CN113910288A - Compact cooperative mechanical arm wrist integrating dragging enabling handle - Google Patents
Compact cooperative mechanical arm wrist integrating dragging enabling handle Download PDFInfo
- Publication number
- CN113910288A CN113910288A CN202111222250.6A CN202111222250A CN113910288A CN 113910288 A CN113910288 A CN 113910288A CN 202111222250 A CN202111222250 A CN 202111222250A CN 113910288 A CN113910288 A CN 113910288A
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- wrist
- drag
- dragging
- compact
- circuit
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 106
- 239000011324 bead Substances 0.000 claims description 5
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 7
- 241000282414 Homo sapiens Species 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention discloses a compact type cooperative mechanical arm wrist integrating a dragging enabling handle, and relates to a wrist structure for a mechanical arm. Its purpose is in order to provide a compact cooperation arm wrist of integrated dragging messenger's ability handle that the integrated level is high, convenient operation. The compact type collaboration mechanical arm wrist integrating the dragging enabling handle comprises a wrist body and the dragging enabling handle, the wrist body comprises a wrist structural part, a tail end servo joint is installed inside the wrist structural part, the dragging enabling handle comprises a shell, dragging enabling keys and dragging function keys are arranged on the shell, a bottom plate, a circuit lower plate and a circuit upper plate are arranged inside the shell, the bottom plate is connected with the wrist structural part, the dragging enabling keys and the dragging function keys are respectively connected with triggers on the circuit lower plate and the circuit upper plate, the circuit upper plate is connected with the circuit lower plate through an upper plate connector and a lower plate connector, a wiring harness is connected onto the circuit lower plate, and the wiring harness penetrates through the tail end servo joint to be connected with the outside.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a compact type cooperation mechanical arm wrist integrating a dragging enabling handle.
Background
The cooperative mechanical arm is generally used for occasions with compact requirements on deployment space size, high flexibility of use conditions and frequent interaction with human beings, and is often seen in the scenes of emerging flexible industrial, medical and commercial applications, so that the wrist of the cooperative mechanical arm has the following characteristics and requirements on the design of a body:
(1) integrated drag enabled key/handle design: in order to meet the functional requirement of frequent interaction with human beings and improve the convenience degree of using the robot by a user, corresponding enabling keys/handles need to be provided for the user to transmit corresponding instructions to the robot, wherein the instructions comprise user commands of flexible dragging, current position recording cancellation, track reproduction recording and the like, the frequency of the user for programming and controlling the robot by using a traditional demonstrator with a threshold is reduced, and meanwhile, the design of the integral enabling keys/handles needs to follow good human engineering and gives elegant and natural use experience to the user;
(2) wrist compact design: in order to improve the operation and accessibility of the tail end of the cooperative mechanical arm in a compact and narrow space, the design of the wrist needs to follow the compaction principle, and the axial and radial dimensions of the wrist are reduced as much as possible.
The design difficulty of the compact wrist of the corresponding cooperative mechanical arm is derived based on the design requirements:
(1) how to design and integrate a dragging enabling handle with rich functions at a narrow wrist body, and meanwhile, the dragging enabling handle needs to keep good ergonomic design;
(2) how to keep various functions and structural strength of the dragging handle and simultaneously compact the design of the wrist body and shorten the axial and radial dimensions of the wrist as much as possible.
Aiming at the wrist design mode of the common collaboration robot in the market, the following defects still exist:
(1) the robot is not provided with a dragging enabling key design or a dragging enabling handle design with rich functions and elegant design, and a user still needs to control and drag the cooperative robot in a mode of holding a demonstrator by hand;
(2) the corresponding wrist design size is not compact enough, and is not favorable for the tail end of the cooperative mechanical arm to enter a narrow space for operation.
Disclosure of Invention
The invention aims to provide a compact cooperative mechanical arm wrist integrating a dragging enabling handle, which is high in integration level and convenient to operate.
