CN114833806B - Cooperative mechanical arm - Google Patents
Cooperative mechanical arm Download PDFInfo
- Publication number
- CN114833806B CN114833806B CN202210785282.5A CN202210785282A CN114833806B CN 114833806 B CN114833806 B CN 114833806B CN 202210785282 A CN202210785282 A CN 202210785282A CN 114833806 B CN114833806 B CN 114833806B
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- Prior art keywords
- waist
- joint
- wire harness
- servo
- arm
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Abstract
The invention discloses a cooperative mechanical arm and relates to a mechanical arm structure. The cooperative mechanical arm can improve the stability of the whole machine, is convenient to install and is beneficial to equipment maintenance. The cooperative mechanical arm comprises a waist connecting rod and a large arm connecting rod, wherein a waist servo joint is arranged in the waist connecting rod, a hollow wiring sleeve of the waist is arranged in the waist servo joint, a joint tail wire harness fixing unit of the waist is arranged at one outgoing end of the hollow wiring sleeve of the waist, a wire harness penetrating out of the joint tail wire harness fixing unit of the waist is connected with a waist servo driver, a floating wire binding plate is arranged between the waist servo driver and the large arm servo joint, the large arm servo joint is arranged in the large arm connecting rod, the hollow wiring sleeve of the large arm and the joint tail wire harness fixing unit are arranged in the large arm servo joint, and the wire harness penetrating out of the joint tail wire harness fixing unit of the large arm is connected with the large arm servo driver.
Description
Technical Field
The invention relates to the technical field of mechanical arm structures, in particular to a cooperative mechanical arm.
Background
The cooperative mechanical arm is generally used for scenes with compact requirements on deployment space size and high flexibility of use working conditions, and is often seen in emerging flexible industrial, medical and commercial application occasions, so the cooperative mechanical arm has the following characteristics and requirements on the design of a body:
1) the joints are hollow, related electric wire harnesses need to pass through each shaft joint in a hollow mode, the mechanical arm body is free of external electric wires, the design is compact and concise, and the mechanical arm is beneficial to being used under the conditions that the use working condition flexibility is high, and the environment structure is complex and changeable;
2) the robot is compact in overall system design, small in layout occupied area and beneficial to rapid deployment of the robot in a compact space.
Based on the design requirements of the two points, corresponding body design difficulties derive:
1) the joint hollow routing line provides the requirement of hollow design for each axis servo joint, and simultaneously, the corresponding rotary motion relation is brought by the penetrating of the wire harness, namely, the two sides of the penetrating wire harness are required to be provided with corresponding movable end supports and fixed, so that the falling of a wire harness connector and even the damage of a wire harness body caused by the rotary motion relation are avoided;
2) the design without an external control cabinet provides high compact design requirements for the integration of the driver to the mechanical arm body, and how to improve the corresponding installability, maintainability and reliability of the driver integrated into the mechanical arm body is the greatest importance of the whole arrangement design.
The joint wiring harness routing and driver arrangement design mode aiming at the common cooperative robot in the market still has the following defects:
1) the problem that the connector falls off and the wiring harness body is damaged after multiple twists is easily caused due to the lack of a good path design for hollow wiring of the joint and a fixing design for double moving ends of the through shaft, and the reliability of the whole machine is not improved;
2) the integrated maintainability of not fully considering the later stage behind the arm body of arm body, easily cause the driver to install into the blind box problem of body inside, be unfavorable for the maintenance debugging in later stage and the large-scale production of product.
Disclosure of Invention
The invention aims to provide a cooperative mechanical arm which can improve the stability of the whole machine, is convenient to install and is beneficial to equipment maintenance.
The invention discloses a cooperative mechanical arm which comprises a waist connecting rod and a large arm connecting rod, wherein a waist servo joint is arranged in the waist connecting rod, a hollow wiring sleeve of a waist is arranged in the waist servo joint, a joint tail wire harness fixing unit of the waist is arranged at one outgoing end of the hollow wiring sleeve of the waist, a wire harness penetrating out of the joint tail wire harness fixing unit of the waist is connected with a waist servo driver, a floating wire binding plate is arranged between the waist servo driver and the large arm servo joint, the large arm servo joint is arranged in the large arm connecting rod, the hollow wiring sleeve of the large arm and the joint tail wire harness fixing unit are arranged in the large arm servo joint, and the wire harness penetrating out of the joint tail wire harness fixing unit of the large arm is connected with the large arm servo driver.
The invention relates to a cooperative mechanical arm, wherein a joint tail wire harness fixing unit comprises a joint tail wire harness fixing piece and a joint tail wire harness fixing pressing plate.
According to the cooperative mechanical arm, the wiring circular groove is machined in the end face of the joint tail wire harness fixing piece.
