CN207495540U - Robot arm component and with its robot - Google Patents
Robot arm component and with its robot Download PDFInfo
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- CN207495540U CN207495540U CN201721569182.XU CN201721569182U CN207495540U CN 207495540 U CN207495540 U CN 207495540U CN 201721569182 U CN201721569182 U CN 201721569182U CN 207495540 U CN207495540 U CN 207495540U
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Abstract
The utility model provides a kind of robot arm component and has its robot, including：Pedestal；First arm, the first end of the first arm are rotatably arranged on pedestal；Second arm, the first end of the second arm are rotatably arranged in the second end of the first arm；Robot arm component further includes：First limiting section, is arranged on pedestal；Second limiting section is arranged on the first arm, and the second limiting section includes multiple limited blocks；Third limiting section, it is arranged on the second arm, wherein, the rotational angle of part limited block cooperation the first arm of limitation in first limiting section and the second limiting section, the cooperation of remaining limited block in addition to the limited block of part the second arm of limitation in third limiting section and the second limiting section is with respect to the rotational angle of the first arm.By technical solution provided by the utility model, solve the problems, such as that selective compliance assembly robot arm of the prior art is easily damaged because being not provided with protection mechanism.
Description
Technical field
The utility model is related to robotic technology field, in particular to a kind of robot arm component and with it
Robot.
Background technology
At present, selective compliance assembly robot arm have flexible movements, compact-sized, space requirement is small, repetitive positioning accuracy is high
The features such as, selective compliance assembly robot arm can accurately and quickly reach a bit of space so that selective compliance assembly robot arm is filling
With being widely used in operation.
Selective compliance assembly robot arm of the prior art is largely not provided with protection mechanism, be easy to cause damage at work
It is bad, so as to shorten the service life of selective compliance assembly robot arm, production maintenance cost is improved, is unfavorable for plane articulation type machine
The promotion and application of device people.
Utility model content
The utility model provides a kind of robot arm component and with its robot, of the prior art flat to solve
Face revolute robot is because being not provided with the problem of protection mechanism is easily damaged.
One side according to the present utility model provides a kind of robot arm component, including：Pedestal；First arm, the
The first end of one arm is rotatably arranged on pedestal；Second arm, the first end of the second arm are rotatably arranged in the first arm
In second end；Robot arm component further includes：First limiting section, is arranged on pedestal；Second limiting section is arranged on the first arm
On, the second limiting section includes multiple limited blocks；Third limiting section is arranged on the second arm, wherein, the first limiting section and the second limit
The rotational angle of part limited block cooperation the first arm of limitation in the portion of position, limiting except part in third limiting section and the second limiting section
Remaining limited block cooperation except the block of position limits rotational angle of second arm with respect to the first arm.
Further, the first limiting section is arranged on pedestal, and adjacent with the first end of the first arm, the first limiting section and
The shape of the adjacent side of the first end of one arm is adapted with the shape of the end of the first end of the first arm.
Further, the part limited block in the second limiting section is arranged on the side of the close pedestal of the first arm.
Further, remaining limited block in the first limiting section and/or the second limiting section is made of metal.
Further, remaining limited block in the second limiting section be arranged on the first arm close to the second arm side, and with
The first end of second arm is adjacent.
Further, third limiting section is arranged on the side of the second end close to the first arm of the second arm.
Further, remaining limited block includes the first block, the first block side adjacent with the first end of the second arm
Shape is adapted with the shape of the end of the first end of the second arm.
Further, remaining limited block includes：Two the second blocks, two second gear block gaps are arranged on the first arm.
Further, the second limiting section and/or third limiting section are made of plastic.
Further, the shape of the side adjacent with the end of the first end of the first arm of the first limiting section is arc.
Further, the shape of the first block side adjacent with the end of the first end of the second arm is arc.
Another aspect according to the present utility model provides a kind of robot, including robot arm component, the robot
Arm component is the above-mentioned robot arm component provided.
