CN205521487U - Robotic arm and robot - Google Patents

Abstract

The utility model discloses a robotic arm and robot, robotic arm include two arm components, pivot seat and arm wire drawing, pivot seat through the pivot respectively with two arm components rotate ground and connect, and the arm wire drawing is wound pivot and one of them arm components fixed connection. The utility model discloses embodiment's robotic arm can make the arm components who is connected with the arm wire drawing rotate through the wire drawing of pulling arm, and under this circumstances, the drive arrangement that spurs the arm wire drawing may not be limited to the setting in two arm components's rotation junction, but the setting is outside robotic arm to robotic arm's structure is simplified in the dead weight that alleviates robotic arm. The utility model discloses a robot includes above -mentioned robotic arm.

Description

Mechanical arm and robot

Technical field

This utility model relates to robot field, is specifically related to a kind of mechanical arm and robot.

Background technology

Existing machinery arm includes two arm being rotationally connected and for driving two arm driving means in relative rotation, driving means is generally positioned at the joint that two arm are rotationally connected, cause mechanical arm deadweight excessive, and articulation structure is complicated.

Utility model content

One of technical problem that this utility model is intended to solve in correlation technique the most to a certain extent.To this end, the utility model proposes a kind of mechanical arm and robot.

The mechanical arm of this utility model embodiment, including:

Two arm；And

Trunnion mount, described trunnion mount is connected with said two arm respectively rotationally by rotating shaft；

Fix the arm wire drawing being connected with arm described at least one of which around described rotating shaft.

The arm that the mechanical arm of this utility model embodiment can be connected with arm wire drawing by pulling arm wire drawing to make rotates, in the case, what the driving means pulling arm wire drawing can be not limited to be arranged on two arm is rotationally connected place, and be provided in outside mechanical arm, thus alleviate the deadweight of mechanical arm, simplify the structure of mechanical arm.

In some embodiments, described mechanical arm also includes trunnion mount wire drawing, and described trunnion mount wire drawing is fixed around described rotating shaft and described trunnion mount and is connected

In some embodiments, described rotating shaft is perpendicular to the length direction of described arm.

In some embodiments, described rotating shaft includes the first rotating shaft and the second rotating shaft, described first rotating shaft is mutually perpendicular to described second rotating shaft, described arm wire drawing is around described first rotating shaft, described trunnion mount wire drawing is intersected in a bit with the axis of described second rotating shaft around described second rotating shaft, the axis of described first rotating shaft.

In some embodiments, one end of described arm is extended with rotating shaft support frame along the length direction of described arm, described rotating shaft support frame offers the first axis hole, and described trunnion mount offers the second axis hole, wears described first axis hole and described second axis hole described first axis of rotation.

In some embodiments, described rotating shaft support frame includes spaced two bracing frames, and described first axis hole is opened on support frame as described above, and described trunnion mount is between said two bracing frame.

In some embodiments, one end of described arm wire drawing is fixed on support frame as described above.

In some embodiments, support frame as described above includes the first bracing frame surface towards described trunnion mount, being provided with wire drawing disk on described first bracing frame surface, described arm wire drawing is wound on described wire drawing disk, and described wire drawing disk is coaxially disposed with described first rotating shaft.

In some embodiments, the size of described wire drawing disk is more than the size of described first rotating shaft.

In some embodiments, described first axis hole axially penetrates through described wire drawing disk along described wire drawing disk.

In some embodiments, support frame as described above includes and the second bracing frame surface of described first bracing frame surface opposite, support frame as described above offers and runs through described first bracing frame surface and the fixing hole on described second bracing frame surface, described arm wire drawing includes connecting end and pulling end, described connection end is formed with plush copper, described in pull end from described second side, bracing frame surface through after described fixing hole around described wire drawing disk pull until described plush copper be fastened on described fixing hole in thus described arm wire drawing is fixed on support frame as described above.

In some embodiments, described arm is the structure of hollow and both ends open, and described arm wire drawing wears described arm, described in pull end to stretch out described arm.

In some embodiments, one end of described arm is extended with rotating shaft support frame along the length direction of described arm, described rotating shaft support frame offers Triaxial hole, and described trunnion mount offers the 4th axis hole, wears described Triaxial hole and described 4th axis hole described second axis of rotation.