According to the cooperative mechanical arm, the joint tail wire harness fixing pressing plate is installed on the joint tail wire harness fixing part, the arc-shaped semicircle is machined on the joint tail wire harness fixing pressing plate, and the wire harness penetrates through the lower portion of the arc-shaped semicircle.
The invention relates to a cooperative mechanical arm, wherein a waist servo driver is arranged on a waist driver mounting plate, a large arm servo driver is arranged on a large arm driver mounting plate, the waist driver mounting plate is fixedly arranged on a waist connecting rod, and the large arm driver mounting plate is fixedly arranged on a large arm connecting rod.
The cooperative mechanical arm provided by the invention has the advantages that the rigidity of the floating wiring board in the radial direction is greater than the axial rigidity.
According to the cooperative mechanical arm, the waist opening cover and the large arm opening cover are respectively arranged on the waist connecting rod and the large arm connecting rod, and the positions of the waist opening cover and the large arm opening cover are opposite to the positions of the waist servo driver and the large arm servo driver.
The cooperative mechanical arm is different from the prior art in that the cooperative mechanical arm provides an inter-joint wiring harness routing and driver arrangement design mode based on the cooperative mechanical arm, in order to improve the reliability of an electric through-axis wiring harness under the joint rotation working condition, a hollow routing sleeve, a joint tail wiring harness fixing unit and a floating wiring board are designed, the path of the wiring harness is restrained, and the corresponding wiring harness is fixed in front of a rotation end, so that the stress in the whole wiring harness is uniformly distributed, and meanwhile, the falling possibility of the wiring harness at the connection part of a connector assembly is effectively reduced.
In order to improve the maintainability, the detachability and the reliability of the whole servo driver, the cooperative mechanical arm of the invention combines the corresponding servo drivers into a servo driver unit by designing the waist driver mounting plate and the large arm driver mounting plate, avoids the repeated plugging and unplugging of connectors between plates, solves the problem of the blind box arranged in the connecting rod by the waist connecting rod and the large arm connecting rod through the cover opening design of the waist connecting rod and the large arm connecting rod, and comprehensively improves the corresponding maintainability, the detachability and the reliability.
The cooperating robotic arms of the present invention are further described below in conjunction with the figures.
Drawings
FIG. 1 is a side view of a cooperating robotic arm of the present invention;
FIG. 2 is a sectional view taken along line A-A of FIG. 1;
FIG. 3 is a schematic view of the construction of a cooperating robotic arm of the present invention;
FIG. 4 is a schematic structural view of a hollow routing sleeve in a cooperative arm of the present invention;
FIG. 5 is a schematic structural view of a joint tail strand fixing platen in the cooperative mechanical arm of the present invention;
FIG. 6 is a schematic structural view of a waist drive mounting plate in the cooperative arm of the present invention;
FIG. 7 is a schematic structural diagram of a floating wiring board in the cooperative mechanical arm of the present invention;
FIG. 8 is a schematic structural view of a boom actuator mounting plate of the cooperative arm of the present invention;
FIG. 9 is a schematic top view of a joint harness retainer for a cooperating robotic arm in accordance with the present invention;
FIG. 10 is a schematic view of the bottom view of the joint harness retainer of the cooperative arm of the present invention;
the notation in the figures means: 1-a hollow routing sleeve; 2-a joint tail strand fixture; 3-fixing a pressing plate for the joint tail wire bundle; 4-lumbar servo driver; 5-lumbar drive mounting plate; 6-floating wire binding plate; 7-big arm driver mounting plate; 8-big arm servo joint; 9-lumbar servo joint; 10-waist link; 11-big arm link; 12-opening the waist; 13-opening the cover by the big arm; 14-a wire harness; 15-big arm servo drive.
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. 1-3, the cooperative mechanical arm of the present invention comprises a lumbar link 10 and a large arm link 11, wherein a lumbar servo joint 9 is disposed inside the lumbar link 10, and a large arm servo joint 8 is disposed inside the large arm link 11. The waist servo joint 9 and the large arm servo joint 8 are used for driving the waist connecting rod 10 and the large arm connecting rod 11 to rotate.
Inside the waist connecting rod 10, the waist servo joint 9 is installed at the lower part of the waist connecting rod 10 along the vertical direction, and the bottom of the waist servo joint 9 is installed by matching with the top of the robot base. The inside of the lumbar servo joint 9 is mounted with a hollow routing sleeve 1 as shown in fig. 4. The waist hollow routing sleeve 1 is used for loading the electric wiring harness output from the robot base. The hollow wiring sleeve 1 at the waist is connected with the rotating low-speed end of the waist servo joint 9, so that the wire harness 14 is not influenced by abrasion caused by a high-speed hollow shaft at the motor end in the joint rotating process, and the reliability of the wire harness is improved.
