CN205521489U - Robotic arm and robot - Google Patents

Abstract

The utility model discloses a robotic arm and robot, robotic arm include two arm components that connect through the pivot rotation and wind pivot and one of them arm components fixed connection's wire drawing, the pivot is on a parallel with arm components's length direction. The utility model discloses a robotic arm can rotate for another arm components through the feasible arm components who is connected with the wire drawing of pulling wire drawing, under the conditions, the drive arrangement of pulling wire drawing may not be limited to the rotation junction of setting at two arm components, but set up outside robotic arm, thereby alleviate robotic arm's dead weight, simplify robotic arm's structure, and simultaneously, under the tensile force of wire drawing, arm components can rotate around another one arm components, thereby realize rotation control. The robot includes foretell 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

The driving means of existing machinery arm is generally positioned at the joint that two arm are rotationally connected, and causes 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 connected by axis of rotation；And

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

Described shaft parallel is in the length direction of described arm.

The arm that mechanical arm of the present utility model can be connected with wire drawing by pulling wire drawing to make rotates relative to another arm, in the case, what the driving means pulling 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.Meanwhile, under the pulling force effect of wire drawing, arm can rotate around another one arm, thus realizes rotating control.

In some embodiments, described rotating shaft is fixed therein one end of a described arm, described rotating shaft includes first surface and the second surface opposing with described first surface, described rotating shaft offers and runs through described first surface and the perforation of described second surface, described wire drawing includes connecting end and pulling end, described connection end is formed with plush copper, described pull end from the described second surface side of described rotating shaft through after described perforation around described first surface pull until the described plush copper of described connection end be fastened on described perforation in thus described wire drawing is fixed on described rotating shaft.

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

In some embodiments, described rotating shaft is bearing, and two arm joint components of said two arm are connected with described bearing internal external circle respectively, and said two arm joint component is produced relative rotation by described bearing.

In some embodiments, described mechanical arm includes steering bearing, and described wire drawing pulls direction by the described wire drawing of change of described steering bearing.

In some embodiments, described arm offers accepting hole, and described steering bearing is arranged in described accepting hole.

In some embodiments, described rotating shaft is housed in arm described in another one.

In some embodiments, described rotating shaft offers winding slot, and described wire drawing is housed in winding slot.

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 the schematic perspective view at another visual angle of mechanical arm of this utility model embodiment.

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

Fig. 4 is the part isometric schematic diagram of the mechanical arm of this utility model embodiment.

Fig. 5 is another part isometric schematic diagram of the mechanical arm of this utility model embodiment.

Fig. 6 is I enlarged schematic partial view of Fig. 5.

Fig. 7 is the schematic perspective view of the wire drawing of the mechanical arm of this utility model embodiment.

The schematic perspective view at another visual angle of the mechanical arm of Fig. 8 this utility model embodiment.

Fig. 9 is the schematic perspective view of the mechanical arm of another embodiment of this utility model.

Figure 10 is arm and wire drawing and the connection schematic perspective view of rotating shaft of the mechanical arm of Fig. 9.

Figure 11 is the schematic perspective view of the wire drawing of the mechanical arm of Fig. 9.

Figure 12 is the arm connection diagram with wire drawing of the mechanical arm of Fig. 9.

Figure 13 is the schematic perspective view of the mechanical arm of this utility model embodiment.

Figure 14 is 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. 1-3, the mechanical arm 100 of this utility model embodiment includes two arm 20 being rotationally connected by rotating shaft 10 and 10 wire drawing 30 that be connected fixing with at least one of which arm 20 around the shaft.

The arm 20 that the mechanical arm 100 of this utility model embodiment can be connected with wire drawing 30 by pulling wire drawing 30 to make rotates relative to another arm 20, in the case, the driving means pulling wire drawing 30 can be not limited to be arranged on the joint that two arm 20 are rotationally connected, but other suitable positions can be arranged on, even it is arranged on outside mechanical arm 100, thus alleviate the deadweight of mechanical arm 100, simplify the articulation structure of mechanical arm 100 simultaneously.