Using the technical solution of the utility model, which includes：Pedestal, the first arm and the second arm.Its
In, the first end of the first arm is rotatably arranged on pedestal, and the first end of the second arm is rotatably arranged in the of the first arm
On two ends.The robot arm component further includes：First limiting section, the second limiting section and third limiting section, wherein the first limiting
Portion is arranged on pedestal, and the second limiting section is arranged on the first arm, and the second limiting section includes multiple limited blocks, third limiting section
It is arranged on the second arm.Using technical solution provided by the utility model, when robot arm component rotates, the first limiting section
With the rotational angle of part limited block cooperation the first arm of limitation in the second limiting section, in third limiting section and the second limiting section
The rotational angle of opposite first arm of remaining limited block cooperation the second arm of limitation in addition to the limited block of part.Pass through the first limiting
Coordination energy between portion, the second limiting section and third limiting section effectively limits the robot arm component in preset model
Enclose interior rotation, the preset range be robot motion safe range, so as to ensured robot during the motion not by
The interference with other objects is hit, smoothly to reach designated destination.It is solved by the technical solution of the prior art
Selective compliance assembly robot arm is because being not provided with the problem of protection mechanism is easily damaged.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
Novel illustrative embodiments and their description do not form the improper restriction to the utility model for explaining the utility model.
In the accompanying drawings：
Fig. 1 shows the structure diagram of robot arm component provided by the utility model；
Fig. 2 shows the side views of robot arm component provided by the utility model；
Fig. 3 shows the front view of robot arm component provided by the utility model；
Fig. 4 shows the vertical view of robot arm component provided by the utility model.
Wherein, above-mentioned attached drawing is marked including the following drawings：
10th, pedestal；20th, the first arm；30th, the second arm；40th, the first limiting section；50th, limited block；60th, third limiting section.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to this practicality
Novel and its application or any restrictions used.Based on the embodiment in the utility model, those of ordinary skill in the art are not having
All other embodiments obtained under the premise of creative work are made, shall fall within the protection scope of the present invention.
As shown in Figures 1 to 4, the utility model embodiment provides a kind of robot arm component, the robot arm group
Part includes：Pedestal 10, the first arm 20 and the second arm 30.Wherein, the first end of the first arm 20 is rotatably arranged on pedestal 10,
The first end of second arm 30 is rotatably arranged in the second end of the first arm 20.The robot arm component further includes：First
Limiting section 40, the second limiting section and third limiting section 60, wherein the first limiting section 40 is arranged on pedestal 10, the second limiting section is set
It puts on the first arm 20, and the second limiting section includes multiple limited blocks, third limiting section 60 is arranged on the second arm 30.First limit
The rotational angle of cooperation the first arm 20 of limitation of part limited block 50 in 40 and second limiting section of position portion, third limiting section 60 and the
Turn of second arm of the cooperation limitation of remaining limited block 50 in addition to part limited block 50,30 opposite first arm 20 in two limiting sections
Dynamic angle.Wherein, the first limiting section 40, the second limiting section and third limiting section 60 can be the knots such as limited block, spacing lever
Structure.
Using technical solution provided by the utility model, pass through the first limiting section 40, the second limiting section and third limiting section
Coordination energy between 60 effectively limits the robot arm component and is rotated in preset range, which is machine
The safe range of device people movement, so as to ensure that robot is not interfered during the motion by shock and other objects, with
Smoothly reach designated destination.Solves selective compliance assembly robot arm of the prior art because not setting by the technical solution
The problem of protection mechanism is easily damaged is put, so as to reduce the maintenance cost of robot, is conducive to the popularization of robot with answering
With.
Specifically, the first limiting section 40 is fixed on pedestal 10, meanwhile, in order to make the first limiting section 40 more convenient
Ground limits the rotation of the first arm 20, in the present embodiment, which is arranged on the first end phase with the first arm 20
At adjacent position.Meanwhile by the shape of the first limiting section 40 side adjacent with the first end of the first arm 20 and the first arm 20
The shape of the end of first end is adapted, so that the first arm 20 can be free in the angular range of permission and successfully rotates.This
The first limiting section 40 in embodiment has the first side and the second side that the part limited block 50 of the second limiting section of blocking moves
Face, first side and second side are oppositely arranged, the maximum counterclockwise rotated by first side the first arm 20 of restriction
Angle, the maximum angle rotated toward the clockwise direction by second side the first arm 20 of restriction.
