CN112549071A - Mechanical arm and robot - Google Patents

Abstract

The application discloses arm and robot, this arm include arm and wrist, and the wrist is connected with the arm with the mode that can rotate relative the arm, and the arm includes: the first shell is provided with a first accommodating space; one end of the second shell is detachably connected with one end of the first shell, and the second shell is provided with a second accommodating space communicated with the first accommodating space; the output end of the power assembly is arranged in the first shell; the input end of the speed reducing component is arranged in the second shell, and the output end of the speed reducing component is connected with the wrist part; the synchronous belt is in transmission connection with the output end of the power assembly and the input end of the speed reducing assembly, so that the speed reducing assembly drives the wrist to rotate relative to the arm under the driving of the power assembly. The application provides a arm can reduce the assembly degree of difficulty.

Description

Mechanical arm and robot

Technical Field

The application relates to the technical field of mechanical arms, in particular to a mechanical arm and a robot.

Background

In order to improve the production efficiency and accuracy, robots have been applied to various fields of work. Robots mainly use the rotation of mechanical arms to perform various actions.

The inventor of the application finds that the robot has a plurality of parts, so that the assembly difficulty is high and the efficiency is low in the process of assembling the robot at present.

Disclosure of Invention

The main technical problem who solves of this application provides a mechanical arm and robot, can reduce the assembly degree of difficulty.

In order to solve the technical problem, the application adopts a technical scheme that: provided is a robot arm including an arm portion and a wrist portion connected to the arm portion so as to be rotatable with respect to the arm portion, the arm portion including: the first shell is provided with a first accommodating space; one end of the second shell is detachably connected with one end of the first shell, and the second shell is provided with a second accommodating space communicated with the first accommodating space; the output end of the power assembly is arranged in the first shell; the input end of the speed reducing component is arranged in the second shell, and the output end of the speed reducing component is connected with the wrist; the synchronous belt is in transmission connection with the output end of the power assembly and the input end of the speed reduction assembly, so that the speed reduction assembly drives the wrist to rotate relative to the arm under the driving of the power assembly.

In order to solve the above technical problem, another technical solution adopted by the present application is: a robot is provided, which comprises the mechanical arm.

The beneficial effect of this application is: this application passes through synchronous belt drive and connects power component and speed reduction subassembly, can reduce the requirement to the relative position precision between power component and the speed reduction subassembly, and then reduces the assembly degree of difficulty.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:

FIG. 1 is a schematic diagram of a robot arm according to an embodiment of the present application;

FIG. 2 is a schematic view of the robotic arm of FIG. 1 at another angle;

FIG. 3 is a schematic view of the robotic arm of FIG. 1 at yet another angle;

FIG. 4 is a schematic diagram of a portion of the robot of FIG. 1;

FIG. 5 is a schematic diagram of a portion of the robot of FIG. 1;

fig. 6 is a schematic structural diagram of an embodiment of the robot according to the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1 to 5, the robot arm 1000 includes an arm 1100 and a wrist 1200, wherein the wrist 1200 is rotatably connected to the arm 1100 with respect to the arm 1100, and specifically, the wrist 1200 is rotatable with respect to the arm 1100 under the driving of a power source, and wherein the arm 1100 includes: a first shell 1110, a second shell 1120, a power assembly 1130, a speed reduction assembly 1400 and a timing belt 1500.

The first housing 1110 has a first receiving space 1111, one end of the second housing 1120 is detachably connected to one end of the first housing 1110, the connection between the first and second housings can be riveting, screwing, etc., and the second housing 1120 has a second receiving space 1121 communicating with the first receiving space 1111. Specifically, the housing of the arm 1100 is configured to include the first housing 1110 and the second housing 1120 which are detachably connected, so that the arm 1100 can be disassembled into two parts during transportation of the robot arm 1000 for transportation, and the first housing 1110 and the second housing 1120 can be disassembled to timely repair the robot arm 1000 when the robot arm 1000 fails.

A power assembly 1130 is used to generate power, which is a power source for rotating wrist 1200 relative to arm 1100, wherein an output end 11301 of power assembly 1130 is disposed within first housing 1110.