The motor static end of the servo joint 9 at the waist is provided with a joint tail wire harness fixing unit which can fix the wire harness in the hollow routing sleeve 1 at the waist. The joint tail wire harness fixing unit comprises a joint tail wire harness fixing piece 2 and a joint tail wire harness fixing pressing plate 3. The waist joint tail wire harness fixing piece 2 is arranged at the end part of a waist servo joint 9, and as shown in fig. 9 and fig. 10, a routing circular groove is processed on the joint tail wire harness fixing piece 2. The routing circular groove is arranged on the end face of the joint tail wire harness fixing piece 2 and used for restraining the trend of the wire harness 14. The radius design value of the wiring circular groove is 6 times of the diameter of the wiring harness, so that stress concentration which may damage the wiring harness due to an excessively small bending radius is avoided, and the overall reliability of the wiring harness is improved. The joint tail wire harness fixing pressing plate 3 is installed on the joint tail wire harness fixing part 2, as shown in fig. 5, an arch semicircle is processed on the joint tail wire harness fixing pressing plate 3, and the wire harness penetrates through the lower portion of the arch semicircle. The arched semi-circle is used for specifically fixing the position of the wire harness, so that the wire harness is prevented from being in an unordered non-fixed state in the machine body of the mechanical arm, the condition that the wire harness is damaged or a corresponding connector falls off due to the fact that the wire harness is hooked by a moving element is reduced, and the reliability of the wire harness is improved.
The wire harness which penetrates out of the joint tail wire harness fixing unit of the waist is connected to a waist servo driver 4, and the waist servo driver 4 is used for driving a waist servo joint 9. Because the whole wiring harness is compressed and fixed by the joint tail wiring harness fixing unit, the rotation of the moving end brought by the waist servo joint 9 cannot be transmitted to each connector of the waist servo driver 4, so that the stress of the electric wiring harness and the connectors on the waist servo driver 4 is avoided, the possible falling-off phenomenon of the connectors is avoided, and the connection stability of the electric wiring harness is improved. The lumbar servo drive 4 is mounted on a lumbar drive mounting plate 5 as shown in fig. 6.
A floating wire binding plate 6 is arranged between the waist servo driver 4 and the large arm servo joint 8. As shown in fig. 7, the stiffness of the floating wiring board 6 in the radial direction is much greater than the axial stiffness, and thus will limit the degree of freedom of the wire harness in the radial direction, while still providing a certain degree of freedom in the axial direction to improve the reliability of the wire harness under possible axial pulling movements.
The wire harness enters the upper arm servo joint 8 from the waist servo driver 4 through the floating wire binding plate 6. The upper part of the large arm servo joint 8 is consistent with the waist servo joint 9 and is provided with a hollow routing sleeve 1 and a joint tail wire harness fixing unit. The wire harness is connected with the large arm servo driver 15 after passing through the hollow routing sleeve 1 of the large arm and the joint tail wire harness fixing unit. The large arm servo driver 15 is mounted on the large arm driver mounting plate 7 as shown in fig. 8, and is used for driving the large arm servo joint 8 to rotate.
The waist driver mounting plate 5 is fixedly mounted on the waist link 10, and the large arm driver mounting plate 7 is fixedly mounted on the large arm link 11. When the corresponding driver of dismouting, operating personnel need not to dismantle control panel or drive plate in the driver, only need through the screw of taking apart waist driver mounting panel 5 and waist connecting rod 10, the screw that big arm driver mounting panel 7 and big arm connecting rod 11 are connected, can directly take off two servo driver units.
A waist cover 12 and a big arm cover 13 are respectively arranged on the waist connecting rod 10 and the big arm connecting rod 11. The lumbar cover 12 and the upper arm cover 13 are respectively opposed to the positions of the lumbar servo driver 4 and the upper arm servo driver 15. The operator opens the cover at the corresponding position, so that the structure and the wiring harness maintenance operation can be carried out on the servo driver unit, the joint and the connecting rod do not need to be disassembled and assembled, and the maintainability and the reliability of the whole mechanical arm are improved.
In order to improve the reliability of the electric through-axis wire harness under the joint rotation working condition, the invention restricts the path of the wire harness and fixes the corresponding wire harness in front of the rotation end by designing the hollow wiring sleeve, the joint tail wire harness fixing unit and the floating wire binding plate, so that the stress in the whole wire harness is uniformly distributed, and the falling possibility of the wire harness at the connection part of the connector assembly is effectively reduced.
In order to improve the maintainability, the detachability and the reliability of the whole servo driver, the cooperative mechanical arm is designed to form a servo driver unit by the waist driver mounting plate and the large arm driver mounting plate and corresponding servo drivers, so that the repeated plugging and unplugging of connectors between plates are avoided, and meanwhile, through the cover opening design of the waist connecting rod and the large arm connecting rod, the problem that a blind box is installed in the connecting rod by the drivers is solved, and the maintainability, the detachability and the reliability of the corresponding servo drivers are comprehensively improved.
