CN214025775U - Mechanical arm joint with cable switching function, mechanical arm and robot - Google Patents
Mechanical arm joint with cable switching function, mechanical arm and robot Download PDFInfo
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- CN214025775U CN214025775U CN202023137774.9U CN202023137774U CN214025775U CN 214025775 U CN214025775 U CN 214025775U CN 202023137774 U CN202023137774 U CN 202023137774U CN 214025775 U CN214025775 U CN 214025775U
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- cable
- mechanical arm
- control board
- arm joint
- motor
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Abstract
The utility model discloses a arm joint, arm and robot with cable switching function, the arm joint includes: a housing having a hollow interior; the driving control board is arranged in the shell; the cable adapter is arranged on the drive control board and is electrically connected with the drive control board; the joint motor is located below the driving control board and comprises a hollow rotating shaft used for penetrating a cable, and the cable can be electrically connected with the cable adapter. The embodiment of the utility model provides a provided arm joint, cable enter into to the cavity pivot from the incoming line earlier, then wear out in the idle pivot from the centre to with cable keysets electric connection, so then the fixed inside cable of accessible cable keysets, when two arm joints of dismouting, only need pull out the cable between two arm joints from the cable keysets, perhaps peg graft the cable between two arm joints on the cable keysets.
Description
Technical Field
The utility model relates to an arm field, concretely relates to arm joint, arm and robot with cable switching function.
Background
The mechanical arm is a machine device capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, and can assist or even replace human beings to complete dangerous, heavy and complex work.
The mechanical arm generally includes a plurality of joints, each joint is connected with another joint in a transmission manner, and a motor for driving the joints to rotate is arranged in each joint. The motor stator of the mechanical arm joint is connected with the joint shell, the motor rotor is connected with the speed reducer, the motor rotor rotates to drive the speed reducer to rotate, and the speed reducer rotates to drive the mechanical arm joint to rotate.
The existing mechanical arm joint is designed in an integrated mode, and is very troublesome in installation or maintenance, if a certain joint of the mechanical arm breaks down, the whole mechanical arm joint needs to be completely disassembled, and the mechanical arm joint is reinstalled after being replaced with a new mechanical arm joint. For the dismouting maintenance of arm joint, the modularization joint has appeared, and for making the modularization joint more convenient, need provide one kind and can need not the arm joint that takes out the cable wherein when dismouting arm joint.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides an arm joint with cable switching function, aims at solving the technical problem who proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a mechanical arm joint with cable switching function, the mechanical arm joint with cable switching function includes:
a housing having a hollow interior;
the driving control board is arranged in the shell;
the cable adapter is arranged on the drive control board and is electrically connected with the drive control board;
the joint motor is located below the driving control board and comprises a hollow rotating shaft used for penetrating a cable, and the cable can be electrically connected with the cable adapter.
Preferably, a wiring port is convexly arranged on the side of the shell, and the cable adapter is arranged close to the wiring port.
Preferably, the middle area of the driving control board is provided with a through hole penetrating through the upper end and the lower end of the driving control board, and the through hole is positioned right above the opening at the upper end of the hollow rotating shaft.
Preferably, the drive control is provided with a wire sheath located on the periphery of the through hole, and the wire sheath extends in a direction perpendicular to the drive control board.
Preferably, the below of drive control board is equipped with the mounting panel, the mounting panel includes the disc body, the motor shaft hole has been seted up to the middle part region of disc body, the protruding a plurality of connecting portions that are equipped with in week side of disc body, the fixed orifices has been seted up on the connecting portion.
Preferably, the joint motor further comprises a motor stator and a motor rotor, wherein the motor rotor is located on the inner side of the motor stator, the motor rotor is sleeved on the hollow rotating shaft, and the motor rotor is sleeved with an electromagnetic brake.
Preferably, the electromagnetic brake includes a rotation limiting plate and a braking mechanism, the braking mechanism is located on one side of the rotation limiting plate, and the braking mechanism includes an electromagnet, a striker connected to the electromagnet and located below the electromagnet, a striker located below the striker, and a return elastic member located below the striker.
Preferably, the hollow rotating shaft is sleeved with a first encoder, and the motor rotor is sleeved with a second encoder.
The utility model discloses further provide a mechanical arm, the mechanical arm includes the mechanical arm joint that has the cable switching function that aforementioned each embodiment recorded, the mechanical arm joint that has the cable switching function includes:
a housing having a hollow interior;
the driving control board is arranged in the shell;
the cable adapter is arranged on the drive control board and is electrically connected with the drive control board;
the joint motor is located below the driving control board and comprises a hollow rotating shaft used for penetrating a cable, and the cable can be electrically connected with the cable adapter.