The invention discloses a compact type collaboration mechanical arm wrist integrating a dragging enabling handle, which comprises a wrist body and the dragging enabling handle, wherein the wrist body comprises a wrist structural part, a tail end servo joint is arranged in the wrist structural part, the dragging enabling handle comprises a shell, a dragging enabling button and a dragging function button are arranged on the shell, the shell internally comprises a bottom plate, a circuit lower plate and a circuit upper plate, the bottom plate is connected with the wrist structural part, the dragging enabling button and the dragging function button are respectively connected with triggers on the circuit lower plate and the circuit upper plate, the circuit upper plate is connected with the circuit lower plate through an upper plate connector and a lower plate connector, a wiring harness is connected on the circuit lower plate, and the wiring harness penetrates through the tail end servo joint to be connected with the outside.
The invention discloses a compact type cooperative mechanical arm wrist integrating a dragging enabling handle, wherein the side surface of a wrist structural part is of a hollow-out open-cover type structure.
The invention relates to a compact type coordinated mechanical arm wrist integrating a dragging enabling handle, wherein a shell is fixedly connected with a wrist structural member in a buckling mode through a bottom plate with a fixing buckle.
The invention discloses a compact type cooperative mechanical arm wrist integrating a dragging enabling handle, wherein a hollow wiring hole is formed in a tail end servo joint, and a wiring harness penetrates through the hollow wiring hole.
The invention relates to a compact type coordinated mechanical arm wrist integrating a dragging enabling handle, wherein an upper board of a circuit is fixedly connected with a wrist structural member.
The invention discloses a compact type cooperative mechanical arm wrist integrating a dragging enabling handle, wherein an LED lamp bead is arranged on an upper circuit board, a light-transmitting circular ring is arranged on a shell, and the light-transmitting circular ring is positioned on the outer side of the LED lamp bead.
The invention relates to a compact type coordinated mechanical arm wrist integrating a dragging enabling handle, wherein the bottom of a wrist structural part is connected with a tail end flange, and an external electrical interface is arranged on the tail end flange.
The invention discloses a compact type collaborative mechanical arm wrist integrating a dragging enabling handle, wherein the terminal external electric interface is a terminal structure of M8.
The invention relates to a compact type coordinated mechanical arm wrist integrating a dragging enabling handle, wherein a wrist side cover is fixedly arranged on one side of a wrist structural member through a screw.
The invention relates to a compact type coordinated mechanical arm wrist integrating a dragging enabling handle, wherein a reinforcing rib is arranged inside a wrist structural part.
The compact type collaboration mechanical arm wrist integrating the dragging enabling handle is different from the prior art in that the compact type collaboration mechanical arm wrist integrating the dragging enabling handle realizes corresponding actions of the collaboration mechanical arm wrist by operating keys on the dragging enabling handle when the compact type collaboration mechanical arm wrist integrating the dragging enabling handle is used. A plurality of enable keys and drag function key that drag can realize dragging the enable and drag the function, also can provide abundant expansibility simultaneously. The overall structure of arm wrist is compact, and the loaded down with trivial details degree that the user used demonstrator control robot has also been reduced to the integrated messenger handle that drags, has promoted user's use and has experienced. In addition, the wrist body is also integrated with a tail end flange, so that the wrist structure can be conveniently connected with other structures, and the integration level of the wrist structure is improved.