The speed reduction assembly 1140 has the function of reducing the speed and increasing the torque, and the power source thereof is a power assembly 1130, wherein the input end 11401 of the speed reduction assembly 1140 is disposed in the second housing 1120, and the output end (not shown) of the speed reduction assembly 1140 is connected to the wrist 1200.

The timing belt 1150 drivingly connects the output 11301 of the power assembly 1130 and the input 11401 of the deceleration assembly 1140, so that the deceleration assembly 1140 drives the wrist 1200 to rotate relative to the arm 1100 under the driving of the power assembly 1130.

In the prior art, the power assembly and the speed reduction assembly are generally in transmission connection in a gear meshing gear mode, the two gears are respectively arranged in different shells, and the two gears are difficult to meet the required center distance simultaneously during assembly, so that the gear meshing effect is poor, and further faults such as abnormal sound, gear acceleration failure, low transmission efficiency and the like occur, namely, in the prior art, the requirement on the precision of the relative position of the power assembly and the speed reduction assembly is very high.

In the present embodiment, the power assembly 1130 and the deceleration assembly 1140 are connected by the transmission of the synchronous belt 1150, so that the requirement for the relative position accuracy of the power assembly 1130 and the deceleration assembly 1140 can be reduced, and the assembly difficulty can be reduced.

With reference to fig. 1 to fig. 3, in a first application scenario of the present embodiment, the wrist portion 1200 includes a third housing 1210 and an end interface 1220, the third housing 1210 has a third accommodating space (not shown) communicated with the second accommodating space 1121, the end interface 1220 is used for connecting an actuator (not shown), where the actuator may be an element such as a welding gun, the third housing 1210 is connected to one end of the second housing 1120 in a rotatable manner relative to the second housing 1120, and the end interface 1220 is disposed inside the third housing 1210 and connected to the third housing 1210 in a rotatable manner relative to the third housing 1210. That is, the third housing 1210 is rotatable relative to the second housing 1120, and the actuator connected to the tip interface 1220 is rotatable relative to the third housing 1210.

With continued reference to fig. 4 to 5, in a first application scenario, the power assembly 1130 includes a first sub-power assembly 1131 and a second sub-power assembly 1132, the deceleration assembly 1140 includes a first sub-deceleration assembly 1141 and a second sub-deceleration assembly 1142, the output end 114101 of the first sub-deceleration assembly 1141 is connected to the third housing 1210, the output end 114201 of the second sub-deceleration assembly 1142 is connected to the end interface 1220, the synchronous belt 1150 includes a first sub-synchronous belt 1151 and a second sub-synchronous belt 1152, the first sub-synchronous belt 1151 is drivingly connected to the output end 113101 of the first sub-power assembly 1131 and the input end 114102 of the first sub-deceleration assembly 1141, so that the first sub-deceleration assembly 1141 drives the third housing 1210 to rotate around the first axial direction relative to the second housing 1120 under the driving of the first sub-power assembly 1131, the second sub-synchronous belt 1152 is drivingly connected to the output end 201 of the second sub-power assembly 1132 and the input end 114202 of the second sub-power assembly 1142, so that the second sub-reduction assembly 1142 drives the end interface 1220 to rotate around a second axial direction different from the first axial direction with respect to the third housing 1210 under the driving of the second sub-power assembly 1132.

Specifically, in the first application scenario, the first sub-power assembly 1131 drives the first sub-speed reduction assembly 1141 through the first sub-synchronous belt 1151, and then the first sub-speed reduction assembly 1141 drives the third housing 1210, so that the third housing 1210 rotates around the first axial direction with respect to the second housing 1120, that is, with respect to the arm 1100, wherein since the terminal interface 1220 is disposed inside the third housing 1210 and connected to the third housing 1210, when the third housing 1210 rotates around the first axial direction with respect to the arm 1100, the terminal interface 1220 can also rotate around the first axial direction with respect to the arm 1100; the second sub-power assembly 1132 drives the second sub-reduction assembly 1142 via the second sub-timing belt 1152, and then the second sub-reduction assembly 1142 drives the terminal interface 1220, so that the terminal interface 1120 rotates around a second axial direction relative to the third housing 1210, wherein the second axial direction is different from the first axial direction.

That is, in a first application scenario, the actuator to which the robotic arm 1000 is coupled may be rotated in two different directions relative to the robotic arm 1000.