In some embodiments, described trunnion mount includes the first trunnion mount surface towards described arm, described first trunnion mount surface being provided with wire drawing disk, and described trunnion mount wire drawing is wound on described wire drawing disk, and described wire drawing disk is coaxially disposed with described second rotating shaft.

In some embodiments, described 4th axis hole axially penetrates through described wire drawing disk along described wire drawing disk.

In some embodiments, described trunnion mount includes and the second trunnion mount surface of described first trunnion mount surface opposite, described trunnion mount offers and runs through described first trunnion mount surface and the fixing hole on described second trunnion mount surface, described trunnion mount wire drawing includes connecting end and pulling end, described connection end is formed with plush copper, described in pull end from described second side, trunnion mount surface through after described fixing hole around described wire drawing disk pull until described plush copper be fastened on described fixing hole in thus described trunnion mount wire drawing is fixed on described trunnion mount.

In some embodiments, described rotating shaft support frame offers perforation, and described trunnion mount wire drawing wears described perforation and stretches out described arm.

In some embodiments, described mechanical arm includes the steering bearing being rotatably arranged in described trunnion mount, and described arm wire drawing pulls direction by the described arm wire drawing of change of described steering bearing.

In some embodiments, described trunnion mount is formed with groove, and described steering bearing is rotatablely arranged in described groove.

The robot of this utility model embodiment, including the mechanical arm of any of the above-described embodiment.

The robot of this utility model embodiment is owing to including above-mentioned mechanical arm, thus alleviates deadweight, and improves the load efficiency of robot simultaneously.

Additional aspect of the present utility model and advantage will part be given in the following description, and part will become apparent from the description below, or is recognized by practice of the present utility model.

Accompanying drawing explanation

Above-mentioned and/or additional aspect of the present utility model and advantage will be apparent from easy to understand, wherein from combining the accompanying drawings below description to embodiment:

Fig. 1 is the schematic perspective view of the mechanical arm of this utility model embodiment.

Fig. 2 is another schematic perspective view of the mechanical arm of this utility model embodiment.

Fig. 3 is the another schematic perspective view of the mechanical arm of this utility model embodiment.

Fig. 4 is the schematic perspective view of the last arm component of the mechanical arm of this utility model embodiment.

Fig. 5 is trunnion mount and the schematic perspective view of rotating shaft of the mechanical arm of this utility model embodiment.

Fig. 6 is the schematic perspective view of the arm wire drawing of the mechanical arm of this utility model embodiment.

The part isometric schematic diagram of the mechanical arm of Fig. 7 this utility model embodiment.

Fig. 8 is another part schematic perspective view of the mechanical arm of this utility model embodiment.

Fig. 9 is the another part isometric schematic diagram of the mechanical arm of present embodiment.

Figure 10 is the schematic perspective view of the trunnion mount wire drawing of the mechanical arm of present embodiment.

Figure 11 is the schematic perspective view of another arm of the mechanical arm of present embodiment.

Figure 12 is the another schematic perspective view of the mechanical arm of this utility model embodiment.

Detailed description of the invention

Below in conjunction with accompanying drawing, embodiment of the present utility model is described further.In accompanying drawing, same or similar label represents same or similar element from start to finish or has the element of same or like function.

It addition, the embodiment of the present utility model described below in conjunction with the accompanying drawings is exemplary, it is only used for explaining embodiment of the present utility model, and it is not intended that to restriction of the present utility model.

Referring to Fig. 1, the mechanical arm 100 of this utility model embodiment includes two arm 10, trunnion mount 20 and arm wire drawing 40.Trunnion mount 20 is connected with two arm 10 respectively rotationally by rotating shaft 30.Arm wire drawing 40 30 fixing with at least one of which arm 10 is connected around the shaft.

The arm 10 that the mechanical arm 100 of this utility model embodiment can be connected with arm wire drawing 40 by pulling arm wire drawing 40 to make rotates, in the case, what the driving means pulling arm wire drawing 40 can be not limited to be arranged on two arm 10 is rotationally connected place, and be provided in outside mechanical arm 100, thus alleviate the deadweight of mechanical arm 100, simplify the structure of mechanical arm 100.