The compact, cooperative arm wrist of the integrated drag enabling grip of the present invention is further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural view of a compact cooperative arm wrist incorporating a drag enabling handle of the present invention;
FIG. 2 is a front view of a weld gun fixture in a wrist of a compact cooperative arm incorporating a drag enabling handle in accordance with the present invention;
FIG. 3 is a sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic structural view of a drag enable handle in a wrist of a compact collaborative robotic arm incorporating the drag enable handle according to the present invention;
FIG. 5 is a front view of a drag enable handle in a wrist of a compact collaborative robotic arm incorporating the drag enable handle according to the present invention;
FIG. 6 is a sectional view taken along line B-B of FIG. 5;
FIG. 7 is a bottom view of a drag enable handle in a wrist of a compact collaborative robotic arm incorporating a drag enable handle according to the present invention;
the notation in the figures means: 1-a housing; 2-drag enable button; 3-a wrist structure; 4-terminal flange; 5-end external electrical interface; 6-wrist side cover; 7-dragging function keys; 8-end servo joint; 9-a bottom plate; 10-circuit upper board; 11-circuit lower board; 12-a bottom plate fixing column; 13-enable key trigger; 14-reinforcing ribs; 15-function key driving post; 16-function key trigger; 17-LED lamp beads; 18-a light-transmissive ring; 19-function key board fixing column; 20-enabling keypad fixing posts; 21-hollow wiring hole.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1, the compact collaborative robotic arm wrist of the present invention that integrates a drag-enabling handle comprises a wrist body and a drag-enabling handle, the drag-enabling handle being located above the wrist body.
As shown in fig. 1-3, the wrist body includes a wrist structural member 3, and the side surface of the wrist structural member 3 is designed to be hollowed out and uncovered, so as to increase maintainability of the whole wrist design. The wrist structure 3 is provided with ribs 14 inside. One side of the wrist structural member 3 is fixedly provided with a wrist side cover 6 by screws. The bottom of the wrist structure 3 is fixedly connected with an end flange 4 through screws, and the end flange 4 is used for fixing end tools and actuators needed by the cooperative mechanical arm.
The wrist structure 3 is internally provided with a terminal servo joint 8. The drive of the end servo joint 8 is connected with the forearm servo drive of the upper shaft. An electric communication wire harness is arranged inside a driver of the end servo joint 8, and the electric communication wire harness inside the end servo joint 8 is connected with the electric communication wire harness inside the forearm. The wire harnesses in the end servo joint 8 are respectively connected in two directions, one is connected to the interior of the dragging enabling handle upwards, the other is connected downwards through the hollow wire routing hole 21 of the end servo joint 8 to penetrate through the whole end servo joint 8 and finally connected to the end external electrical interface 5 on the end flange 4, and the end external electrical interface 5 adopts a terminal structure of M8.
As shown in fig. 4-7, the dragging enabling handle includes a housing 1, and the housing 1 is used as a casing of the dragging enabling module and is fixedly connected with the wrist structural member 3 in a fastening manner through a bottom plate 9 with a fixing fastener. The two sides of the shell 1 are embedded with dragging enabling keys 2, and the top of the shell 1 is embedded with dragging functional keys 7. The appearance structure of the shell 1 and the two keys accords with the human engineering design of the gripping and control of human palms. In this embodiment, the drag enable button 2 includes two left and right buttons, and when the user presses these two buttons simultaneously, the cooperative arm will be switched to the drag mode with low impedance. The dragging function key 7 comprises three keys, the middle key has the function of recording the current position, and the keys on the two sides have the functions of canceling the recording of the current position and reproducing the recording track, so that a user can record and reproduce the teaching track in the dragging teaching process.
The shell 1 comprises a bottom plate 9, a circuit lower plate 11 and a circuit upper plate 10 inside, and the three-layer plate comprises a bottom plate, a middle plate and a high plate in sequence. The bottom plate 9 is used for connecting and dragging the enabling handle and the wrist structural part 3, and meanwhile, the bottom plate 9 is provided with a bottom plate fixing column 12, and the bottom plate 9 is fixedly connected with the wrist structural part 3 through the bottom plate fixing column 12 by screws.
The circuit lower plate 11 is an enabling button circuit board, and a wire harness in the tail end servo joint 8 is connected with the circuit lower plate 11 in the dragging enabling handle. The circuit upper board 10 is connected with the circuit lower board 11 through upper and lower board connectors, and the circuit upper board 10 is a function key circuit board. The circuit upper board 10 is connected with the wrist structural component 3 through the functional key board fixing columns 19 by screws, and the dragging functional key 7 is physically connected with the functional key trigger 16 on the circuit upper board 10 through the functional key transmission columns 15. The circuit lower plate 11 is fixedly connected with the bottom plate 9 with the fixed buckle through the enabling key plate fixing column 20 through a screw, the enabling key 2 and the enabling key trigger 13 on the circuit lower plate 11 are dragged to be directly physically connected, and a signal for pressing the key by a user is transmitted to the corresponding circuit board.