With continued reference to fig. 4 to 5, in a first application scenario, the first sub-power assembly 1131 includes a first motor 11311 and a first synchronous pulley 11312, the first synchronous pulley 11312 is disposed on an output shaft of the first motor 11311, and the first synchronous pulley 11312 serves as an output end 113101 of the first sub-power assembly 1131. The first motor 11311 may be a servo motor.

The first sub reduction assembly 1141 includes a second timing pulley 11411, a first input bevel gear 11412, a first output bevel gear 11413, a first hypoid pin gear 11414, and a first hypoid ring gear 11415. A second synchronous pulley 11411 serves as an input end 114102 of the first sub speed reduction assembly 1141, a first input bevel gear 11412 is coaxially connected with the second synchronous pulley 11411, a first output bevel gear 11413 is meshed with the first input bevel gear 11412, a first hypoid pin gear 11414 is coaxially connected with the first output bevel gear 11413, and a first hypoid ring gear 11415 is meshed with the first hypoid pin gear 11414. Wherein the first input bevel gear 11412, the first output bevel gear 11413, the first hypoid needle gear 11414, and the first hypoid ring gear 11415 are all disposed within the second housing 1120, and the first hypoid ring gear 11415 is connected to the third housing 1210 as the output end 114101 of the first sub speed reduction assembly 1141.

With continued reference to fig. 4 to fig. 5, the second sub-power assembly 1132 includes a second motor 11321 and a third synchronous pulley 11322, the third synchronous pulley 11322 is disposed on the output shaft of the second motor 11321, and the third synchronous pulley 11322 serves as the output end 113201 of the second power assembly 1132. Like the first motor 11311, the second motor 11321 may be a servo motor.

The second sub reduction assembly 1142 includes a fourth timing pulley 11421, a second input bevel gear 11422, a second output bevel gear 11423, a second hypoid pin gear 11424, a second hypoid ring gear 11425, a third input bevel gear 11426, and a third output bevel gear 11427. A fourth timing pulley 11421 serves as an input terminal 114202 of the second sub-reduction assembly 1142, a second input bevel gear 11422 is coaxially connected with the fourth timing pulley 11421, a second output bevel gear 11423 is engaged with the second input bevel gear 11422, a second hypoid needle gear 11424 is coaxially connected with a second output bevel gear 11423, a second hypoid ring gear 11425 is engaged with the second hypoid needle gear 11424, a third input bevel gear 11426 is coaxially connected with the second hypoid needle gear 11424, and a third output bevel gear 11427 is engaged with the third input bevel gear 11426. Wherein the second input bevel gear 11422, the second output bevel gear 11423, the second hypoid needle gear 11424, the second hypoid ring gear 11425 are disposed within the second housing 1120, the third input bevel gear 11426, the third output bevel gear 11427 are disposed within the third housing 1210, and the third output bevel gear 11427 is connected with the end interface 1220 as the output end 114201 of the second sub speed reduction assembly 1142.

Specifically, the first hypoid needle gear 11414 and the first hypoid ring gear 11415 constitute a set of hypoid gear sets, and the second hypoid needle gear 11424 and the second hypoid ring gear 11425 constitute a set of hypoid gear sets, which is a main gear set of the present embodiment instead of the speed reducer.

With continued reference to fig. 4-5, in the first application scenario, the second synchronous pulley 11411 and the fourth synchronous pulley 11421 rotate in the same direction, and the first input bevel gear 11412 and the first output bevel gear 11413, the second input bevel gear 11422 and the second output bevel gear 11423, and the third input bevel gear 11426 and the third output bevel gear 11427 are all driven in a 90-degree crossed-axis meshing manner. Specifically, by this arrangement, the first axial direction can be made perpendicular to the second axial direction, so that when the robot arm 1000 is applied to a robot, the fifth and sixth axes of the robot can be rotated.

With continued reference to figures 4-5, in a first application scenario, to conserve internal space of the arm 1100, the diameter of the first hypoid ring gear 11415 is greater than the diameter of the second hypoid ring gear 11425, and the first hypoid ring gear 11415 is disposed about the periphery of the second hypoid ring gear 11425. Of course, in other application scenarios, the first hypoid ring gear 11415 may not be disposed around the periphery of the second hypoid ring gear 11425, and the relative position between the two is not limited in this application.