The utility model discloses still provide a robot, the robot includes the arm that aforementioned embodiment recorded, the arm includes the arm joint that has cable switching function that aforementioned each embodiment recorded, the arm joint that has cable switching function includes:
a housing having a hollow interior;
the driving control board is arranged in the shell;
the cable adapter is arranged on the drive control board and is electrically connected with the drive control board;
the joint motor is located below the driving control board and comprises a hollow rotating shaft used for penetrating a cable, and the cable can be electrically connected with the cable adapter.
Compared with the prior art, the utility model discloses beneficial technological effect lies in:
the embodiment of the utility model provides a provided arm joint, cable enter into to the cavity pivot from the incoming line earlier, then wear out in the idle pivot from the centre to with cable keysets electric connection, so then the fixed inside cable of accessible cable keysets, when two arm joints of dismouting, only need pull out the cable between two arm joints from the cable keysets, perhaps peg graft the cable between two arm joints on the cable keysets. The embodiment of the utility model provides a mechanical arm joint, it need not to pull down the cable from the well when the dismouting, and only need with wherein the cable pull out from the cable adapter can, and the cable still persists in mechanical arm joint to the convenience is to mechanical arm joint's dismouting.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a mechanical arm joint with a cable switching function according to the present invention;
fig. 2 is an exploded view of the robot joint with cable switching function shown in fig. 1;
fig. 3 is a schematic structural view of the driving control board, the mounting board and the braking mechanism of the mechanical arm joint with the cable switching function of the present invention;
fig. 4 is a schematic structural diagram of the mounting plate of the mechanical arm joint with the cable switching function according to the present invention;
fig. 5 is a schematic structural view of the joint motor of the robot arm joint with the cable switching function according to the present invention;
fig. 6 is a schematic structural view of the brake mechanism of the mechanical arm joint with the cable switching function according to the present invention;
fig. 7 is a schematic structural view of an embodiment of the robot arm of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention, and all other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example one
The embodiment of the utility model provides a mechanical arm joint with cable switching function, refer to fig. 1-3, this mechanical arm joint with cable switching function includes:
a housing 10 having a hollow interior;
a drive control board 30 provided in the housing 10;
the cable adapter 40 is arranged on the drive control board 30 and is electrically connected with the drive control board 30;
the joint motor 20 is located below the driving control board 30, the joint motor 20 includes a hollow rotating shaft 23 for penetrating a cable, and the cable can be electrically connected with the cable adapter 40.
The embodiment of the utility model provides a shell 10's main effect lies in installing spare parts such as drive control board 30, cable adapter 40 and joint motor 20, and the inside cavity of shell 10 is in order to form the holding chamber that is used for installing above-mentioned spare part. The housing 10 may be formed integrally or may be designed separately, and those skilled in the art can design the housing according to actual situations. Preferably, the housing 10 proposed in the present embodiment is a split design, and includes two parts, namely an upper housing and a lower housing, where the upper housing and the lower housing are respectively provided with a male spigot and a female spigot, so as to fix the upper housing and the lower housing through the plug-in fit of the male spigot and the female spigot.
The embodiment of the utility model provides a cable adapter 40's main effect lies in carrying out the switching to the cable in the arm joint, also pegs graft the cable in cavity pivot 23 on cable adapter 40, so then need not to pull down cable wherein also whole when dismouting arm joint, only need with the connecting cable between two joints from the cable adapter 40 that corresponds can.
The embodiment of the utility model provides a joint motor 20's main effect lies in driving the arm joint rotation, and joint motor 20 specifically includes cavity pivot 23, constitutes in the cavity pivot 23 to be used for supplying the cable to walk the cavity of line, and the articulated cable of arm can penetrate and wear out from the other end of idle shaft 23 via the one end of cavity pivot 23 to the realization is walked the line to the articulated cable of arm.
The embodiment of the utility model provides a mechanical arm joint, the cable enters into to cavity pivot 23 from the incoming line earlier, then wears out in the idle pivot 23 from the centre to with 40 electric connection of cable keysets, so then the fixed inside cable of accessible cable keysets 40, when two mechanical arm joints of dismouting, only need pull out the cable between two mechanical arm joints from cable keysets 40, perhaps peg graft the cable between two mechanical arm joints on cable keysets 40. The embodiment of the utility model provides a mechanical arm joint, it need not to pull down the cable from the well when the dismouting, and only need with wherein the cable pull out from cable adapter 40 can, and the cable still persists in mechanical arm joint to the convenience is to mechanical arm joint's dismouting.