In present embodiment, arm 10 is in hollow and the structure of both ends open.

So, the deadweight of arm 10 can be alleviated, thus alleviate the deadweight of mechanical arm 100 further.

Specifically, in present embodiment, arm 10 is circular tube shaped.

In present embodiment, trunnion mount 20 is basic in cube-shaped.In other embodiments, trunnion mount 20 can be in rectangular-shaped suitable shape such as grade, and therefore, be not restricted in present embodiment is cube-shaped.

Further, in present embodiment, trunnion mount 20 is the structure of both ends open.So, the deadweight of trunnion mount 20 can be alleviated, thus alleviate the deadweight of mechanical arm 100 further.

It will be appreciated, of course, that trunnion mount 20 is not limited to the structure of embodiments discussed above, and other suitable structures can be used according to actual needs in other embodiments.

In present embodiment, rotating shaft 30 is perpendicular to the length direction (double-head arrow direction as shown in Figure 1) of arm 10.

So, under the pulling force effect of arm wire drawing 40, arm 10 can swing around trunnion mount 20, thus realizes weave control.Such as, in the illustrated example shown in fig. 2, two arm 10 are respectively last arm component 10a and lower arms component 10b, last arm component 10a and lower arms component 10b and are all rotationally connected trunnion mount 20.Arm wire drawing 40 is fixing connects last arm component 10a.Under the pulling force effect of arm wire drawing 40, arm wire drawing 40 drives last arm component 10a to rotate relative to trunnion mount 20.

In present embodiment, mechanical arm 100 also includes trunnion mount wire drawing 50 (see Fig. 1).Trunnion mount wire drawing 50 30 fixing with trunnion mount 20 is connected around the shaft.

So, under the active force of trunnion mount wire drawing 50, trunnion mount 10 30 rotates around the shaft, thus drives trunnion mount 10 to rotate relative to arm 10, such as, in the example depicted in fig. 9, rotates relative to lower arms component 10b.

Specifically, in present embodiment, rotating shaft 30 includes the first rotating shaft 31 and the second rotating shaft 32.First rotating shaft 31 is mutually perpendicular to the second rotating shaft 32.Arm wire drawing 40 is around the first rotating shaft 31.Trunnion mount wire drawing 50 is around the second rotating shaft 32.The axis of the first rotating shaft 31 and the axis of the second rotating shaft 32 are intersected in a bit.

So, when last arm component 10a rotates around trunnion mount 20 under the active force of arm wire drawing 40, do not interfere with lower arms component 10b, meanwhile, when trunnion mount 20 rotates relative to lower arms component 10b under the active force of trunnion mount wire drawing 50, do not interfere with last arm component 10a.First rotating shaft 31 and the second rotating shaft 32 are mutually perpendicular to it is thus possible to constitute gimbal suspension, so that the arm 10 of mechanical arm 100 rotates relative to trunnion mount 20, and the angle between two arm 10 can rotate relative to trunnion mount 20 along with two arm 10 and change.

Such as, last arm component 10a is rotated around trunnion mount 20 by the first rotating shaft 31, and lower arms component 10b is rotated around trunnion mount 20 by the second rotating shaft 32, and then achieves the variable angle between two arm 10.

In fig. 2, last arm component 10a is in location A, and now, the axis of last arm component 10a and the axis of lower arms component 10b are substantially on same axis, and the angle between two arm 10 is close to 180 degree.When last arm component 10a rotates, can be fixed by lower arms component 10b, when last arm component 10a is by the active force of arm wire drawing 40, last arm component 10a is rotated around trunnion mount 20 by the first rotating shaft 31.Rotate result as it is shown on figure 3, under the active force of arm wire drawing 40, last arm component 10a carries out turning to B location around trunnion mount 20.Now, the axis of last arm component 10a is substantially vertical with the axis of lower arms component 10b, and the angle between two arm 10 is close to 90 degree.

Being appreciated that in other embodiments, under the active force of arm wire drawing 40, the angle between last arm component 10a and lower arms component 10b can rotate around trunnion mount 20 along with last arm component 10a and change.Accordingly, it would be desirable to explanation, this example is merely illustrative two arm 10 and can carry out rotating and the most unaffected rotating around trunnion mount 20, and cannot function as the restriction to this utility model embodiment.