With continued reference to fig. 4 to 5, in the first application scenario, in order to further save the internal space of the arm 1100, in the first application scenario, the first motor 11311 and the second motor 11321 are disposed in parallel in the first casing 1110, and the output direction of the first motor 11311 is the same as the output direction of the second motor 11321, while the first input bevel gear 11412 is located on the side of the second synchronous pulley 11411 away from the first motor 11311, and the second input bevel gear 11422 is located on the side of the fourth synchronous pulley 11421 away from the second motor 11321.

With continued reference to fig. 2 and 3, a side of the first housing 1110 away from the first motor 11311 and the second motor 11321 is provided with a first hollow portion 1112 extending along the second axial direction and protruding out of the surface of the second housing 1120, the third housing 1210 is provided with a second hollow portion 1122 extending along the second axial direction, and meanwhile, the first hollow portion 1112 and the second hollow portion 1122 are communicated to form a through passage a for placing a cable (not shown) connected to the actuator.

Specifically, in the prior art, the cable connected to the actuator is usually fixed to one side of the mechanical arm in an offset manner, which easily causes the motion range of the mechanical arm to be constrained by the external cable, and the hollow-designed mechanical arm, that is, the mechanical arm has a hollow hole to enable the external cable to be placed inside the mechanical arm, but it is difficult to achieve the mechanical arm having a sufficiently large hollow hole in the way of connecting the reducer with the motor in the prior art, and in the first application scenario of this embodiment, the output end 11301 of the power assembly 1130 and the input end 11401 of the reduction assembly 1140 are connected by the transmission of the synchronous belt 1150, on one hand, the assembly difficulty can be reduced, on the other hand, sufficient space can be reserved inside the mechanical arm 1000 to place the cable connected to the actuator, and in addition, the reducer is replaced by a gear set mainly based on a hypoid gear, which can meet the, further, the hollow design of the robot arm is satisfied, and specifically, as can be seen from fig. 2 and 3, the first motor 11311 and the second motor 11321 avoid the first hollow portion 1112, and the gear sets are disposed in the second housing 1120, so that the structure is compact, the whole transmission mechanism can be disposed in the robot arm 1000, and finally, the cable connected with the actuator can be conveniently placed inside the robot arm 1000, that is, in the through passage a.

The first application scenario described above is explained in which the wrist portion 1200 is rotatable in the first axial direction and the second axial direction, i.e., in both directions, with respect to the arm portion 1100. However, in other applications, the wrist 1200 may only rotate in one direction relative to the arm 1100, for example, in an application, the power assembly 1130 only includes the first sub-power assembly 1131, the synchronous belt 1150 only includes the first sub-synchronous belt 1151, and the speed reduction assembly 1140 only includes the first sub-speed reduction assembly 1141, or the power assembly 1130 only includes the second sub-power assembly 1132, the synchronous belt 1150 only includes the second sub-synchronous belt 1152, and the speed reduction assembly 1140 only includes the second sub-speed reduction assembly 1142. The wrist 1200 is not limited herein, and can be rotated in several directions with respect to the arm 1100.

Referring to fig. 6, fig. 6 is a schematic structural diagram of the robot of the present application. The robot 2000 includes a robot arm 2100.

The structure of the mechanical arm 2100 is the same as that of the mechanical arm 1000 in the above embodiments, and details of the above embodiments can be seen, and are not described herein again.

All in all, this application passes through synchronous belt drive and connects power component and speed reduction subassembly, can reduce the requirement to the relative position precision between power component and the speed reduction subassembly, and then reduces the assembly degree of difficulty.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (10)

1. A robot arm comprising an arm portion and a wrist portion connected to the arm portion so as to be rotatable with respect to the arm portion, the arm portion comprising:

the first shell is provided with a first accommodating space;

one end of the second shell is detachably connected with one end of the first shell, and the second shell is provided with a second accommodating space communicated with the first accommodating space;

the output end of the power assembly is arranged in the first shell;

the input end of the speed reducing component is arranged in the second shell, and the output end of the speed reducing component is connected with the wrist;

the synchronous belt is in transmission connection with the output end of the power assembly and the input end of the speed reduction assembly, so that the speed reduction assembly drives the wrist to rotate relative to the arm under the driving of the power assembly.

