CN112454417B - Desktop mechanical arm joint assembly, desktop mechanical arm and robot - Google Patents
Desktop mechanical arm joint assembly, desktop mechanical arm and robot Download PDFInfo
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- CN112454417B CN112454417B CN202011257418.2A CN202011257418A CN112454417B CN 112454417 B CN112454417 B CN 112454417B CN 202011257418 A CN202011257418 A CN 202011257418A CN 112454417 B CN112454417 B CN 112454417B
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- 210000000245 forearm Anatomy 0.000 claims description 21
- 239000012636 effector Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 description 9
- 230000006978 adaptation Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229920001875 Ebonite Polymers 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a desktop mechanical arm joint assembly, which comprises a large arm, a small arm and connecting pieces arranged between the large arm and the small arm, wherein the large arm comprises a large arm main rod and a large arm auxiliary rod which are oppositely arranged, the small arm comprises a small arm main rod and a small arm auxiliary rod which are oppositely arranged, the first end of the large arm main rod is provided with two first hinge parts which are oppositely arranged at intervals left and right, the connecting pieces are arranged between the two first hinge parts in a side-by-side mode, the first end of the small arm main rod is provided with a second hinge part, the second hinge part is arranged between the two connecting pieces, the two first hinge parts, the two connecting pieces and the second hinge part are connected through first hinge shafts, and the first end of the large arm auxiliary rod and the first end of the small arm auxiliary rod are respectively hinged with the two opposite sides of the two connecting pieces. The joint component of the desktop mechanical arm provided by the invention has the advantages that the connection strength is enhanced, the coordination stability and the driving effect are improved, the supporting strength is enhanced, and the safety is improved. In addition, the invention also discloses a desktop mechanical arm and a robot.
Description
Technical Field
The invention relates to the technical field of desktop mechanical arms, in particular to a desktop mechanical arm joint assembly, a desktop mechanical arm and a robot.
Background
The desktop mechanical arm is used as a subdivision class of mechanical arms, and comprises a base, a turntable, a large arm, a small arm, a tail end, a turntable driving motor, a large arm driving motor and a small arm driving motor, wherein the turntable is rotatably connected with the base, the large arm is respectively connected with the turntable and the small arm, the small arm is connected with the tail end, the tail end is used for setting an actuator, the turntable driving motor is used for driving the turntable to rotate relative to the base, the large arm driving motor is used for driving the large arm to move, the small arm driving motor is used for driving the small arm to move, and the large arm and the small arm can drive the tail end to move in a working space by utilizing the parallelogram principle. Such as the robotic arm and robot disclosed in chinese patent application number CN 201620105515.2.
At present, the desktop mechanical arm is usually an educational type desktop mechanical arm, the weight of an object grabbed by the tail end of the desktop mechanical arm is lighter, the load is smaller, and therefore, the structural design of connection and matching between the joints of the small arm and the large arm is not strictly required, for example, the compact belt-driven closed type small four-axis robot disclosed in China patent with the application number of CN201910723747.2 and the compact belt-driven type small four-axis robot disclosed in China patent with the application number of CN2018109211573.6 are hinged through a single triangular connecting piece to realize transmission, and the driving rod of the small arm and the main rod of the small arm are in the structural design of a single rod body; however, with the increase of the industrial level, to meet the market demand, the desktop mechanical arm is gradually developed towards industrial-level applications, such as application to fields of vision sorting, pipeline handling, and the like, which are required to grasp heavier objects, thereby causing a load to become larger.
Obviously, the existing desktop mechanical arm is characterized in that the small arm transmission of the existing desktop mechanical arm is only dependent on a single triangular connecting piece, the connecting strength between the arm body structures is low, the matching stability and the driving effect are poor, the large arm is used as the basis of the arm body joint structure, the large arm is only a single rod body, the supporting strength is low, the safety is not high, and the large arm is not suitable for the application requirements of industrial levels.
Disclosure of Invention
The invention mainly aims to provide a joint assembly of a desktop mechanical arm, and aims to solve the technical problems in the background technology.
In order to achieve the above object, the present invention provides a desktop mechanical arm joint assembly, which comprises a large arm, a small arm and a connecting piece arranged between the large arm and the small arm, wherein the large arm comprises a large arm main rod and a large arm auxiliary rod which are oppositely arranged, the small arm comprises a small arm main rod and a small arm auxiliary rod which are oppositely arranged, the first end of the large arm main rod is provided with two first hinge parts which are oppositely arranged at intervals left and right, the connecting piece is two and are arranged in parallel, the first end of the small arm main rod is provided with a second hinge part, the second hinge part is arranged between the two connecting pieces, the two first hinge parts, the two connecting pieces and the second hinge part are connected through a first hinge shaft, and the first end of the large arm auxiliary rod and the first end of the small arm auxiliary rod are respectively hinged with the two opposite sides of the two connecting pieces.