Example two
Referring to fig. 2-3, the side of the housing 10 according to the embodiment of the present invention is provided with a wire feeding opening 50, and the cable adapter 40 is disposed near the wire feeding opening 50. In this embodiment, a wire routing port 50 is protruded from a side portion of the housing 10, and the wire routing port 50 is used for a cable to pass from a current robot joint to another robot joint, or used for a cable to pass from another robot joint to the current robot joint. In order to avoid the cable from being disordered in the joints of the mechanical arm, the cable adapter 40 is arranged at a position close to the cable routing port 50 in the embodiment, so that the cable of another mechanical arm joint cannot be routed in the current mechanical arm joint as much as possible, and meanwhile, the cable between the two mechanical arm joints can be conveniently spliced.
EXAMPLE III
Referring to fig. 2, the middle region of the driving control board 30 according to the embodiment of the present invention is provided with a through hole 60 penetrating through the upper and lower ends of the driving control board, and the through hole 60 is located right above the upper end opening of the hollow rotating shaft 23. In this embodiment, a through hole 60 is disposed at the middle region of the driving control board 30, the through hole 60 is directly opposite to the upper end opening of the hollow rotating shaft 23 and is located right above the hollow rotating shaft 23, and the cable passes through the upper end opening of the hollow rotating shaft 23 and passes through the through hole 60 located right above the hollow rotating shaft 23, and then is electrically connected to the cable adapter 40 on the driving control board 30.
Example four
Referring to fig. 3, the driving control device according to the embodiment of the present invention is provided with a wire sheath 70 disposed around the through hole 60, and the wire sheath 70 extends along the direction of the vertical driving control plate 30. In this embodiment, the wire sheath 70 is provided on the drive control board 30, the wire sheath 70 is configured as a cylindrical structure having an opening at both ends thereof and having a hollow inside, and an annular groove is provided on a side wall of the wire sheath 70 near an end thereof to be inserted into the through hole 60 of the drive control board 30 through the annular groove, thereby fixing the wire sheath 70 to the drive control board 30.
EXAMPLE five
Referring to fig. 4, the lower portion of the driving control board 30 provided by the embodiment of the present invention is provided with a mounting plate 80, the mounting plate 80 includes a disc-shaped body 81, a motor shaft hole 82 is provided in the middle region of the disc-shaped body 81, a plurality of connecting portions 83 are convexly provided on the periphery of the disc-shaped body 81, and fixing holes 84 are provided on the connecting portions 83. In this embodiment, the mounting plate 80 is disposed below the driving control board 30, the mounting plate 80 specifically includes a disk-shaped body 81, and a motor shaft hole 82 is disposed in a middle region of the disk-shaped body 81 for the output shaft of the joint motor 20 to penetrate through, that is, the mounting plate 80 is sleeved on the output shaft of the joint motor 20 through the motor shaft hole 82. In order to fix the mounting plate 80 to the housing 10 of the robot joint as a whole, a plurality of connecting portions 83 are protruded on the periphery of the disk-shaped body 81, and each connecting portion 83 is provided with a fixing hole 84 so as to fix the connecting portion 83 and the housing 10 through the fixing hole 84 and the fixing hole 84.
EXAMPLE six
Referring to fig. 2, the joint motor 20 provided by the embodiment of the present invention further includes a motor stator 21 and a motor rotor 22, the motor rotor 22 is located inside the motor stator 21, the motor rotor 22 is sleeved on the hollow rotating shaft 23, and the motor rotor 22 is sleeved with an electromagnetic brake 90. In this embodiment, the joint motor 20 specifically includes a motor stator 21, a motor rotor 22 and a motor shaft, the motor stator 21 is fixedly connected to the housing 10, the motor rotor 22 is located inside the motor stator 21, and the motor rotor 22 is sleeved on the motor shaft. After the motor stator 21 is electrified, the motor rotor 22 is driven to rotate, and the motor rotor 22 rotates to drive the motor rotating shaft to rotate, so that the mechanical arm joint is driven to rotate.
EXAMPLE seven
Referring to fig. 5 to 6, the electromagnetic brake 90 according to the embodiment of the present invention includes a rotation limiting plate 91 and a braking mechanism 92, the braking mechanism 92 is located on one side of the rotation limiting plate 91, the braking mechanism 92 includes an electromagnet 921, a striker 922 connected to the electromagnet 921 and located below the electromagnet 921, a striker 923 located below the striker 922, and a reset elastic member 924 located below the striker 923. In this embodiment, on motor rotor 22 was located to rotatory limiting plate 91 cover, motor rotor 22 rotated and will drive rotatory limiting plate 91 and rotate, and similarly, rotatory limiting plate 91 stall will also make motor rotor 22 stall. Specifically, when the rotation of joint motor 20 needs to be stopped, electromagnet 921 is electrified to drive striker 922 to move downwards, striker 922 moves downwards to drive striker 923 to move downwards, when striker 923 moves downwards, elastic component 924 resets and can produce ascending elastic restoring force, and after striker 923 moves to the preset position, rotation limiting plate 91 will abut with striker 923, thereby preventing motor rotor 22 from continuing to rotate.
