bearing, the spiral bevel gear and the central shaft are put into the wrist joint (i.e., the first joint 20), and then the first bearing 50 is mounted on the central shaft. The O-shaped ring is placed into the joint gland 31, the third sealing element 120 is pressed into the joint gland 31 and is installed on the joint gland 31 in an interference fit mode with the third bearing 90, and the oil seal seat (namely the connecting seat 32) is extruded onto the third bearing 90 in an interference fit mode. The O-ring, joint gland 31, third bearing 90, third seal 120 and oil seal mount as a unit are mounted to the wrist joint, the first seal 40 is pressed into the oil seal mount, the support flange is mounted to the forearm joint, and the forearm side cover 130 is snapped on.

Wherein, O type circle is for preventing that the lubricating grease on the spiral bevel gear from flowing out from the wrist joint, has also blocked outside thing and has got into equally, and what third sealing member 120 chooseed for use is that TC type oil blanket can prevent that external dust from getting into the joint the inside from joint gland 31, and the first sealing member 40 of TC type oil blanket prevents that the lubricating grease on the spiral bevel gear from high temperature into oil and flows out from the side, has sealed the dust of outside equally for the inside confined effect that has reached of structure.

The second embodiment of the invention provides a robot, which comprises a mechanical arm, wherein the mechanical arm is the mechanical arm provided in the first embodiment.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: compact structure, sealed effect is excellent, both can prevent that joint inside oil from outwards flowing out, can prevent again that outside dust from getting into inside influence structure operation.

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.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … … surface," "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.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

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

1. A robot arm, comprising:

a connecting shaft (10);

the first joint (20) is rotatably arranged on the connecting shaft (10), the first joint (20) is provided with a first open slot (21), and at least part of the connecting shaft (10) is positioned in the first open slot (21);

a connecting assembly (30), at least part of the connecting assembly (30) is connected with the first joint (20), the connecting assembly (30) is positioned at the opening of the first opening groove (21), the connecting assembly (30) is spaced from the connecting shaft (10) to form a communication channel, and a gap between one end of the connecting assembly (30) far away from the first joint (20) and the connecting shaft (10) forms an outlet of the communication channel;

a first seal (40), said first seal (40) being disposed between said connection assembly (30) and said connection shaft (10), said first seal (40) being located at an outlet of said communication channel;

the connecting assembly (30) comprises a joint gland (31), the joint gland (31) is arranged on the first joint (20), and an installation groove is formed in the joint gland (31); the robot arm further includes:

a second seal (80) disposed between the joint gland (31) and the first joint (20);

a third bearing (90) disposed within the mounting slot;

a connector (100), at least part of the connector (100) being disposed within the mounting groove, the third bearing (90) being located between the connector (100) and a sidewall of the mounting groove to move the connector (100) relative to the joint gland (31);

the second joint (110) is fixedly connected with the connecting piece (100) so as to drive the second joint (110) to rotate through the connecting piece (100).

2. A robotic arm as claimed in claim 1, further comprising:

a first bearing (50), the first bearing (50) is arranged on one side of the first sealing element (40) close to the first joint (20), the first bearing (50) is positioned between the connecting shaft (10) and the connecting assembly (30), so that the connecting assembly (30) rotates relative to the connecting shaft (10).

3. A robot arm as claimed in claim 1, wherein the first joint (20) is provided with a first positioning protrusion (22), the first positioning protrusion (22) is located in the first open slot (21), and the robot arm further comprises:

and the second bearing (60) is arranged on the connecting shaft (10), and the second bearing (60) is positioned between the connecting shaft (10) and the first positioning bulge (22) so as to position the second bearing (60) through the first positioning bulge (22).

4. A robotic arm as claimed in claim 1, further comprising:

and the driving gear (70) is fixedly arranged on the connecting shaft (10) so as to drive the driving gear (70) to rotate through the connecting shaft (10).

5. A robot arm as claimed in claim 4, characterized in that the connecting shaft (10) comprises a body portion (11) and a connecting portion (12), the connecting portion (12) being provided on a side wall of the body portion (11), the connecting portion (12) extending in a radial direction of the body portion (11), the driving gear (70) being provided on the connecting portion (12).

6. A robotic arm as claimed in claim 1, further comprising:

a third sealing element (120) disposed in the mounting groove, the third sealing element (120) being located between the connector (100) and the joint gland (31).

7. A robot arm as claimed in claim 1, characterized in that said connecting assembly (30) further comprises:

the connecting seat (32), the connecting seat (32) sets up on joint gland (31), connecting seat (32) with third bearing (90) interference fit, first sealing member (40) are located between connecting seat (32) and connecting axle (10).

8. A robot, characterized in that it comprises a robot arm according to any of claims 1 to 7.