The left side is provided with a first through hole and a first bearing positioned in the first through hole, the right side is provided with a second through hole and a second bearing positioned in the second through hole, the left side is provided with a third through hole and a third bearing positioned in the third through hole, the right side is provided with a fourth through hole and a fourth bearing positioned in the fourth through hole, the second hinge is provided with a fifth through hole and a fifth bearing and a sixth bearing positioned in the fifth through hole, and inner rings of the first bearing, the second bearing, the third bearing, the fourth bearing, the fifth bearing and the sixth bearing are respectively in interference fit with the first hinge.
The first shaft sleeve comprises a first shaft sleeve, a second shaft sleeve, a third shaft sleeve and a fourth shaft sleeve which are sequentially arranged along the axial direction of the first shaft sleeve, wherein the first shaft sleeve is positioned on the left side between the first hinge part and the connecting piece on the left side, the second shaft sleeve is positioned on the left side between the connecting piece and the second hinge part, the third shaft sleeve is positioned on the second hinge part and the right side between the connecting piece, and the fourth shaft sleeve is positioned on the right side between the connecting piece and the first hinge part on the right side.
The first end of the large arm auxiliary rod is provided with two third hinging parts which are oppositely arranged at intervals left and right, and the two connecting pieces are positioned between the two third hinging parts and are respectively hinged with the two third hinging parts;
the first end of the forearm auxiliary pole is provided with two fourth hinging parts which are oppositely arranged at intervals left and right, and the two connecting pieces are positioned between the two fourth hinging parts and are respectively hinged with the two fourth hinging parts.
The second end of the main large arm rod is provided with two fifth hinging parts which are oppositely arranged at intervals left and right, and the second end of the auxiliary large arm rod is provided with two sixth hinging parts which are oppositely arranged at intervals left and right.
Wherein, at least one of the two fifth hinging parts is provided with a stop part for limiting the rotation position of the main lever of the large arm.
The desktop mechanical arm joint assembly further comprises a bearing frame which is connected with the small arm and used for installing the end effector.
The bearing frame comprises two seventh hinge parts which are oppositely arranged at intervals left and right, the second end of the small arm main rod is provided with an eighth hinge part, and the eighth hinge part is positioned between the two seventh hinge parts and is connected with the two seventh hinge parts through a second hinge shaft;
the bearing frame further comprises two ninth hinging parts which are oppositely arranged at intervals left and right, the second end of the auxiliary forearm rod is provided with two tenth hinging parts which are oppositely arranged at intervals left and right, and the two tenth hinging parts are positioned between the two ninth hinging parts and are connected with the two ninth hinging parts through a third hinging shaft.
The bearing frame comprises a motor fixing plate, wherein the motor fixing plate is provided with a shaft hole and a plurality of fixing holes, and the fixing holes are arranged around the shaft hole.
The connecting piece is a sector plate, and the sector plate comprises an outer convex part positioned at the upper end of the sector plate and an inner concave part positioned at the lower end of the sector plate.
The small arm further comprises a small arm driving rod located between the large arm main rod and the large arm auxiliary rod, a connecting portion is formed in the first end of the small arm main rod in an extending mode along the rod body direction of the small arm main rod, and the first end of the small arm driving rod is hinged to the connecting portion.
The small arm further comprises a small arm transmission rod, and the small arm transmission rod is hinged with the second end of the small arm driving rod.
The large arm and/or the small arm are/is provided with a wire slot, the small arm is provided with an air pipe joint, a data joint and a button, and the air pipe joint, the data joint and the button are positioned on the small arm auxiliary rod or the small arm main rod.
The invention further provides a desktop mechanical arm, which comprises a base, a turntable and the desktop mechanical arm joint assembly recorded in the description, wherein the turntable is arranged on the base, the desktop mechanical arm joint assembly is arranged on the turntable, the desktop mechanical arm joint assembly comprises a large arm, a small arm and a connecting piece arranged between the large arm and the small arm, the large arm comprises a large arm main rod and a large arm auxiliary rod which are oppositely arranged, the small arm comprises a small arm main rod and a small arm auxiliary rod which are oppositely arranged, the first end of the large arm main rod is provided with two first hinge parts which are oppositely arranged at intervals, the two first hinge parts are arranged in parallel left and right, the first end of the small arm main rod is provided with a second hinge part, the second hinge part is arranged between the two first hinge parts, the two connecting pieces and the second hinge parts are connected through first hinge shafts, and the first end of the large arm auxiliary rod and the first end of the small arm auxiliary rod are respectively connected with the two opposite hinge parts.
The invention further provides a robot, which comprises the tabletop mechanical arm, wherein the tabletop mechanical arm comprises a base, a turntable and a tabletop mechanical arm joint assembly, the turntable is arranged on the base, the tabletop mechanical arm joint assembly is arranged on the turntable, the tabletop mechanical arm joint assembly comprises a large arm, a small arm and a connecting piece arranged between the large arm and the small arm, the large arm comprises a large arm main rod and a large arm auxiliary rod which are oppositely arranged, the small arm comprises a small arm main rod and a small arm auxiliary rod which are oppositely arranged, the first end of the large arm main rod is provided with two first hinge parts which are oppositely arranged at intervals, the two first hinge parts are arranged in a left-right side-by-side mode and are respectively arranged between the two first hinge parts, the first end of the small arm main rod is provided with a second hinge part, the two first hinge parts and the second hinge parts are connected through first hinge shafts, and the first end of the large arm auxiliary rod and the first end of the small arm auxiliary rod are respectively hinged with the two opposite sides of the first hinge parts.