In present embodiment, one end of arm 10 is extended with rotating shaft support frame 11 along the length direction of arm 10.

Specifically, referring to Fig. 4 and Fig. 5, in the example shown in the series of figures, one end of last arm component 10a is extended with rotating shaft support frame 11a along the length direction of last arm component 10a.Rotating shaft support frame 11a offers the first axis hole 111a.Trunnion mount 20 offers the second axis hole 21a.First rotating shaft 31 rotates and wears the first axis hole 111a and the second axis hole 21a.

Specifically, referring to Fig. 9 and Figure 11, in the example shown in the series of figures, one end of lower arms component 10b is extended with rotating shaft support frame 11b along the length direction of lower arms component 10b.Rotating shaft support frame 11b offers Triaxial hole 111b.Trunnion mount 20 offers the 4th axis hole 21b.Second rotating shaft 32 wears Triaxial hole 111b and the 4th axis hole 21b rotationally.

So, rotation connection structure is simple, convenient design and manufacture.

In present embodiment, the first rotating shaft 31 and the second rotating shaft 32 can be straight pins.

Certainly, in other embodiments, the rotation connection structure between arm 10 and trunnion mount 20 can be not limited to the structure of embodiments discussed above, can change depending on real needs.

In present embodiment, rotating shaft support frame 11 includes spaced two bracing frames 12.First axis hole 111 is opened on bracing frame 12.Trunnion mount 20 is between two bracing frames 12.

So, being formed with receiving space between two bracing frames 12 of rotating shaft support frame 11, trunnion mount 20 is contained between two bracing frames 12 in the receiving space formed, compact conformation.Meanwhile, described receiving space can arrange other elements or other design structures, therefore improves the design freedom of the joint of mechanical arm 100.

In the example depicted in fig. 4, the rotating shaft support frame 11a of last arm component 10a includes spaced two bracing frame 12a.First axis hole 111a is opened on bracing frame 12a.Trunnion mount 20 is between two bracing frame 12a.

In present embodiment, the quantity of arm wire drawing 40 is two, and wherein every arm wire drawing 40 can individually pull arm 10 to swing around trunnion mount 20.

Such as, in the example depicted in fig. 7, the quantity of the arm wire drawing 40 being connected with last arm component 10a is two, and wherein every arm wire drawing 40 can individually pull last arm component 10a to swing around trunnion mount 20.

In present embodiment, one end of arm wire drawing 40 is fixed on bracing frame 12.

So, under the active force of arm wire drawing 40, arm 10 is owing to being rotated around trunnion mount 20 by rotating shaft 30 by acting on the active force on bracing frame 12.The position driven by arm wire drawing 40 due to arm 10 is near rotating shaft 30, and stress more equalizes, it is simple to steadily arm 10 smooth rotation.

Such as, in the example depicted in fig. 7, one end of arm wire drawing 40 is fixed on bracing frame 12a.Under the active force of arm wire drawing 40, last arm component 10a is owing to being rotated around trunnion mount 20 by the first rotating shaft 31 by acting on the active force on bracing frame 12a.

In present embodiment, bracing frame 12 includes the first bracing frame surface 121 towards trunnion mount 20.The first wire drawing disk 122 it is provided with on first bracing frame surface 121.Arm wire drawing 40 is wound on the first wire drawing disk 122.

So, arm wire drawing 40 is arranged around the first wire drawing disk 122, facilitates the fixing of arm wire drawing 40.

Such as, in the example depicted in fig. 4, the bracing frame 12a of last arm component 10a includes the first bracing frame surface 121a towards trunnion mount 20.It is provided with the first wire drawing disk 122 on first bracing frame surface 121a.Arm wire drawing 40 is wound on the first wire drawing disk 122.

Specifically, the first wire drawing disk 122 on the first bracing frame surface 121a upwards inside arm 10a projection and formed.First wire drawing disk 122 is coaxially disposed with the first rotating shaft 31.

In present embodiment, the size of the first wire drawing disk 122 is more than the size of the first rotating shaft 31.