In some embodiments, rotating shaft 10 is basically perpendicular to the length direction of arm 20.

So, under the pulling force effect of wire drawing 30, arm 20 can swing around another one arm 20, thus realizes weave control.

Seeing also Fig. 4 and Fig. 5, in some embodiments, arm 20 is the tubular structure of hollow form and both ends open, and the most in some examples, arm 20 is circular tube shaped.

So, the deadweight of arm 20 can be alleviated, thus alleviate the deadweight of mechanical arm 100 further.

It will be appreciated, of course, that arm 20 is not limited to embodiments discussed above, and other suitable structures can be used as required in other embodiments.

In some embodiments, one end of arm 100 is extended with arm connector 21 along the length direction of arm 20.Arm connector 21 is formed with axis hole 22.In rotating shaft 10 rotates the axis hole 22 wearing two arm 20 thus two arm 20 are rotationally connected.

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

In some embodiments, arm connector 21 can be interval and two rotating shaft support frames 210 be arrangeding in parallel, and each rotating shaft support frame 210 is formed with axis hole 22, and the axis hole 22 on two rotating shaft support frames 210 of same arm connector 21 aligns.

Such as, in some embodiments, arm 20 can include lower arms component 20 (please join Fig. 4) and last arm component 20 (please join Fig. 5).

Interval between two rotating shaft support frames 210 of lower arms component 20 can be bigger than the interval of the two of last arm component 20 rotating shaft support frames 210, so, two rotating shaft support frames 210 of lower arms component 20 constitute pin joint seat, and the two of last arm component 20 rotating shaft support frames 210 can be arranged between 20 two rotating shaft support frames 210 of lower arms component (i.e. embedding in pin joint seat).Then being rotationally connected of two arm 20 is realized in being located in axis hole 22 by rotating shaft 10.

In some embodiments, rotating shaft 10 can be straight pin, and it is fixing to wear axis hole 22.

So, between two rotating shaft support frames 210 of arm connector 21, it is formed with receiving space, other elements or other design structures can be set, therefore improve the design freedom of the joint of mechanical arm 100.

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

Seeing also Fig. 7, wire drawing 30 can be flexible stainless steel silk or the satisfactory wire drawing of intensity of other materials.Wire drawing 20 can include connecting end 31 and pulling end 32.

In some embodiments, the rotating shaft support frame 210 of the arm connector 21 of last arm component 20 includes first surface 211 and the second surface 212 opposing with first surface 211.Arm connector 21 includes extending laterally along first surface 211 being formed with wire drawing disk 213.Wire drawing disk 213 axially the most substantially parallel with rotating shaft 10 or be coaxially disposed, the size of wire drawing disk 213 is more than the size of rotating shaft 10, and wire drawing 30 is fixed with rotating shaft support frame 210 after wire drawing disk 213 and is connected.

Being appreciated that in embodiment discussed above, wire drawing 30 is i.e. 10 to arrange around the shaft around wire drawing disk 213.So can increase wire drawing 30 pulls the rotation arm of force of arm 20 to make wire drawing 30 pull arm 20 more laborsaving.It is thus possible to use the driving means of smaller power to pull wire drawing.

Rotating shaft support frame 210 is formed through the first connecting hole 214 (see Fig. 5) of first surface 211 and second surface 212 outside wire drawing disk 213.The size of the first connecting hole 214 is more than the transversal dimensions of wire drawing, to allow wire drawing 30 to wear.The end 31 that connects of wire drawing 30 could be formed with the size plush copper 311 more than the first connecting hole 214.

So, wire drawing 30 pull end 32 from second surface 212 side through pulling around wire drawing disk 213 after the first connecting hole 214 until the plush copper 311 connecting end 31 (see Fig. 8) is fastened on the first connecting hole 214 and can wire drawing 30 be fixed on rotating shaft support frame 210.

Be appreciated that by according to wire drawing 30 around arranging the wire drawing 30 radian around wire drawing disk 213 on the position arranging the first connecting hole 214, for example, 180 degree.Such that it is able to control the angle that wire drawing 30 pulls arm 20 to rotate.