Compared with the prior art, the embodiment of the invention has the beneficial technical effects that:
in the desktop mechanical arm joint assembly, the large arm is used as an arm body joint structure foundation, and the double-rod combined support is realized by adopting the structural design of the double-rod body of the main large arm rod and the auxiliary large arm rod, so that compared with the structural design of the single-rod body adopted by the prior large arm, the structure has the advantages that the support strength is enhanced, and the safety is improved; in addition, compared with the prior art that a single triangular connecting piece is adopted, the structure design that the large arm auxiliary rod of the large arm is hinged with the small arm auxiliary rod of the small arm through the double connecting piece strengthens the connection strength between the arm body structures, and improves the coordination stability and the driving effect; in addition, carry out coaxial multipoint through big arm mobile jib, forearm mobile jib and two connecting pieces and articulate the setting to further strengthen the joint strength between the arm body structure, through the structural design of above-mentioned desktop arm joint assembly, so that desktop arm adaptation industry-level application demand.
Drawings
FIG. 1 is a schematic view of a prior art table top robot;
FIG. 2 is a schematic view of another prior art tabletop mechanical arm;
FIG. 3 is a schematic view of a desktop robot according to the prior art;
FIG. 4 is a schematic view of a desktop robot according to an embodiment of the present invention;
FIG. 5 is a schematic view of a joint assembly of the desktop mechanical arm of FIG. 4;
FIG. 6 is an exploded view of the desktop mechanical arm joint assembly of FIG. 5;
FIG. 7 is a second exploded view of the desktop mechanical arm joint assembly of FIG. 5;
FIG. 8 is an exploded view of the desktop mechanical arm joint assembly of FIG. 5;
FIG. 9 is a schematic view of a connection member of the joint assembly of the tabletop mechanical arm of FIG. 5;
fig. 10 is a schematic view of a portion of the joint assembly of the table top mechanical arm in fig. 5.
Detailed Description
The following description of the embodiments of the present invention will be made more clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The desktop mechanical arm is used as a subdivision class of mechanical arms, and comprises a base, a turntable, a large arm, a small arm, a tail end, a turntable driving motor, a large arm driving motor and a small arm driving motor, wherein the turntable is rotatably connected with the base, the large arm is respectively connected with the turntable and the small arm, the small arm is connected with the tail end, the tail end is used for setting an actuator, the turntable driving motor is used for driving the turntable to rotate relative to the base, the large arm driving motor is used for driving the large arm to move, the small arm driving motor is used for driving the small arm to move, and the large arm and the small arm can drive the tail end to move in a working space by utilizing the parallelogram principle. For example, as shown in fig. 1, the mechanical arm and robot disclosed in chinese patent application No. CN201620105515.2 are composed of a base, a turntable, a large arm, a small arm, a terminal, a turntable driving motor, a small arm driving motor, and a small arm driving motor.
The desktop mechanical arm is a sub-class of mechanical arms, at present, the desktop mechanical arm is usually an educational type desktop mechanical arm, the weight of an object grabbed by the tail end of the desktop mechanical arm is lighter, the load is smaller, so that the structural design of connection and matching between the joints of the big arm and the small arm is not strictly required, for example, as disclosed in Chinese patent with application number CN201910723747.2 shown in figure 2, a compact belt-driven closed type small four-axis robot, and as disclosed in Chinese patent with application number CN2018109211573.6 shown in figure 3, a compact belt-driven type small four-axis robot is realized, the driving rod of the small arm and the main rod of the small arm are all connected through the hinge joint of a single triangular connector, and the big arm is the structural design of a single rod body; however, with the increase of the industrial level, to meet the market demand, the desktop mechanical arm is gradually developed towards industrial-level applications, such as application to fields of vision sorting, pipeline handling, and the like, which are required to grasp heavier objects, thereby causing a load to become larger.
Obviously, the existing desktop mechanical arm is characterized in that the small arm transmission of the existing desktop mechanical arm is only dependent on a single triangular connecting piece, the connecting strength between the arm body structures is low, the matching stability and the driving effect are poor, the large arm is used as the basis of the arm body joint structure, the large arm is only a single rod body, the supporting strength is low, the safety is not high, and the large arm is not suitable for the application requirements of industrial levels.
In order to solve the above-mentioned technical problems, the present invention proposes a desktop mechanical arm joint assembly 100, referring to fig. 4 to 6, the desktop mechanical arm joint assembly 100 includes a large arm 110, a small arm 120, and a connecting member 130 disposed between the large arm 110 and the small arm 120, the large arm 110 includes a large arm main rod 111 and a large arm auxiliary rod 112 disposed opposite to each other, the small arm 120 includes a small arm main rod 121 and a small arm auxiliary rod 122 disposed opposite to each other, a first end of the large arm main rod 111 is provided with two first hinge portions 111a disposed opposite to each other, the connecting member 130 is disposed in parallel to each other and is disposed between the two first hinge portions 111a, a first end of the small arm main rod 121 is provided with a second hinge portion 121a, the second hinge portion 121a is disposed between the two connecting members 130, the two first hinge portions 111a, the two connecting members 130, and the second hinge portions 121a are connected by a first hinge shaft 10, and a first end of the large arm auxiliary rod 112 and a first end of the small arm auxiliary rod 122 are hinged to opposite sides of the two connecting members 130, respectively.