Be provided with round LED lamp pearl 17 on the function key circuit board, the light that the lamp pearl distributed will evenly distribute away through printing opacity ring 18 for wholly drag the messenger and enable the handle and present elegant outward appearance feel, printing opacity ring 18 is installed on shell 1.
When the compact type collaboration mechanical arm wrist integrating the dragging enabling handle is used, the corresponding action of the collaboration mechanical arm wrist is realized by operating the keys on the dragging enabling handle. A plurality of enable keys and drag function key that drag can realize dragging the enable and drag the function, also can provide abundant expansibility simultaneously. The overall structure of arm wrist is compact, and the loaded down with trivial details degree that the user used demonstrator control robot has also been reduced to the integrated messenger handle that drags, has promoted user's use and has experienced. In addition, the wrist body is also integrated with a tail end flange, so that the wrist structure can be conveniently connected with other structures, and the integration level of the wrist structure is improved.
By adopting the compact wrist structure design, the axial dimension of the whole wrist can be controlled below 200mm, the radial dimension can be controlled below 94mm, and the whole weight can be controlled below 1.5 kg.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A compact collaborative robotic arm wrist integrated with a drag-enabling handle, comprising: including the wrist body and drag the enable handle, the wrist body includes the wrist structure spare, the internally mounted of wrist structure spare has terminal servo joint, it includes the shell to drag the enable handle, be provided with on the shell and drag the enable button and drag the function button, the shell is inside including the bottom plate, circuit hypoplastron and circuit upper plate, the bottom plate is connected with the wrist structure spare, it makes the button and drags the function button and is connected with the trigger on circuit hypoplastron and the circuit upper plate respectively to drag, the circuit upper plate is through going up lower plate connector link circuit hypoplastron, be connected with the pencil on the circuit hypoplastron, the pencil passes terminal servo joint and external connection.
2. The compact collaborative robotic arm wrist of an integrated drag enabled handle according to claim 1, wherein: the side of the wrist structural part is of a hollow-out cover-opening type structure.
3. The compact collaborative robotic arm wrist of an integrated drag enabled handle according to claim 1, wherein: the shell is fixedly connected with the wrist structural member in a buckling mode through a bottom plate with a fixing buckle.
4. The compact collaborative robotic arm wrist of an integrated drag enabled handle according to claim 1, wherein: and a hollow wiring hole is formed in the tail end servo joint, and a wiring harness penetrates through the hollow wiring hole.
5. The compact collaborative robotic arm wrist of an integrated drag enabled handle according to claim 1, wherein: the circuit upper board is fixedly connected with the wrist structural part.
6. The compact collaborative robotic arm wrist of an integrated drag enabled handle according to claim 1, wherein: the LED lamp beads are arranged on the upper board of the circuit, the light-transmitting circular ring is arranged on the shell, and the light-transmitting circular ring is located on the outer side of the LED lamp beads.
7. The compact collaborative robotic arm wrist of an integrated drag enabled handle according to claim 1, wherein: the bottom of the wrist structural member is connected with a tail end flange, and an external electrical interface is arranged on the tail end flange.
8. The compact collaborative robotic arm wrist of an integrated drag enabled handle according to claim 7, wherein: the terminal-to-outside electrical interface is a terminal structure of M8.
9. The compact collaborative robotic arm wrist of an integrated drag enabled handle according to claim 1, wherein: and a wrist side cover is fixedly arranged on one side of the wrist structural member through screws.