After the cooperative mechanical arm adopts the structure, the reliability of the hollow through-shaft wire harness is greatly improved, the bending life under the joint rotation motion can reach more than 200 ten thousand times, and the overall comprehensive life is improved by 20%; the maintainability of servo driver has obtained very big promotion, and the time of changing corresponding pencil connector and servo drive plate shortens to within 3 minutes, and whole efficiency is synthesized and is promoted more than 80%.
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 (5)
1. A cooperative mechanical arm, comprising: the waist servo joint comprises a waist connecting rod and a large arm connecting rod, wherein a waist servo joint is arranged in the waist connecting rod, a hollow wiring sleeve of the waist is arranged in the waist servo joint, a joint tail wire harness fixing unit of the waist is arranged at one outlet end of the hollow wiring sleeve of the waist, a wire harness penetrating out of the joint tail wire harness fixing unit of the waist is connected with a waist servo driver, a floating wiring board is arranged between the waist servo driver and the large arm servo joint, the large arm servo joint is arranged in the large arm connecting rod, a hollow wiring sleeve of the large arm and the joint tail wire harness fixing unit are arranged in the large arm servo joint, the wire harness penetrating out of the joint tail wire harness fixing unit of the large arm is connected with the large arm servo driver, the waist servo driver is arranged on a waist driver mounting plate, the large arm servo driver is arranged on a large arm driver mounting plate, the waist driver mounting plate is fixedly arranged on the waist connecting rod, the large arm driver mounting plate is fixedly mounted on the large arm connecting rod, and the rigidity of the floating wire binding plate in the radial direction is larger than the axial rigidity.
2. The cooperative arm as recited in claim 1, further comprising: the joint tail wire harness fixing unit comprises a joint tail wire harness fixing piece and a joint tail wire harness fixing pressing plate.
3. The cooperative arm as recited in claim 2, further comprising: and a wiring circular groove is processed on the end face of the joint tail wiring harness fixing piece.
4. A cooperating robotic arm as claimed in claim 2 or 3, wherein: the joint tail wire harness fixing pressing plate is installed on the joint tail wire harness fixing part, an arched semicircle is machined on the joint tail wire harness fixing pressing plate, and the wire harness penetrates through the lower portion of the arched semicircle.
5. The cooperative arm as recited in claim 1, further comprising: waist uncapping and big arm uncapping are provided with respectively on waist connecting rod and the big arm connecting rod, and the position that waist uncapped and big arm uncapped is relative with waist servo driver and big arm servo driver's position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210785282.5A CN114833806B (en) | 2022-07-06 | 2022-07-06 | Cooperative mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210785282.5A CN114833806B (en) | 2022-07-06 | 2022-07-06 | Cooperative mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114833806A CN114833806A (en) | 2022-08-02 |
| CN114833806B true CN114833806B (en) | 2022-09-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210785282.5A Active CN114833806B (en) | 2022-07-06 | 2022-07-06 | Cooperative mechanical arm |
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| Country | Link |
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| CN (1) | CN114833806B (en) |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05237779A (en) * | 1991-12-17 | 1993-09-17 | Japan Atom Energy Res Inst | Joint module for remote control manipulator and remote control manipulator |
| JP3921890B2 (en) * | 1998-09-30 | 2007-05-30 | 株式会社明電舎 | Industrial robot with harness set |
| JP2005131734A (en) * | 2003-10-30 | 2005-05-26 | Kawada Kogyo Kk | Wiring structure for walking type robot |
| CN101272886B (en) * | 2005-09-27 | 2012-10-24 | 株式会社安川电机 | Multi-joint manipulator, robotic system and arms multi-joint manipulator |
| US10022861B1 (en) * | 2017-04-27 | 2018-07-17 | Engineering Services Inc. | Two joint module and arm using same |
| CN108705561A (en) * | 2018-07-24 | 2018-10-26 | 埃夫特智能装备股份有限公司 | A kind of four-degree-of-freedom underloading industrial robot |
| CN209313307U (en) * | 2019-02-27 | 2019-08-27 | 西南交通大学 | Package robot for aerial cable |
| CN111152261A (en) * | 2020-02-07 | 2020-05-15 | 天津大学 | High-flexibility six-degree-of-freedom spraying robot |
| 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 |
| CN112743569A (en) * | 2021-02-02 | 2021-05-04 | 珞石（北京）科技有限公司 | Compact light-weight high-performance force-controlled robot servo joint |
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2022
- 2022-07-06 CN CN202210785282.5A patent/CN114833806B/en active Active
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| CN114833806A (en) | 2022-08-02 |
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