Referring to fig. 4, the joint assembly 100 of the desktop mechanical arm, the turntable 200 and the base 300 of the desktop mechanical arm according to this embodiment are respectively components of the desktop mechanical arm, and the joint assembly of the desktop mechanical arm is disposed on the turntable. The desktop mechanical arm joint assembly 100 is mainly composed of a large arm 110, a small arm 120 and a connecting piece 130, specifically, referring to fig. 5 and 6, the large arm includes a large arm main lever 111 and a large arm auxiliary lever 112, the small arm includes a small arm main lever 121 and a small arm auxiliary lever 122, and the number of the connecting pieces 130 is two. The main boom 111 and the auxiliary boom 112 are opposite to each other in the front-rear direction, the auxiliary boom 122 and the main boom 121 are opposite to each other in the up-down direction, and the two connectors 130 are disposed between the auxiliary boom 112 and the auxiliary boom 122 and are juxtaposed in the left-right direction. The first end of the large arm main lever 111, the two connecting pieces 130 and the first end of the small arm main lever 121 are hinged to each other, specifically by respectively and rotatably matching the two first hinge parts 111a of the large arm main lever 111, the two connecting pieces 130 and the second hinge part 121a of the small arm main lever 121 with the first hinge shaft 10; the first end of the large arm auxiliary lever 112 and the first end of the small arm auxiliary lever 122 are hinged to opposite sides of the two connecting members 130, respectively, and the hinge forms may be various, such as the coaxial hinge forms described above, and specific hinge forms are described in the following embodiments, and will not be described herein.
The structural form of the connecting member 130 may be various, such as a plate, a frame, etc., and the appearance shape may be triangle, fan, etc., including but not limited to, and may be optionally set according to practical situations. However, whatever the structure or shape, it forms a triangular hinge with the large arm sub-lever 112, the small arm main lever 121, and the large arm main lever 111 and the small arm main lever 121.
In the desktop mechanical arm joint assembly, the large arm 110 is used as an arm body joint structure foundation, and the double-rod combined support is realized by adopting the structural design of the double rods of the large arm main rod 111 and the large arm auxiliary rod 112, so that compared with the structural design of the single rod body adopted by the prior large arm, the structure has the advantages that the support strength is enhanced, and the safety is improved; in addition, compared with the prior art adopting a single triangular connecting piece, the structure design that the large arm auxiliary rod 112 of the large arm 100 is hinged and connected with the small arm auxiliary rod 122 of the small arm through adopting the double connecting piece 130 strengthens the connection strength between the arm body structures, and improves the coordination stability and the driving effect; in addition, the large arm main rod 111, the small arm main rod 121 and the double connecting pieces 130 are coaxially and multi-point hinged, so that the connection strength between the arm structures is further enhanced, and the desktop mechanical arm is adapted to the application requirements of industrial level through the structural design of the desktop mechanical arm joint assembly 100.
Referring to fig. 7, a first through hole and a first bearing 1 positioned in the first through hole are disposed on a first hinge portion 111a on the left side, a second through hole and a second bearing 2 positioned in the second through hole are disposed on a first hinge portion 111a on the right side, a third through hole and a third bearing 3 positioned in the third through hole are disposed on a connecting piece 130 on the left side, a fourth through hole and a fourth bearing 4 positioned in the fourth through hole are disposed on a connecting piece 130 on the right side, a fifth through hole and a fifth bearing 5 and a sixth bearing 6 positioned in the fifth through hole are disposed on a second hinge portion 121a, and inner rings of the first bearing 1, the second bearing 2, the third bearing 3, the fourth bearing 4, the fifth bearing 5 and the sixth bearing 6 are respectively in interference fit with the first hinge shaft 10. That is, the first hinge part 111a of the large arm main lever 111, the second hinge part 121a of the small arm main lever 121, and the connecting piece 130 are respectively in a running fit with the first hinge shaft 10 by adopting bearings, so that the connection is stable, the connection positions on the first hinge shaft 10 are not offset, the rotation is accurate, the position is accurate, and the running precision can be ensured.
Referring to fig. 7, a first hinge shaft 10 according to an embodiment of the present invention is provided with a sleeve group, the sleeve group includes a first sleeve 10a, a second sleeve 10b, a third sleeve 10c and a fourth sleeve 10d sequentially disposed along an axial direction of the first hinge shaft, the first sleeve 10a is located between a first hinge portion 111a on a left side and a connecting member 130 on a left side, the second sleeve 10b is located between the connecting member 130 on the left side and a second hinge portion 121a, the third sleeve 10c is located between the second hinge portion 121a and the connecting member 130 on a right side, and the fourth sleeve 10d is located between the connecting member 130 on the right side and the first hinge portion 111a on the right side.