So, the first wire drawing disk 122 can increase arm wire drawing 40 and pulls the rotation arm of force of last arm component 10a to make arm wire drawing 40 pull last arm component 10a more laborsaving.It is thus possible to use the driving means of smaller power to pull wire drawing.

In present embodiment, the first axis hole 111 axially penetrates through the first wire drawing disk 122 along the first wire drawing disk 122.

So, it is ensured that the first wire drawing disk 122 is coaxially disposed with the first rotating shaft 31, and make arm wire drawing 40 around the first wire drawing disk 122 can effective constitution more labour-saving rotate the arm of force.

Such as, in the example depicted in fig. 4, the first axis hole 111a of last arm component 10a axially penetrates through the first wire drawing disk 122 along the first wire drawing disk 122.

In present embodiment, the size of the first wire drawing disk 122 on the first bracing frame surface 121a of last arm component 10a can be configured as the case may be.

In present embodiment, bracing frame 12 includes the second bracing frame surface 123 opposing with the first bracing frame surface 121.Bracing frame 12 offers and runs through the first bracing frame surface 121 and first fixing hole 124 on the second bracing frame surface 123.Arm wire drawing 40 includes connecting end 41 and pulling end 42 (see Fig. 6).Connect end 41 and be formed with plush copper 41a.Pull end 42 from the second side, bracing frame surface 123 through after the first fixing hole 124 around the first wire drawing disk 122 pull until plush copper 41a that connects end 41 be fastened on the first fixing hole 124 in thus arm wire drawing 40 is fixed on bracing frame 12.

So, arm wire drawing 40 pull end 42 from the second side, bracing frame surface 123 through pulling around the first wire drawing disk 122 after the first fixing hole 124 until plush copper 41a connecting end 41 is fastened on the first fixing hole 124 and can arm wire drawing 40 be fixed on bracing frame 12.

In present embodiment, the quantity of arm wire drawing 40 is two, and two arm wire drawings 40 are separately positioned on two the first bracing frame surfaces 121 of arm 10, and around on the contrary, so, arm 10 can be pulled to rotate along two rightabouts.

Can pull, in conjunction with every arm wire drawing 40, the structure that arm 10 rotates, the angle that two arm 10 can mutually rotate can be obtained.Such as, an arm wire drawing 40 can pull arm 10 to rotate 90 degree, and another root arm wire drawing 40 can pull arm 10 to rotate-90 degree, thus two arm wire drawings 40 can pull arm 10 to rotate rotation between-90 degree are to 90 degree.

Be appreciated that two arm wire drawings 40 around to the mutual slewing area that can expand arm 10 on the contrary.

Certainly, specifically arranging of arm wire drawing 40 can be not limited to embodiments discussed above, and can regard demand in other embodiments and arrange.

Specifically, referring to Fig. 7 and Fig. 8, in diagrammatically shown example, bracing frame 12a includes the second bracing frame surface 123a opposing with the first bracing frame surface 121a (see Fig. 4).Arm wire drawing 40 pull end 42 from the second 123a side, bracing frame surface through after the first fixing hole 124a around the first wire drawing disk 122 pull until plush copper 41a that connects end 41 be fastened on the first fixing hole 124a in thus arm wire drawing 40 is fixed on the bracing frame 12 of last arm component 10a.

So, under the active force of arm wire drawing 40, last arm component 10a is rotated around trunnion mount 20 by the first rotating shaft 31.

Such as, when initial position, last arm component 10a is in location of C；When last arm component 10a is by the active force of arm wire drawing 40, last arm component 10a turns to D position around trunnion mount 20 from location of C by the first rotating shaft 31.

In present embodiment, arm 10 is the structure of hollow and both ends open.Arm wire drawing 40 wears arm 10.End 42 is pulled to make a stretch of the arm component 10.

So, arm wire drawing 40, along the internal component 10 that makes a stretch of the arm of arm 10, is beneficial to protection arm wire drawing 40, and structure is attractive in appearance compact.

In present embodiment, the end 42 that pulls of arm wire drawing 40 can be stretched out by arm 10.So, arm 10 end 42 that pulls of the arm wire drawing 40 stretched out can directly be connected with driving means.