In some embodiments, wire drawing 30 includes two, and two wire drawings 20 are respectively provided with on two rotating shaft support frames 210 of arm 20, and around on the contrary, so, arm can be pulled to rotate along two rightabouts.Can pull, in conjunction with every wire drawing 30, the structure that arm 20 rotates, the angle that two arm 20 can mutually rotate can be obtained.Such as, a wire drawing 30 can pull arm 20 to rotate 180 degree, and another root wire drawing 30 can pull arm 20 to rotate-180 degree, thus wire drawing 30 can pull arm 20 to rotate-180 degree to 180 degree.

Be appreciated that two silks 30 around to the mutual slewing area that can expand arm on the contrary.

Certainly, specifically arranging of wire drawing 30 can be not limited to embodiments discussed above, and can regard demand in other embodiments and arrange.

Seeing also Fig. 8, in some embodiments, mechanical arm 100 includes balancing spring 40.Two arm 20 are connected by balancing spring 40.

So, by the deadweight of the support force balancing machine arm 100 that balancing spring 40 provides, make the startup of mechanical arm 100 and run more stable, it is possible to increasing the load capacity of mechanical arm 100, improving drive efficiency.

In some embodiments, balancing spring 40 includes two, and fixing with two rotating shaft support frames 210 is respectively connected.Balancing spring 40 two ends are connected with two arm 20 respectively, when arm 20 relatively rotates, need to overcome the pulling force of balancing spring 40.When two arm 20 relatively rotate to be in vertical position, the center of gravity of the arm 20 being in upper end is substantially at rotating shaft 10 center, and the counter balance torque that now balancing spring 40 provides is minimum；When the arm 20 of upper end relatively rotates to be horizontal, the center of gravity of the arm 20 of upper end is farthest from rotating shaft 10 center, and the counter balance torque that now balancing spring 40 provides is close to maximum.So, balancing spring 40 with the deadweight of balancing machine arm 100, thus can improve the driving means service efficiency driving mechanical arm 100.

In some embodiments, balancing spring 40 includes coil spring, and includes carbine 41.It is provided with connecting shaft 215 on the second surface 212 of arm connector 21.Balancing spring 40 is arranged in connecting shaft 215 by carbine 41.

So, balancing spring 40 is connected with connecting shaft 215 by carbine 41 and is arranged in the described receiving space of arm connector 21, thus realizes balancing the effect of arm 20 deadweight.

In some embodiments, connecting shaft 215 can be straight pin.Screwed hole is offered on the second surface 212 of arm connector 21.Described straight pin and described screwed hole threaded engagement and be arranged on second surface 212.

In other embodiments, connecting shaft 215 can be arranged on second surface 212 by suitably modes such as welding, accordingly, it would be desirable to explanation, is not restricted to straight pin discussed above.

Certainly, in other embodiments, balancing spring 40 can also be torsion spring.Accordingly, it would be desirable to explanation, balancing spring 40 is not limited in coil spring discussed above.

Referring to Fig. 9 and Figure 10, this utility model embodiment provides a kind of mechanical arm 100a, mechanical arm 100a to include two the arm 20a being rotationally connected by rotating shaft 10a.In the orientation shown in Fig. 9, the wire drawing 30a of mechanical arm 100a fixes link position at upper arm 20a.

In the present embodiment, rotating shaft 10a is parallel to the length direction (double-head arrow direction as shown in Figure 9) of arm 20a.

So, under the pulling force effect of wire drawing 30a, arm 20a can rotate around another one arm 20a, thus realizes rotating control.

In some embodiments, two arm 20a angles in relative rotation include that-180 degree are to 180 degree.

Can arrange relative angle according to demand, in some embodiments, arm 20a has bigger slewing area, goes for more occasion.

In some embodiments.Rotating shaft 10a two ends are fixing with one end of two arm 20a respectively to be connected and at least one end is rotationally connected with at least one arm 20a.