Specifically, the first bushing 10a functions to space apart the first hinge portion 111a on the left side and the connection member 130 on the left side, the second bushing 10b functions to space apart the connection member 130 on the left side and the second hinge portion 121a, the third bushing 10c functions to space apart the second hinge portion 121a and the connection member 130 on the right side, and the fourth bushing 10d functions to space apart the connection member 130 on the right side and the first hinge portion 111a on the right side. That is, by providing a plurality of bushings on the first hinge shaft 10 to further limit the second hinge part 121a, the connecting member 130 and the first hinge part 111a, adjacent parts do not interfere with each other while rotating along the first hinge shaft 10, thereby ensuring the smoothness of the movement of the joint assembly while operating and improving the stability. The size of the shaft sleeve can be consistent with the size of the inner rings of bearings arranged on two sides of the shaft sleeve, so that normal rotation of the interference component is avoided. In addition, in order to realize friendly contact between the shaft sleeve and the bearing inner ring, the shaft sleeve is preferably made of colloid materials, and can be hard rubber or soft rubber, and the shaft sleeve is selected according to practical conditions.
Referring to fig. 6, a first end of a boom auxiliary lever 112 according to an embodiment of the present invention is provided with two third hinge portions 112a arranged opposite and spaced apart from each other, and two connecting members 130 are located between the two third hinge portions 112a and hinged to the two third hinge portions 112a respectively;
the first end of the auxiliary forearm shaft 122 is provided with two fourth hinge portions 122a arranged at intervals left and right, and two connecting members 130 are positioned between the two fourth hinge portions 122a and are hinged with the two fourth hinge portions 122a respectively.
Specifically, the two third hinge portions 112a and the two connecting members 130 are hinged by two hinge shafts respectively, and of course, may be hinged together by the same hinge shaft. Preferably, bearings are provided between the third hinge 122a and the connection member 130 and the hinge shaft, respectively, to achieve connection. Accordingly, the two fourth hinge portions 122a and the two connecting members 130 are hinged by two hinge shafts respectively, and of course, may be hinged together by the same hinge shaft. Preferably, bearings are provided between the fourth hinge 122a and the connector 130 and the hinge shaft, respectively, to achieve connection. It is to be understood that the large arm auxiliary lever 112 and the small arm auxiliary lever 122 are hinged at two hinge parts corresponding to the two connecting members 130, so as to increase the connection relationship, realize multiple connection, and further strengthen the connection strength. In addition, the two connection members 130 are provided inside the hinge portion of the large arm sub-lever 112 and the small arm sub-lever 122 to be hinged thereto, so that the structural compactness can be improved.
Referring to fig. 6, a second end of the main boom 111 of the large arm according to the embodiment of the present invention is provided with two fifth hinge parts 111b arranged opposite to each other in a left-right direction, and a second end of the auxiliary boom 112 of the large arm is provided with two sixth hinge parts 112b arranged opposite to each other in a left-right direction. When the tabletop mechanical arm joint assembly 100 is arranged on the turntable 200 of the tabletop mechanical arm, the two fifth hinging parts 111b at the second end of the main lever 111 of the large arm are respectively hinged with the turntable 200, and the two sixth hinging parts 112b at the second end of the main lever 121 of the small arm are respectively hinged with the turntable. And the hinge structure of the hinge shaft and the bearing can be selected during the setting. The main arm lever 111 and the auxiliary arm lever 112 are connected with the turntable 200 through two hinge portions provided thereon, respectively, so that the connection strength can be ensured, and the stability of the fit between the structures can be increased.
In particular, one of the two fifth hinge parts 111b of the main boom 111 is connected to the boom driving motor in a driving manner, that is, the main boom 111 is driven to rotate on the turntable 200 by the boom driving motor.
Referring to fig. 6, at least one of the fifth hinge parts 111b according to the embodiment of the present invention is provided with a stopper 111c defining a rotational position of the main lever 111. That is, the fifth hinge 111b located at the left side or the fifth hinge 111b located at the right side or the two fifth hinges 111b are provided with the stoppers 111c, wherein when the stoppers 111c are respectively provided on the two fifth hinges 111b, the setting positions of the two stoppers 111c may correspond. Furthermore, the stop portion 111c may be integrally formed with the fifth hinge portion 111b or may be detachably provided on the fifth hinge portion 111 b.
Corresponding to the stop portion 111c, a limiting member is disposed on the turntable 200 of the tabletop mechanical arm, and the limiting member is located on the rotation path of the stop portion 111c, so as to be used for blocking the rotation of the stop portion. The limiting piece can be in a columnar, block or other unequal structural form, and can be selected and arranged according to actual conditions. That is, when the large arm driving motor is powered off and the large arm main rod 111 automatically falls down due to gravity, the large arm main rod 111 is mechanically limited by contact, abutting and matching of the limiting piece and the stop part 111c, so that the large arm main rod 111 is not rotated any more, is kept at a safe height, and improves safety.