Correspondingly, in order to which part limited block 50 is made to be matched with the first limiting section 40, the part in the second limiting section is limited
Position block 50 is arranged on the side of the close pedestal 10 of the first arm 20.During robot arm component operation in the present embodiment, first
Arm 20 rotates, while the part limited block 50 that is arranged on the first arm 20 is driven to move, when part limited block 50 moves to and the
During the first side contact of one limiting section 40, due to the restriction effect of the first limiting section 40, the first arm 20 will be limited to the first side
The direction in face is rotated further so that the first arm 20 can only be rotated towards the direction of second side.When the first arm 20 with first by limiting
The first side contact in portion 40 is turned to when being contacted with the second side of the first limiting section 40, at this point, the of the first limiting section 40
Two side faces, which will limit it, to be continued to keep original rotation direction.By the first side and second side of the first limiting section 40 to
The restriction effect of the part limited block 50 of two limiting sections so that the first arm 20 can only be around pedestal 10 in preset angular range
Movement.And first arm 20 move angular range determined by the angle between the first side and second side of the first limiting section 40
It is fixed, therefore, it is possible to by different angles is set between the first side and second side of the first limiting section 40, so as to control first
Arm 20 can rotate in different angular ranges.
Specifically, the first limiting section 40 can be made of metal or the second limiting section in remaining limited block 50 can be by gold
Category be made or the first limiting section 40 and the second limiting section in remaining limited block 50 be each made of a metal.Due to the first limiting
Portion 40 is not located on the first arm 20, and the variation of material does not interfere with the rotary inertia of the first arm 20, thus can be by first
Limiting section 40 is made of metal, and the first limiting section 40 in the present embodiment is made of stainless steel.
It, will in the present embodiment in order to which remaining limited block 50 for making the second limiting section more easily limits the rotation of the second arm 30
Remaining limited block 50 in second limiting section be arranged on the first arm 20 close to the side of the second arm 30, while by remaining limited block
50 are arranged on the first end adjacent position of the second arm 30.Pass through remaining limited block 50 in the second limiting section and third limiting section
60 cooperation will cause the second arm 30 to be rotated in preset angular range.
It correspondingly, will in the present embodiment in order to which remaining limited block 50 of the second limiting section is made to coordinate with third limiting section 60
Third limiting section 60 is arranged on the side of the second end close to the first arm 20 of the second arm 30.By the way that the second limiting section is set respectively
It puts at the both ends of the second arm 30, and is arranged on the second arm 30 respectively at the rotation connection of 10 and first arm 20 of pedestal, using
Such set-up mode can make the first limiting section 40, the second limiting section and third limiting section 60 limit the first arm 20 and second
The torque that arm 30 generates when rotating is smaller, so that the first limiting section 40, the second limiting section and third limiting section 60 were subject to
Impact is smaller.
Specifically, remaining limited block 50 can include the first block, and the first block is adjacent with the first end of the second arm 30
The shape of side be adapted with the shape of the end of the first end of the second arm 30 so that angular range of second arm 30 in permission
Interior energy successfully rotates.First block has third side and the 4th side.During the second arm 30 rotation of robot arm component,
The third limiting section 60 being arranged on the second arm 30 will be driven to move, when third limiting section 60 moves to the third with the first block
When side contacts, due to the restriction effect of the first block, the direction for limiting third limiting section 60 to third side is rotated further,
So that the second arm 30 can only be rotated towards the direction of the 4th side.When the position that the second arm 30 is contacted by the third side with the first block
When putting the position for turning to and being contacted with the 4th side of the first block, at this point, the 4th side of the first block will limit its continuation
Keep original rotation direction.By the third side and the 4th side of the first block to the restriction effect of third limiting section, make
Obtaining the second arm 30 can only move around the first arm 20 in preset angular range.And second the angular range that moves of arm 30 by the
Angle between the third side and the 4th side of one block determines, therefore, it is possible to by the third side of the first block and the 4th
Different angles is set between side, so as to control the second arm 30 that can be rotated in different angular ranges.First block can
It is made of stainless steel material.
Remaining limited block 50 can also be made of two the second blocks, and two second gear block gaps are arranged on the first arm 20
On.By adjusting the spacing distance between two the second blocks, and then the slewing area of the second arm 30 can be adjusted, so as to
The second arm 30 is controlled to rotate within a preset range.When remaining limited block 50 includes two the second blocks, 60 He of third limiting section
The part limited block 50 of first limiting section 40 may be alternatively provided as the second block.Using such setting so that the second limiting section and
Third limiting section 60 can use identical structure, and a structure is enable to meet the needs of multiple limiting section position-limiting actions simultaneously,
The versatility of structure is improved, reduces the cost of processing and manufacturing.