2. The robotic arm of claim 1, wherein the power assembly comprises a first power assembly, the first power assembly comprises a first motor and a first synchronous belt wheel as an output end, the speed reducing assembly comprises a first speed reducing assembly, the first speed reduction assembly comprises a second synchronous belt wheel serving as an input end, a first input bevel gear coaxially connected with the second synchronous belt wheel, a first output bevel gear meshed with the first input bevel gear, a first hypoid needle gear coaxially connected with the first output bevel gear, and a first hypoid ring gear meshed with the first hypoid needle gear, wherein the first input bevel gear, the first output bevel gear, the first hypoid needle gear, and the first hypoid ring gear are all disposed within the second housing, and the first hypoid ring gear is connected with a wrist.

3. A robot arm as claimed in claim 2, wherein the wrist portion comprises a third housing provided with a third accommodating space communicating with the second accommodating space, and a tip interface for connecting an actuator, the third housing being rotatably connected to the other end of the second housing with respect to the second housing, the tip interface being provided inside the third housing and rotatably connected to the third housing with respect to the third housing;

the power component still includes the sub-power component of second, the speed reduction component still includes the sub-speed reduction component of second, the output of first sub-speed reduction component with the third casing is connected, the output of second sub-speed reduction component with terminal interface connection, the hold-in range includes first sub-hold-in range and the sub-hold-in range of second, first sub-hold-in range transmission is connected the output of first sub-power component with the input of first sub-speed reduction component, so that first sub-speed reduction component is in drive down of first sub-power component and drive the third casing is relative the second casing rotates around primary axis direction, the sub-hold-in range transmission of second is connected the output of second sub-power component with the input of second sub-speed reduction component, so that the sub-speed reduction component of second is in drive down of second sub-power component and drive terminal interface is relative the third casing around with primary axis direction is different The second axis rotates.

4. A robotic arm as claimed in claim 3,

the first hypoid ring gear of the first sub-power assembly is connected with the third housing;

the second sub-power assembly comprises a second motor and a third synchronous belt wheel serving as an output end; the second sub-reduction assembly includes a fourth synchronous pulley as an input end, a second input bevel gear coaxially connected with the fourth synchronous pulley, a second output bevel gear engaged with the second input bevel gear, a second hypoid pin gear coaxially connected with the second output bevel gear, a second hypoid ring gear engaged with the second hypoid pin gear, a third input bevel gear coaxially connected with the second hypoid ring gear, and a third output bevel gear engaged with the third input bevel gear, wherein the second input bevel gear, the second output bevel gear, the second hypoid needle gear, and the second hypoid ring gear are disposed within the second housing, the third input bevel gear and the third output bevel gear are arranged in the third shell, and the third output bevel gear is connected with the tail end interface.

5. The mechanical arm of claim 4, wherein the second synchronous pulley and the fourth synchronous pulley rotate in the same direction, and the first input bevel gear and the first output bevel gear, the second input bevel gear and the second output bevel gear, and the third input bevel gear and the third output bevel gear are in meshing transmission at a 90-degree crossed axes angle.

6. A robotic arm as claimed in claim 5,

the diameter of the first hypoid ring gear is larger than that of the second hypoid ring gear, and the first hypoid ring gear surrounds the periphery of the second hypoid ring gear.

7. A robotic arm as claimed in claim 6,

the first motor and the second motor are arranged in the first shell in parallel, and the output direction of the first motor is the same as that of the second motor;

the first input bevel gear is located on one side, far away from the first motor, of the second synchronous pulley, and the second input bevel gear is located on one side, far away from the second motor, of the fourth synchronous pulley.

8. A robotic arm as claimed in claim 7,

one side of the first shell, which is far away from the first motor and the second motor, is provided with a first hollow part which extends along the direction of the second axis and protrudes out of the surface of the second shell, the third shell is provided with a second hollow part which extends along the direction of the second axis, and the first hollow part and the second hollow part are communicated to form a through passage for placing a cable connected with the actuator.

9. A robotic arm as claimed in claim 4, in which the first and second motors are both servo motors.

10. A robot comprising a robot arm as claimed in any one of claims 1 to 9.

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