Referring to fig. 5 and 6, the tabletop robot arm joint assembly according to the embodiments of the present invention further includes a carrier 140 coupled to the forearm 120 for mounting the end effector. The carrier 140 may have various structural forms, such as a frame body, etc., and may be correspondingly configured according to the end effector to be installed. The end effector may be a variety of clamps, such as pneumatic or electric jaws, etc.; in addition, referring to fig. 4, the end effector may include a drive motor and various types of actuating devices, such as a suction nozzle, may be mounted on an output shaft of the drive motor, including but not limited thereto.
Further, referring to fig. 6 and 8, the carrier 140 includes two seventh hinge parts 140a arranged opposite to each other at a left-right direction, the second end of the main arm lever 121 is provided with an eighth hinge part 121b, and the eighth hinge part 121b is located between the two seventh hinge parts 140a and connected to the two seventh hinge parts 140a through the second hinge shaft 20;
the carrier further comprises two ninth hinge parts 140b arranged at intervals in a left-right opposite manner, the second end of the auxiliary forearm pole 122 is provided with two tenth hinge parts 122b arranged at intervals in a left-right opposite manner, and the two tenth hinge parts 122b are positioned between the two ninth hinge parts 140b and are connected with the two ninth hinge parts 140b through the third hinge shaft 30.
The two seventh hinge portions 140a are located at obliquely lower positions of the two ninth hinge portions 140b, hinge portions are respectively disposed on the arm main rod 121 and the arm auxiliary rod 122, and a plurality of hinge portions are disposed on the carrier 140 corresponding to the large arm main rod 111 and the arm main rod 121 to be correspondingly hinged and connected, and a connection mode of hinge shafts is adopted, so that a plurality of connections are realized, the connection strength is further enhanced, and the compactness of the arm body structure is ensured while the hinge transmission of the arm to the carrier is realized.
Referring to fig. 6, the carrier 140 according to the embodiment of the present invention includes a motor fixing plate 141, and the motor fixing plate 141 is provided with a shaft hole 141a and a plurality of fixing holes 141b, and the plurality of fixing holes 141b are disposed around the shaft hole 141 a.
That is, when the driving motor is disposed on the carrier 140, the driving motor is mounted on the motor fixing plate 141 thereof, the output shaft of the driving motor passes through the shaft hole 141a to be exposed at the lower side of the motor fixing plate 141, and the machine body thereof is correspondingly provided with a plurality of fixing holes 141b to be respectively penetrated with screws for locking, so that the installation is stable and the disassembly is convenient. The fixing holes 141b may be four or other numbers, which are not limited herein. Based on this, the fixing hole 141b is preferably a waist-shaped hole to achieve further optimization such that the mounting position of the driving motor on the motor fixing plate 141 is adjustable, thereby improving the mounting accuracy.
Referring to fig. 6 and 9, the connector 130 according to the embodiment of the present invention is a fan-shaped plate including an outer protrusion 131 at an upper end thereof and an inner recess 132 at a lower end thereof. That is, the connection member 130 is preferably provided as a sector plate, the large arm sub-lever 112, the small arm sub-lever 122, and the large arm main lever 111 and the small arm main lever 121 are respectively hinged at three vertex positions of the sector plate, specifically, the hinge positions of the large arm sub-lever 112 and the small arm sub-lever 122 on the sector plate are respectively located at opposite sides of the outer convex portion 131 thereof, the hinge positions of the large arm main lever 111 and the small arm main lever 121 on the sector plate are located at the bottom ends of the concave portions 132 thereof, and the space formed by the concave portions 132 provides a fitting position for the first hinge portion 111a of the large arm main lever 111, thereby further improving the structural compactness.
Referring to fig. 6, the arm 120 according to the embodiment of the present invention further includes an arm driving rod 123 disposed between the main arm rod 111 and the auxiliary arm rod 112, wherein a connecting portion 121c is configured to extend from a first end of the arm main rod 121 in a rod body direction thereof, and the first end of the arm driving rod 123 is hinged to the connecting portion 121 c. Wherein the connection portion 121c is integrally formed with the second hinge portion 121a of the arm main lever 121, the arm main lever 121 is like a lever, and the first hinge shaft 10 serves as a pivot thereof. The connection part 121c of the arm main lever 121 is pulled by the arm driving lever 123 to drive the arm main lever 121 to rotate around the first hinge shaft 10, thereby achieving the rotation of the arm 120.
Further, referring to fig. 6, the forearm 120 further includes a forearm drive rod 124, and the forearm drive rod 124 is hinged to the second end of the forearm drive rod 123. Specifically, when the desktop mechanical arm joint assembly 100 is disposed on the turntable 200 of the desktop mechanical arm, the other end of the arm transmission rod 124 opposite to the end connected to the arm driving rod 123 is further connected to the output shaft of the arm driving motor by a speed reducing assembly (such as a secondary synchronous belt speed reducing assembly), that is, the arm driving motor drives the arm transmission rod 124 to rotate, so as to drive the arm driving rod 123, thereby further driving the arm main rod 121 and the arm 120.
The large arm 110 and/or the small arm 120 provided by the embodiment of the invention are provided with the wire slot 40, the small arm 120 is provided with the air pipe joint 50, the data joint 60 and the button 70, and the air pipe joint 50, the data joint 60 and the button 70 are positioned on the small arm auxiliary rod 122 or the small arm main rod 121.