In present embodiment, mechanical arm 100 includes the steering bearing 60 (see Fig. 8) being rotatably arranged in trunnion mount 20.Arm wire drawing 40 pulls direction by what steering bearing 60 changed arm wire drawing 40.

So, it is possible to be configured arm wire drawing 40 as the case may be pulls direction, it is simple to the driving of mechanical arm 100, and improve the stability that mechanical arm 100 runs, make compact appearance attractive in appearance simultaneously.

Such as, in the illustrated example shown in fig. 2, fix the arm wire drawing 40 that is connected with last arm component 10a and pull direction by what steering bearing 60 changed arm wire drawing 40.

In present embodiment, trunnion mount 20 is formed with groove 25 (see Fig. 5).Steering bearing 60 is rotatablely arranged in groove 25.

So, the more compact structure of mechanical arm 100 and more stable can be made.

In present embodiment, the structure of trunnion mount wire drawing 50 is essentially identical with the structure of arm wire drawing 40.Trunnion mount wire drawing 50 and arm wire drawing 40 can be flexible stainless steel silk or the satisfactory wire drawing of intensity of other materials.

In present embodiment, trunnion mount 20 is driven by trunnion mount wire drawing 50.Trunnion mount 20 is rotatably coupled with arm 10 around the second rotating shaft 32 by trunnion mount wire drawing 50.Such as, trunnion mount 20 is rotatably coupled with lower arms component 10b around the second rotating shaft 32 by trunnion mount wire drawing 50.

In present embodiment, trunnion mount 20 includes the first trunnion mount surface 22 towards arm 10.The second wire drawing disk 122b (see Fig. 5) it is provided with on first trunnion mount surface 22.Trunnion mount wire drawing 50 is wound on the second wire drawing disk 122b.

So, trunnion mount wire drawing 50 is arranged around the second wire drawing disk 122b, facilitates the fixing of trunnion mount wire drawing 50.

In present embodiment, the second wire drawing disk 122b on the first trunnion mount surface 22 outside trunnion mount 20 projection and formed.Second wire drawing disk 122b and the second rotating shaft 32 are coaxially disposed.

So, trunnion mount wire drawing 50 is i.e. to arrange around the second rotating shaft 32 around the second wire drawing disk 122b, is beneficial to drive.

In present embodiment, the size of the second wire drawing disk 122b is more than the size of the second rotating shaft 32.

So, the second wire drawing disk 122b can increase trunnion mount wire drawing 50 and pulls the rotation arm of force of trunnion mount 20 to make trunnion mount wire drawing 50 pull trunnion mount 20 more laborsaving.It is thus possible to use the driving means of smaller power to pull trunnion mount wire drawing 50.Such as, in the example depicted in fig. 9, the second wire drawing disk 122b can increase trunnion mount wire drawing 50 and pulls the rotation arm of force of trunnion mount 20 more laborsaving when making trunnion mount wire drawing 50 pull trunnion mount 20.

In present embodiment, trunnion mount 20 includes the second trunnion mount surface 23 (see Fig. 9) opposing with the first trunnion mount surface 22.Trunnion mount 20 offers the second fixing hole 24 (see Fig. 9) running through the first trunnion mount surface 22 and the second trunnion mount surface 23.Trunnion mount wire drawing 50 includes connecting end 51 and pulling end 52 (see Figure 10).Connect end 51 and be formed with plush copper 51a.Pull end 52 from the second side, trunnion mount surface 23 of trunnion mount 20 through after the second fixing hole 24 around the second wire drawing disk 122b pull until plush copper 51a that connects end 51 be fastened on the second fixing hole 24 in thus trunnion mount wire drawing 50 is fixed on trunnion mount 20.

So, trunnion mount wire drawing 50 pull end 52 from the second side, trunnion mount surface 23 through pulling around the second wire drawing disk 122b after the second fixing hole 24 until plush copper 51a connecting end 51 is fastened on the second fixing hole 24 and can trunnion mount wire drawing 50 be fixed on trunnion mount 20.

In present embodiment, rotating shaft support frame 11b offers perforation 13 (see Figure 11).Trunnion mount wire drawing 50 wears perforation 13 and stretches out lower arms component 10b.Second rotating shaft 32 wears rotating shaft support frame 11b rotationally.