So, mechanical arm 100a forms rotational structure, it is possible to be configured as the case may be.

Seeing also Figure 10, Figure 11 and Figure 12, in some embodiments, rotating shaft 10a is rotationally connected with one of them arm 20a.Rotating shaft 10a includes first surface 11a and the second surface 12a opposing with first surface 11a.Rotating shaft 10a offers the second connecting hole 13a running through first surface 11a and second surface 12a.Wire drawing 30a includes connecting end 31a and pulling end 32a.Connect end 31a and be formed with plush copper 311a.Pull end 32a from the second surface 12a side of rotating shaft 10a through after the second connecting hole 13a around first surface 11a pull until described plush copper 311a that connects end 31a be fastened on the second connecting hole 13a in thus wire drawing 30a is fixed on rotating shaft 10a.

So, two wire drawing 30a are directly set around at the cradle head that arm 20a is formed, thus realize rotating control by wire drawing 30a.

In some embodiments, arm 20a is the structure of hollow and both ends open.Wire drawing 30a wears arm 20a.End 32a is pulled to make a stretch of the arm component 20a.

So, wire drawing 30a, along the component 20a that makes a stretch of the arm inside arm 20a, is beneficial to protection wire drawing 30a, and structure is attractive in appearance compact.Further, the pulling of component 20a that make a stretch of the arm holds 32a directly to connect with the driving means being arranged at outside mechanical arm 100a.

In some embodiments, rotating shaft 10a is bearing.Two arm joint component 21a of two arm 20a are connected with described bearing internal external circle respectively.Two arm joints component 21a (Figure 12) are produced relative rotation by described bearing.

So, the attachment structure of arm 20a is simple, and two arm joint component 21a of mechanical arm 100a are less with the frictional force of the junction of bearing.

Specifically, described bearing in some embodiments can be crossed roller bearing.

So, described bearing can bear radial force and axial force simultaneously.

In present embodiment, wire drawing 30a includes two.Wire drawing 30a is identical with wire drawing 30.

Two wire drawing 30a can drive an arm 20a to rotate along positive and negative contrary direction relative to another arm 20a the most respectively.

In present embodiment, mechanical arm 100a includes steering bearing 40a (Figure 10).Wire drawing 30a pulls direction by steering bearing 40a change wire drawing 30a's.So, and can be configured wire drawing 30a as the case may be pull direction, wire drawing 30a is basically perpendicular to the length direction of arm 20a and becomes being basically parallel to the length direction of arm 20a by steering bearing 40a, it is easy to the driving of mechanical arm 100a, wire drawing 30a is facilitated to pass through in the middle of arm 20a, improve the stability that mechanical arm 100a runs, it is to avoid wire drawing 30a is exposed outside arm 20a, makes compact appearance attractive in appearance simultaneously.

In present embodiment, steering bearing 40a is arranged in arm 20a.So, attachment structure simple and stable.

Specifically, in present embodiment, arm 20a offers accepting hole 22a.Steering bearing 40a is arranged in accepting hole 22a.Therefore, the structure that so can make mechanical arm 100a is compacter.

In present embodiment, rotating shaft 10a is housed in arm 20a.

Specifically, in the example depicted in fig. 12, mechanical arm 100a includes last arm component 20aa and lower arms component 20ab.Rotating shaft 10a is contained in lower arms component 20ab.So, simple in construction, save space.

In present embodiment, rotating shaft 10a offers winding slot 14a.Wire drawing 30a is housed in winding slot 14a.

So, wire drawing 30a can be stably fixed to rotating shaft 10a.

Specifically, in the example depicted in fig. 12, wire drawing 30a wears the second connecting hole 13a and is housed in winding slot 14a, and the end 32a that pulls of wire drawing 30a stretches out through the sidewall of lower arms component 20ab.Therefore, the setting of winding slot 14a can make the motion of wire drawing 30a more smooth and easy, improves the operation stability of mechanical arm 100a.