The wire slots 40 are disposed on the large arm 110 or the small arm 120 or on the large arm 110 and the small arm 120, referring to fig. 7, the wire slots 40 may be disposed along the arm body direction, and the wire slots 40 are used for uniformly accommodating each cable, such as a motor power line, a signal line, etc., so that the cable routing is orderly and orderly, and stable signal transmission is ensured. The cables may be held in the trunking 40 by adhesive tape or other structures.
Also, referring to fig. 10, an air pipe joint 50, a data joint 60 and a button 70 are provided on the arm auxiliary lever 122 or the arm main lever 121 of the arm 120, and the air pipe joint 50 is used as a standby, when an air control element such as a suction nozzle, an air cylinder or the like is provided on the mechanical arm, the air supply of the air control element is realized by communicating an air source through the air pipe joint 50; the data connector 60 may be a plurality of types of data interfaces, which may be set according to requirements, and may perform transmission of a plurality of types of data, for example, the data connector 60 may be an I/O connector, so as to connect with an I/O board through a data line for data interaction; the function of the button 70 may be set according to the actual situation, for example, it may be a power-off band-type brake button, that is, when the desktop mechanical arm is in a power-off state, the large arm driving motor and the small arm driving motor are mechanically locked by the band-type brake, and when the large arm 110 and the small arm 120 are not rotatable, the locking of the band-type brake is removed by pressing the button 70, so that the large arm 110 and the small arm 120 are rotatable and convenient to control. Preferably, referring to fig. 10, the tracheal tube 50, the data connector 60 and the button 70 are disposed on the auxiliary forearm shaft 122 and are exposed one by one on the outer side thereof.
The working principle of the desktop mechanical arm joint assembly 100 according to the above embodiment is as follows: the large arm driving motor drives the large arm main rod 111 to rotate, and other rod bodies (such as the small arm main rod 121, the small arm auxiliary rod 122, the large arm auxiliary rod 112 and the like) also move along with the large arm main rod 111 due to the connection relation between the rod bodies and the connecting piece 130, so that the large arm 110 is rotated; the arm driving motor drives the arm driving rod 123 to rotate by driving the arm driving rod 124, thereby driving the arm main rod 121, and further drives the arm auxiliary rod 122 to rotate due to the transition of the hinge joint with the carrier 140, thereby realizing the rotation of the arm 120.
The invention also provides a desktop mechanical arm, referring to fig. 4, the desktop mechanical arm includes a base 300, a turntable 200, and a desktop mechanical arm joint assembly 100 described in the foregoing embodiments, where the turntable 200 is disposed on the base 300, and the desktop mechanical arm joint assembly 100 is disposed on the turntable 200, and the specific structure of the desktop mechanical arm joint assembly 100 refers to the foregoing embodiments.
The invention also provides a robot, which comprises the desktop mechanical arm described in the foregoing embodiment, and the specific structure of the desktop mechanical arm refers to the foregoing embodiment.
The above description of the preferred embodiments of the present invention should not be taken as limiting the scope of the invention, but rather should be understood to cover all modifications, variations and adaptations of the present invention using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present invention to other relevant arts and technologies.
Claims (13)
1. The desktop mechanical arm joint assembly is characterized by comprising a large arm, a small arm and a connecting piece arranged between the large arm and the small arm, wherein the large arm comprises a large arm main rod and a large arm auxiliary rod which are oppositely arranged, the small arm comprises a small arm main rod and a small arm auxiliary rod which are oppositely arranged, the first end of the large arm main rod is provided with two first hinging parts which are oppositely arranged at intervals left and right, the connecting piece is two which are oppositely arranged left and right and are respectively positioned between the two first hinging parts, the first end of the small arm main rod is provided with a second hinging part, the second hinging part is positioned between the two connecting pieces, the two first hinging parts, the two connecting pieces and the second hinging part are connected through a first hinging shaft, the first end of the large arm auxiliary rod and the first end of the small arm auxiliary rod are respectively hinged with two opposite sides of the two connecting pieces, and the first end of the large arm auxiliary rod is provided with two third hinging parts which are oppositely arranged left and right at intervals; the first end of the forearm auxiliary rod is provided with two fourth hinging parts which are oppositely arranged at intervals left and right, and the two connecting pieces are positioned between the two fourth hinging parts and are respectively hinged with the two fourth hinging parts;
the connecting piece is the sector plate, the sector plate is including being located the outer convex part of its upper end and being located the interior concave part of its lower extreme, big arm auxiliary lever, forearm auxiliary lever and big arm mobile jib and forearm mobile jib correspond respectively articulated in the three summit positions department of sector plate, big arm auxiliary lever and forearm auxiliary lever are in hinge position on the sector plate is located respectively the opposite both sides of outer convex part, big arm mobile jib and forearm mobile jib are in hinge position on the sector plate is located the bottom of concave part, the space of keeping away that the concave part formed is for the first hinge of big arm mobile jib provides the cooperation position.