10. The compact collaborative robotic arm wrist of an integrated drag enabled handle according to claim 1, wherein: and reinforcing ribs are arranged inside the wrist structural part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111222250.6A CN113910288A (en) | 2021-10-20 | 2021-10-20 | Compact cooperative mechanical arm wrist integrating dragging enabling handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111222250.6A CN113910288A (en) | 2021-10-20 | 2021-10-20 | Compact cooperative mechanical arm wrist integrating dragging enabling handle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113910288A true CN113910288A (en) | 2022-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111222250.6A Pending CN113910288A (en) | 2021-10-20 | 2021-10-20 | Compact cooperative mechanical arm wrist integrating dragging enabling handle |
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| Country | Link |
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| CN (1) | CN113910288A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847476A (en) * | 2023-02-27 | 2023-03-28 | 珞石（北京）科技有限公司 | Compact cooperative robot wrist |
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|---|---|---|---|---|
| CN102303318A (en) * | 2011-06-22 | 2012-01-04 | 北京理工大学 | Robot wrist structure capable of realizing universal adjustment and accurate positioning |
| CN107471246A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of band band-type brake hollow type compact mechanical shoulder joint |
| US20180073614A1 (en) * | 2015-01-30 | 2018-03-15 | Irobot Corporation | Robotic arm and wrist mechanisms |
| CN209986947U (en) * | 2019-04-03 | 2020-01-24 | 苏州睿梵工业设计有限公司 | Joint module and mechanical arm |
| CN210616537U (en) * | 2019-09-12 | 2020-05-26 | 德屹智能科技(扬州)有限公司 | Detachable terminal dragging demonstration instrument |
| CN212312025U (en) * | 2020-04-09 | 2021-01-08 | 佛山智能装备技术研究院 | Cooperative robot with flexibly switchable arm exhibition |
| CN112295799A (en) * | 2020-11-06 | 2021-02-02 | 北京克莱明科技有限公司 | Master-slave teleoperated control arm for cord drive |
| CN213471172U (en) * | 2020-11-06 | 2021-06-18 | 北京克莱明科技有限公司 | Main operation arm of master-slave control type four-axis mechanical arm with dial wheel |
| CN113288427A (en) * | 2020-02-21 | 2021-08-24 | 中国科学院沈阳自动化研究所 | Suspension positioning mechanical arm and control method |
-
2021
- 2021-10-20 CN CN202111222250.6A patent/CN113910288A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303318A (en) * | 2011-06-22 | 2012-01-04 | 北京理工大学 | Robot wrist structure capable of realizing universal adjustment and accurate positioning |
| US20180073614A1 (en) * | 2015-01-30 | 2018-03-15 | Irobot Corporation | Robotic arm and wrist mechanisms |
| CN107471246A (en) * | 2017-08-21 | 2017-12-15 | 北京精密机电控制设备研究所 | A kind of band band-type brake hollow type compact mechanical shoulder joint |
| CN209986947U (en) * | 2019-04-03 | 2020-01-24 | 苏州睿梵工业设计有限公司 | Joint module and mechanical arm |
| CN210616537U (en) * | 2019-09-12 | 2020-05-26 | 德屹智能科技(扬州)有限公司 | Detachable terminal dragging demonstration instrument |
| CN113288427A (en) * | 2020-02-21 | 2021-08-24 | 中国科学院沈阳自动化研究所 | Suspension positioning mechanical arm and control method |
| CN212312025U (en) * | 2020-04-09 | 2021-01-08 | 佛山智能装备技术研究院 | Cooperative robot with flexibly switchable arm exhibition |
| CN112295799A (en) * | 2020-11-06 | 2021-02-02 | 北京克莱明科技有限公司 | Master-slave teleoperated control arm for cord drive |
| CN213471172U (en) * | 2020-11-06 | 2021-06-18 | 北京克莱明科技有限公司 | Main operation arm of master-slave control type four-axis mechanical arm with dial wheel |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847476A (en) * | 2023-02-27 | 2023-03-28 | 珞石（北京）科技有限公司 | Compact cooperative robot wrist |
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