Specifically, the second limiting section can be finished with plastic either third limiting section 60 it is made of plastic or second limiting
Portion and third limiting section 60 are made of plastic.Hard plastic material is selected in the present embodiment, since hard plastic material has relatively by force
Elasticity so that using duroplasts limiting section limit rotate when can play the role of certain elastic buffer, so as to reduce
Robot arm component easy damaged or the phenomenon that destroy when moving over range.
It is the portable construction of the first limiting section 40, the second limiting section and third limiting section 60 in the present embodiment, compact, and limit
Part-structure uses hard plastic material in the portion of position.Using such setting so that increase by the first limit on robot arm component
After position portion 40, the second limiting section and third limiting section 60, the rotary inertia of the first arm 20 and the second arm 30 will not be by larger
It influences, ensure that robot arm component at work, the normal rotation of the first arm 20 and the second arm 30.
In the present embodiment, the end of the first end of the first arm 20 is arc, correspondingly by the first limiting section 40 and the
The side that the end of the first end of one arm 20 is adjacent is shaped to arc, so that the first arm 20 is in the angle model for allowing rotation
It being capable of smooth rotation in enclosing.
In the present embodiment, the end of the first end of the second arm 30 is arc, correspondingly by the first block and the second arm 30
The adjacent side in end of first end be shaped to arc so that the second arm 30 energy in the angular range for allowing rotation
Enough smooth rotations.
Using the robot arm component provided in the present embodiment, when the first arm 20 turns to the part limit of the second limiting section
Position block 50 is with the first limiting section 40 when contacting, at this point, 50 and first limiting section 40 of part limited block due to the second limiting section
Restriction effect so that the first arm 20 cannot be rotated further towards original rotation direction, at this point, the first arm 20 can only be towards forward therewith
Dynamic side rotates in the opposite direction, when the first arm 20 turns to towards the direction opposite with rotation direction before the portion of the second limiting section
When point limited block 50 is contacted with the first limiting section 40, at this point, the first arm 20 will stop operating.By the worked of above first arm 20
Journey is it is found that the first arm 20 can only rotate in limited angular range, and the angular range is determined by the structure of the first limiting section 40
It is fixed.
When the second arm 30, which turns to remaining limited block 50, to be contacted with third limiting section 60, due to remaining limited block 50 and
The restriction effect of three limiting sections 60 so that the second arm 30 cannot be rotated around the first arm 20 by original direction, at this point, the second arm 30
It can only in the opposite direction be rotated towards with original side.When the second arm 30 turns to and remaining limiting around with original direction opposite direction
When block 50 contacts, at this point, the second arm 30 cannot continue to be rotated further towards with original direction opposite direction.By above second arm 30
The course of work it is recognised that the second arm 30 can only rotate in limited angular range, and the angular range is limited by remaining
The structures shape of block 50.
In the present embodiment, part limiting section uses metal material, and part limiting section uses plastic material so that limiting section
Between in contact-impact, certain cushioning effect can be played, reduce fixed stop device of the prior art in limitation machine
The problem of device human arm is easily damaged when rotating.Meanwhile structure is improved there are general construction module in different limiting sections
Versatility.
In another embodiment of the utility model, a kind of robot is provided, which includes robot arm component,
The robot arm component is the robot arm component that above-described embodiment provides.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
Unless specifically stated otherwise, the component and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Up to the unlimited the scope of the utility model processed of formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each shown in attached drawing
The size of a part is not to be drawn according to practical proportionate relationship.For skill known to person of ordinary skill in the relevant
Art, method and apparatus may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as awarding
Weigh part of specification.In shown here and discussion all examples, any occurrence should be construed as merely example
Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：It is similar
Label and letter similar terms are represented in following attached drawing, therefore, once be defined in a certain Xiang Yi attached drawing, then with
In attached drawing afterwards do not need to that it is further discussed.