2. The desktop mechanical arm joint assembly according to claim 1, wherein a first through hole and a first bearing positioned in the first through hole are arranged on the first hinge portion on the left side, a second through hole and a second bearing positioned in the second through hole are arranged on the first hinge portion on the right side, a third through hole and a third bearing positioned in the third through hole are arranged on the connecting piece on the left side, a fourth through hole and a fourth bearing positioned in the fourth through hole are arranged on the connecting piece on the right side, a fifth through hole and a fifth bearing and a sixth bearing positioned in the fifth through hole are arranged on the second hinge portion, and inner rings of the first bearing, the second bearing, the third bearing, the fourth bearing, the fifth bearing and the sixth bearing are respectively in interference fit with the first hinge shaft.
3. The desktop mechanical arm joint assembly according to claim 2, wherein a shaft sleeve group is arranged on the first hinge shaft, the shaft sleeve group comprises a first shaft sleeve, a second shaft sleeve, a third shaft sleeve and a fourth shaft sleeve which are sequentially arranged along the axial direction of the first hinge shaft, the first shaft sleeve is positioned between the first hinge part on the left side and the connecting piece on the left side, the second shaft sleeve is positioned between the connecting piece on the left side and the second hinge part, the third shaft sleeve is positioned between the second hinge part and the connecting piece on the right side, and the fourth shaft sleeve is positioned between the connecting piece on the right side and the first hinge part on the right side.
4. The desktop mechanical arm joint assembly according to claim 1, wherein the second end of the main lever is provided with two fifth hinge parts arranged at a left-right opposite interval, and the second end of the auxiliary lever is provided with two sixth hinge parts arranged at a left-right opposite interval.
5. The table top mechanical arm joint assembly according to claim 4, wherein at least one of the fifth hinge parts is provided with a stopper part defining a rotational position of the main lever of the large arm.
6. The tabletop mechanical arm joint assembly of claim 1, further comprising a carrier coupled to the forearm for mounting an end effector.
7. The desktop mechanical arm joint assembly according to claim 6, wherein the bearing frame comprises two seventh hinge parts which are oppositely arranged at intervals left and right, the second end of the small arm main rod is provided with an eighth hinge part, and the eighth hinge part is positioned between the two seventh hinge parts and is connected with the two seventh hinge parts through a second hinge shaft;
the bearing frame further comprises two ninth hinging parts which are oppositely arranged at intervals left and right, the second end of the auxiliary forearm rod is provided with two tenth hinging parts which are oppositely arranged at intervals left and right, and the two tenth hinging parts are positioned between the two ninth hinging parts and are connected with the two ninth hinging parts through a third hinging shaft.
8. The table top mechanical arm joint assembly according to claim 6, wherein the bearing frame comprises a motor fixing plate, wherein the motor fixing plate is provided with a shaft hole and a plurality of fixing holes, and the plurality of fixing holes are arranged around the shaft hole.
9. The table top mechanical arm joint assembly according to claim 1, wherein the small arm further comprises a small arm driving rod located between the large arm main rod and the large arm auxiliary rod, the first end of the small arm main rod is extended along the rod body direction and is provided with a connecting part, and the first end of the small arm driving rod is hinged with the connecting part.
10. The tabletop mechanical arm joint assembly of claim 9, wherein the forearm further comprises a forearm drive rod hinged to the second end of the forearm drive rod.
11. The desktop mechanical arm joint assembly according to claim 1, wherein a wire slot is arranged on the big arm and/or the small arm, and a tracheal joint, a data joint and a button are arranged on the small arm, and the tracheal joint, the data joint and the button are positioned on the small arm auxiliary rod or the small arm main rod.
12. A tabletop mechanical arm, characterized by comprising a base, a turntable and a tabletop mechanical arm joint assembly according to any one of claims 1-11, wherein the turntable is arranged on the base, and the tabletop mechanical arm joint assembly is arranged on the turntable.
13. A robot comprising the tabletop robot arm of claim 12.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011257418.2A CN112454417B (en) | 2020-11-11 | 2020-11-11 | Desktop mechanical arm joint assembly, desktop mechanical arm and robot |
| PCT/CN2020/141010 WO2022099895A1 (en) | 2020-11-11 | 2020-12-29 | Desktop robotic arm joint assembly, desktop robotic arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011257418.2A CN112454417B (en) | 2020-11-11 | 2020-11-11 | Desktop mechanical arm joint assembly, desktop mechanical arm and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112454417A CN112454417A (en) | 2021-03-09 |
| CN112454417B true CN112454417B (en) | 2023-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011257418.2A Active CN112454417B (en) | 2020-11-11 | 2020-11-11 | Desktop mechanical arm joint assembly, desktop mechanical arm and robot |
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| Country | Link |
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| CN (1) | CN112454417B (en) |
| WO (1) | WO2022099895A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113305811B (en) * | 2021-06-28 | 2023-03-31 | 深圳市越疆科技有限公司 | Driving assembly of desktop mechanical arm, desktop mechanical arm and robot |
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| WO2022099895A1 (en) | 2022-05-19 |
| CN112454417A (en) | 2021-03-09 |
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