Example eight
Referring to fig. 2, the hollow shaft 23 according to the embodiment of the present invention is sleeved with a first encoder 100, and the motor rotor 22 is sleeved with a second encoder 200. In this embodiment, the first encoder 100 and the second encoder 200 may be optical encoders or magnetic encoders, for example, the first encoder 100 and the second encoder 200 are both optical encoders, or the first encoder 100 and the second encoder 200 are both magnetic encoders, or the first encoder 100 is an optical encoder and the second encoder 200 is a magnetic encoder. In addition, the first encoder 100 and the second encoder 200 may be disposed vertically or horizontally, and those skilled in the art can design them according to actual situations.
Referring to fig. 7, the utility model discloses a further mechanical arm that provides is including the mechanical arm joint that has cable switching function, and this mechanical arm joint's that has cable switching function concrete structure refers to above-mentioned embodiment, because this mechanical arm has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary details here.
The utility model discloses further still provide a robot, the arm including the record of aforementioned embodiment, the arm is including the arm joint that has cable switching function, and the articulated concrete structure of arm that should have cable switching function refers to above-mentioned embodiment, because this arm has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary details here.
The above is only the part or the preferred embodiment of the present invention, no matter the characters or the drawings can not limit the protection scope of the present invention, all under the whole concept of the present invention, the equivalent structure transformation performed by the contents of the specification and the drawings is utilized, or the direct/indirect application in other related technical fields is included in the protection scope of the present invention.
Claims (10)
1. A mechanical arm joint with a cable switching function is characterized by comprising:
a housing having a hollow interior;
the driving control board is arranged in the shell;
the cable adapter is arranged on the drive control board and is electrically connected with the drive control board;
the joint motor is located below the driving control board and comprises a hollow rotating shaft used for penetrating a cable, and the cable can be electrically connected with the cable adapter.
2. The mechanical arm joint according to claim 1,
the lateral part of shell is equipped with the line mouth protrudingly, the cable adapter is close to the line mouth sets up.
3. The mechanical arm joint according to claim 1,
the middle area of the driving control board is provided with a through hole penetrating through the upper end and the lower end of the driving control board, and the through hole is positioned right above the opening at the upper end of the hollow rotating shaft.
4. The mechanical arm joint according to claim 3,
the driving control device is provided with a wire protecting sleeve located on the peripheral side of the through hole, and the wire protecting sleeve extends along the direction perpendicular to the driving control panel.
5. The mechanical arm joint according to claim 1,
the utility model discloses a motor, including drive control panel, motor shaft hole, drive control panel's below is equipped with the mounting panel, the mounting panel includes the disc body, the motor shaft hole has been seted up to the middle part region of disc body, the protruding a plurality of connecting portions that are equipped with in week side of disc body, the fixed orifices has been seted up on the connecting portion.
6. The mechanical arm joint according to claim 1,
the joint motor further comprises a motor stator and a motor rotor, the motor rotor is located on the inner side of the motor stator, the motor rotor is sleeved on the hollow rotating shaft, and an electromagnetic brake is sleeved on the motor rotor.
7. The mechanical arm joint according to claim 6,
the electromagnetic brake comprises a rotary limiting plate and a brake mechanism, wherein the brake mechanism is positioned on one side of the rotary limiting plate, and comprises an electromagnet, a striker connected with the electromagnet and positioned below the electromagnet, a collision column positioned below the striker and a reset elastic piece positioned below the collision column.
8. The mechanical arm joint according to claim 6,
the hollow rotating shaft is sleeved with a first encoder, and the motor rotor is sleeved with a second encoder.
9. A robot arm, comprising:
the mechanical arm joint with cable transition function of any one of claims 1 to 8.
10. A robot, comprising:
the robotic arm of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023137774.9U CN214025775U (en) | 2020-12-22 | 2020-12-22 | Mechanical arm joint with cable switching function, mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023137774.9U CN214025775U (en) | 2020-12-22 | 2020-12-22 | Mechanical arm joint with cable switching function, mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214025775U true CN214025775U (en) | 2021-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023137774.9U Active CN214025775U (en) | 2020-12-22 | 2020-12-22 | Mechanical arm joint with cable switching function, mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214025775U (en) |
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2020
- 2020-12-22 CN CN202023137774.9U patent/CN214025775U/en active Active
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