So, lower arms component 10b is connected by the second rotating shaft 32 rotationally with trunnion mount 20, and trunnion mount wire drawing 50 stretches out lower arms component 10b inside lower arms component 10b, is beneficial to protection trunnion mount wire drawing 50, and structure is attractive in appearance compact.

In present embodiment, the 4th axis hole 21b axially penetrates through the second wire drawing disk 122b along the second wire drawing disk 122b.

So, it is ensured that the second wire drawing disk 122b and the second rotating shaft 32 are coaxially disposed, and make trunnion mount wire drawing 50 around the second wire drawing disk 122b can effective constitution more labour-saving rotate the arm of force.

Referring to Figure 12, the mechanical arm 200 of present embodiment includes mechanical arm 100.In diagrammatically shown example, mechanical arm 200 can be gimbal suspension six axis robot arm.

From mechanical arm 200 end to front end, it is sequentially formed with cradle head 201, swinging joint 202, swinging joint 203, cradle head 204, universal swing joint 205.Further, all of joint all uses wire drawing 205 to drive, and wire drawing 205 is identical with arm wire drawing 40 and trunnion mount wire drawing 50.

The mechanical arm 200 of present embodiment is owing to including mechanical arm 100, therefore, pulls the driving means 210 of wire drawing 205 can be arranged on outside mechanical arm 200, thus alleviates the deadweight of mechanical arm 200, simplifies the structure of mechanical arm 200.

In present embodiment, outside wire drawing 206, it is cased with bourdon tube 220.Wire drawing 206 one end is fixed on mechanical arm 200, and its other end is connected through the interior cavity formed of mechanical arm 200 with driving means 210.

So, simple in construction, and alleviate the deadweight of mechanical arm 200, improve load efficiency.

The robot of this utility model embodiment, described robot includes above-mentioned mechanical arm 100.

The robot of this utility model embodiment is owing to including above-mentioned mechanical arm 100, thus alleviates deadweight, and improves the load efficiency of robot simultaneously.

In description of the present utility model, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", " length ", " width ", " thickness ", on " ", D score, " front ", " afterwards ", " left ", " right ", " vertically ", " level ", " push up ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axially ", " radially ", orientation or the position relationship of the instruction such as " circumferential " are based on orientation shown in the drawings or position relationship, it is for only for ease of description this utility model and simplifies description, rather than indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.

Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that two or more, unless otherwise expressly limited specifically.

In this utility model, unless otherwise clearly defined and limited, term " is installed ", " being connected ", " connection ", the term such as " fixing " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or integral；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art, above-mentioned term concrete meaning in this utility model can be understood as the case may be.

In this utility model, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second feature.

In the description of this specification, the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means that the specific features, structure, material or the feature that combine this embodiment or example description are contained at least one embodiment of the present utility model or example.In this manual, the schematic representation of above-mentioned term is necessarily directed to identical embodiment or example.And, the specific features of description, structure, material or feature can be to combine in one or more embodiments in office or example in an appropriate manner.Additionally, in the case of the most conflicting, the feature of the different embodiments described in this specification or example and different embodiment or example can be combined and combine by those skilled in the art.

Although above it has been shown and described that embodiment of the present utility model, it is understandable that, above-described embodiment is exemplary, it is not intended that to restriction of the present utility model, above-described embodiment can be changed in the range of this utility model, revises, replace and modification by those of ordinary skill in the art.

Claims (20)

1. a mechanical arm, it is characterised in that including:

Two arm；And

Trunnion mount, described trunnion mount is connected with said two arm respectively rotationally by rotating shaft；

Fix the arm wire drawing being connected with arm described at least one of which around described rotating shaft.

2. mechanical arm as claimed in claim 1, it is characterised in that described mechanical arm also includes trunnion mount wire drawing, described trunnion mount wire drawing is fixed around described rotating shaft and described trunnion mount and is connected.

3. mechanical arm as claimed in claim 1, it is characterised in that described rotating shaft is perpendicular to the length direction of described arm.