Referring to Figure 13, the mechanical arm 1000 of present embodiment is combined with mechanical arm 100a by mechanical arm 100.From mechanical arm 1000 end to front end, it is sequentially formed with cradle head 1001, swinging joint 1002, swinging joint 1003, cradle head 1004, swinging joint 1005 and cradle head 1006.In diagrammatically shown example, mechanical arm 1000 can be general six axis robot arm.

The mechanical arm 1000 of present embodiment is owing to being combined with mechanical arm 100a by mechanical arm 100, therefore, the driving means 1100 pulling wire drawing 30b can be arranged on outside mechanical arm 1000, thus alleviates the deadweight of mechanical arm 1000, simplifies the structure of mechanical arm 1000.

In some embodiments, mechanical arm 1000 uses wire drawing 30b to drive.Bourdon tube 1200 it is cased with outside wire drawing 30b.Wire drawing 30b is fixed on one end on mechanical arm 1000, and its other end is connected through the cavity of mechanical arm 1000 formation with driving means 1100.

So, simple in construction, and alleviate the deadweight of mechanical arm 1000, improve load efficiency.

Referring to Figure 14, the mechanical arm 2000 of present embodiment is combined with mechanical arm 100a by mechanical arm 100.From mechanical arm 2000 end to front end, it is sequentially formed with cradle head 2001, swinging joint 2002, swinging joint 2003, swinging joint 2004, intersection swinging joint 2005 and cradle head 2006.In diagrammatically shown example, mechanical arm 2000 can be to intersect to swing six axis robot arm.

The mechanical arm 2000 of present embodiment is owing to being combined with mechanical arm 100a by mechanical arm 100, therefore, the driving means 2100 pulling wire drawing 30c can be arranged on outside mechanical arm 2000, thus alleviates the deadweight of mechanical arm 2000, simplifies the structure of mechanical arm 2000.

In some embodiments, mechanical arm 2000 uses wire drawing 30c to drive.Bourdon tube 1200 it is cased with outside wire drawing 30c.Wire drawing 30c is fixed on one end on mechanical arm 2000, and its other end is connected through the cavity of mechanical arm 2000 formation with driving means 2100.

So, simple in construction, and alleviate the deadweight of mechanical arm 2000, improve load efficiency.

The robot of this utility model embodiment is owing to including mechanical arm 100 or mechanical arm 100 or mechanical arm 100a, 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 (9)

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

Two arm connected by axis of rotation；And

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

Described shaft parallel is in the length direction of described arm.

2. mechanical arm as claimed in claim 1, it is characterized in that, described rotating shaft is fixed therein one end of a described arm, described rotating shaft includes first surface and the second surface opposing with described first surface, and described rotating shaft offers and runs through described first surface and the perforation of described second surface；

Described wire drawing includes connecting end and pulling end, described connection end is formed with plush copper, described in pull end from the described second surface side of described rotating shaft through after described perforation around described first surface pull until the described plush copper of described connection end be fastened on described perforation in thus described wire drawing is fixed on described rotating shaft.

3. mechanical arm as claimed in claim 2, it is characterised in that described arm is the structure of hollow and both ends open, and described wire drawing wears described arm, described in pull end to stretch out described arm.

4. mechanical arm as claimed in claim 1, it is characterised in that described rotating shaft is bearing, two arm joint components of said two arm Internal and external cycle with described bearing respectively is connected, and said two arm joint component is produced relative rotation by described bearing.

5. mechanical arm as claimed in claim 1, it is characterised in that described mechanical arm includes steering bearing, described wire drawing pulls direction by the described wire drawing of change of described steering bearing.

6. mechanical arm as claimed in claim 5, it is characterised in that described arm offers accepting hole, and described steering bearing is arranged in described accepting hole.

7. mechanical arm as claimed in claim 2, it is characterised in that described rotating shaft is housed in arm described in another one.

8. mechanical arm as claimed in claim 1, it is characterised in that described rotating shaft offers winding slot, and described wire drawing is housed in winding slot.

9. a robot, it is characterised in that include the mechanical arm as described in claim 1-8 any one.