In the description of the present invention, it is to be appreciated that the noun of locality such as " forward and backward, upper and lower, left and right ", " laterally,
Vertically, vertically, it is horizontal " and " pushing up, bottom " etc. indicated by orientation or position relationship be normally based on orientation or position shown in the drawings
Relationship is put, be for only for ease of description the utility model and simplifies description, in the case where not making to illustrate on the contrary, these nouns of locality
It does not indicate that and implies signified device or element must have specific orientation or with specific azimuth configuration and operation, because
This is it is not intended that limitation to scope of protection of the utility model；The noun of locality " inside and outside " refers to the wheel relative to each component in itself
Wide is inside and outside.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made in opposite description to space used herein above.
Furthermore, it is necessary to explanation, limits parts, it is only for be convenient for using the words such as " first ", " second "
Corresponding parts are distinguished, such as without Stated otherwise, above-mentioned word is there is no particular meaning, therefore it is not intended that this
The limitation of utility model protection range.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (12)
1. a kind of robot arm component, including：
Pedestal (10)；
First arm (20), the first end of first arm (20) are rotatably arranged on the pedestal (10)；
Second arm (30), the first end of second arm (30) are rotatably arranged in the second end of first arm (20)；
It is characterized in that, the robot arm component further includes：
First limiting section (40) is arranged on the pedestal (10)；
Second limiting section is arranged on first arm (20), and second limiting section includes multiple limited blocks (50)；
Third limiting section (60) is arranged on second arm (30), wherein, first limiting section (40) and second limit
Part limited block (50) cooperation in the portion of position limits the rotational angle of first arm (20), the third limiting section (60) and institute
The cooperation of remaining limited block (50) in addition to the part limited block (50) stated in the second limiting section limits second arm
(30) rotational angle of relatively described first arm (20).
2. robot arm component according to claim 1, which is characterized in that first limiting section (40) is arranged on institute
It states on pedestal (10), and adjacent with the first end of first arm (20), first limiting section (40) and first arm
(20) shape of the adjacent side of first end is adapted with the shape of the end of the first end of first arm (20).
3. robot arm component according to claim 2, which is characterized in that the part in second limiting section
Limited block (50) is arranged on the side of the close pedestal (10) of first arm (20).
4. robot arm component according to claim 1, which is characterized in that first limiting section (40) and/or institute
It states
Remaining limited block (50) in second limiting section is made of metal.
5. robot arm component according to claim 1, which is characterized in that in second limiting section it is described remaining
Limited block (50) be arranged on first arm (20) close to second arm (30) side, and with second arm (30)
First end is adjacent.
6. robot arm component according to claim 5, which is characterized in that the third limiting section (60) is arranged on institute
State the side of the second end close to first arm (20) of the second arm (30).
7. robot arm component according to claim 5, which is characterized in that remaining described limited block (50) is including first
Block, the of the shape of first block side adjacent with the first end of second arm (30) and second arm (30)
The shape of the end of one end is adapted.
8. robot arm component according to claim 5, which is characterized in that remaining described limited block (50) includes：Two
A second block, described two second gear block gaps are arranged on first arm (20).
9. robot arm component according to claim 1, which is characterized in that second limiting section and/or described
Three limiting sections (60) are made of plastic.
10. robot arm component according to claim 2, which is characterized in that first limiting section (40) with institute
The shape for stating the adjacent side in end of the first end of the first arm (20) is arc.
11. robot arm component according to claim 7, which is characterized in that first block and second arm
(30) shape of the adjacent side in the end of first end is arc.
12. a kind of robot, including robot arm component, which is characterized in that the robot arm component is claim 1
To the robot arm component described in any one of 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721569182.XU CN207495540U (en) | 2017-11-20 | 2017-11-20 | Robot arm component and with its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721569182.XU CN207495540U (en) | 2017-11-20 | 2017-11-20 | Robot arm component and with its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207495540U true CN207495540U (en) | 2018-06-15 |
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ID=62505391
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721569182.XU Active CN207495540U (en) | 2017-11-20 | 2017-11-20 | Robot arm component and with its robot |
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| Country | Link |
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| CN (1) | CN207495540U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109103137A (en) * | 2018-08-17 | 2018-12-28 | 浙江雅市晶科技有限公司 | A kind of grabbing device of semiconductor haulage equipment |
-
2017
- 2017-11-20 CN CN201721569182.XU patent/CN207495540U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109103137A (en) * | 2018-08-17 | 2018-12-28 | 浙江雅市晶科技有限公司 | A kind of grabbing device of semiconductor haulage equipment |
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