4. mechanical arm as claimed in claim 2, it is characterised in that described rotating shaft includes that the first rotating shaft and the second rotating shaft, described first rotating shaft are mutually perpendicular to described second rotating shaft, and described arm wire drawing is around described first rotating shaft, and described trunnion mount wire drawing is around described second rotating shaft；

The axis of described first rotating shaft is intersected in a bit with the axis of described second rotating shaft.

5. mechanical arm as claimed in claim 4, it is characterized in that, one end of described arm is extended with rotating shaft support frame along the length direction of described arm, described rotating shaft support frame offers the first axis hole, described trunnion mount offers the second axis hole, wears described first axis hole and described second axis hole described first axis of rotation.

6. mechanical arm as claimed in claim 5, it is characterised in that described rotating shaft support frame includes spaced two bracing frames, and described first axis hole is opened on support frame as described above, and described trunnion mount is between said two bracing frame.

7. mechanical arm as claimed in claim 6, it is characterised in that one end of described arm wire drawing is fixed on support frame as described above.

8. mechanical arm as claimed in claim 6, it is characterized in that, support frame as described above includes the first bracing frame surface towards described trunnion mount, it is provided with wire drawing disk on described first bracing frame surface, described arm wire drawing is wound on described wire drawing disk, and described wire drawing disk is coaxially disposed with described first rotating shaft.

9. mechanical arm as claimed in claim 8, it is characterised in that the size of described wire drawing disk is more than the size of described first rotating shaft.

10. mechanical arm as claimed in claim 8, it is characterised in that described first axis hole axially penetrates through described wire drawing disk along described wire drawing disk.

11. mechanical arms as claimed in claim 8, it is characterized in that, support frame as described above includes and the second bracing frame surface of described first bracing frame surface opposite, and support frame as described above offers and runs through described first bracing frame surface and the fixing hole on described second bracing frame surface；

Described arm wire drawing includes connecting end and pulling end, described connection end is formed with plush copper, described in pull end from described second side, bracing frame surface through after described fixing hole around described wire drawing disk pull until described plush copper be fastened on described fixing hole in thus described arm wire drawing is fixed on support frame as described above.

12. mechanical arms as claimed in claim 11, it is characterised in that described arm is the structure of hollow and both ends open, and described arm wire drawing wears described arm, described in pull end to stretch out described arm.

13. mechanical arms as claimed in claim 4, it is characterized in that, one end of described arm is extended with rotating shaft support frame along the length direction of described arm, described rotating shaft support frame offers Triaxial hole, described trunnion mount offers the 4th axis hole, wears described Triaxial hole and described 4th axis hole described second axis of rotation.

14. mechanical arms as claimed in claim 13, it is characterized in that, described trunnion mount includes the first trunnion mount surface towards described arm, it is provided with wire drawing disk on described first trunnion mount surface, described trunnion mount wire drawing is wound on described wire drawing disk, and described wire drawing disk is coaxially disposed with described second rotating shaft.

15. mechanical arms as claimed in claim 13, it is characterised in that described 4th axis hole axially penetrates through described wire drawing disk along described wire drawing disk.

16. mechanical arms as claimed in claim 14, it is characterised in that described trunnion mount includes and the second trunnion mount surface of described first trunnion mount surface opposite, described trunnion mount offers and runs through described first trunnion mount surface and the fixing hole on described second trunnion mount surface；

Described trunnion mount wire drawing includes connecting end and pulling end, described connection end is formed with plush copper, described in pull end from described second side, trunnion mount surface through after described fixing hole around described wire drawing disk pull until described plush copper be fastened on described fixing hole in thus described trunnion mount wire drawing is fixed on described trunnion mount.

17. mechanical arms as claimed in claim 13, it is characterised in that described rotating shaft support frame offers perforation, described trunnion mount wire drawing wears described perforation and stretches out described arm.

18. mechanical arms as claimed in claim 1, it is characterised in that described mechanical arm includes the steering bearing being rotatably arranged in described trunnion mount, described arm wire drawing pulls direction by the described arm wire drawing of change of described steering bearing.

19. mechanical arms as claimed in claim 18, it is characterised in that described trunnion mount is formed with groove, and described steering bearing is rotatablely arranged in described groove.

20. 1 kinds of robots, it is characterised in that include the mechanical arm as described in claim 1-19 any one.