CN214520277U - Line protection structure of mechanical arm joint, mechanical arm joint and mechanical arm - Google Patents
Line protection structure of mechanical arm joint, mechanical arm joint and mechanical arm Download PDFInfo
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- CN214520277U CN214520277U CN202023125215.6U CN202023125215U CN214520277U CN 214520277 U CN214520277 U CN 214520277U CN 202023125215 U CN202023125215 U CN 202023125215U CN 214520277 U CN214520277 U CN 214520277U
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- protecting sleeve
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Abstract
The utility model discloses a wire protecting structure of a mechanical arm joint, wherein the mechanical arm joint comprises a hollow shell, a joint motor is arranged in the shell, and the joint motor comprises a hollow rotating shaft for a cable to pass through; the shell is connected with a wire protecting sleeve seat, a first wire protecting sleeve is arranged on the wire protecting sleeve seat, and the first wire protecting sleeve is located at an opening at the upper end of the hollow rotating shaft. The embodiment of the utility model provides a protect line mechanism, it can contact through first protect line cover and cable when each arm joint rotates, prevents the part direct friction in cable and the arm joint, leads to the cable to take place wearing and tearing after the arm joint rotates for a long time, and then shortens the life of cable. That is to say, the embodiment of the utility model provides a through first wire sheath and cable flexonics, avoid the part direct friction in cable and the arm joint to the life of extension cable. Furthermore, the utility model discloses still disclose a arm joint and arm.
Description
Technical Field
The utility model relates to an arm field, concretely relates to arm joint protect line structure, arm joint and arm.
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.
As is known, the joints of the robot arms need to be wired with each other, such as power lines, signal lines, etc. of the joint motors, but the problem of cable abrasion is likely to occur when the joints of the robot arms rotate, thereby shortening the service life of the cable.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides a mechanical arm joint's protect line structure, aims at solving the technical problem who proposes among the above-mentioned background art.
In order to achieve the purpose, the utility model provides a wire protecting structure of a mechanical arm joint,
the mechanical arm joint comprises a shell with a hollow inner part, a joint motor is arranged in the shell, and the joint motor comprises a hollow rotating shaft for a cable to pass through;
the shell is connected with a wire protecting sleeve seat, a first wire protecting sleeve is arranged on the wire protecting sleeve seat, and the first wire protecting sleeve is located at an opening at the upper end of the hollow rotating shaft.
Preferably, the wire protecting sleeve seat comprises a support frame and an installation plate arranged on the support frame, the installation plate comprises a plate-shaped body, a first through hole and a clamping hole communicated with the first through hole, the first through hole is positioned in the middle area of the plate-shaped body, and one side of the clamping hole is provided with an opening;
the first wire protecting sleeve comprises an annular body, a second through hole corresponding to the first through hole is formed in the middle area of the annular body, and annular clamping grooves used for being clamped with two opposite side walls of the clamping hole are formed in the peripheral side of the annular body.
Preferably, still be equipped with a plurality of deformation holes on the mounting panel, a plurality of deformation holes are located respectively first through-hole with the left and right sides in hole is held to the card, and every the deformation hole all is the U-shaped setting.
Preferably, a second wire sheath is arranged at an opening at the lower end of the hollow rotating shaft, an annular groove used for clamping the second wire sheath is arranged on the inner side of the hollow rotating shaft, and the annular groove is distributed along the circumferential direction of the hollow rotating shaft.
Preferably, the first wire sheath and the second wire sheath are rubber rings.
Preferably, a driving control board is arranged between the hollow rotating shaft and the first wire protecting sleeve, a third through hole is formed in the driving control board, and a third wire protecting sleeve is arranged on the driving control board and corresponds to the third through hole.
Preferably, the third wire sheath is configured as a hollow cylindrical structure that is protrudingly provided on the drive control board.
The utility model further provides a mechanical arm joint, which comprises the wire protection structure of the mechanical arm joint described in the above embodiments,
the mechanical arm joint comprises a shell with a hollow inner part, a joint motor is arranged in the shell, and the joint motor comprises a hollow rotating shaft for a cable to pass through;
the shell is connected with a wire protecting sleeve seat, a first wire protecting sleeve is arranged on the wire protecting sleeve seat, and the first wire protecting sleeve is located at an opening at the upper end of the hollow rotating shaft.
Preferably, the robot arm joint further comprises:
a housing;
the joint motor comprises a stator, a rotor and a hollow rotating shaft, wherein one end of the hollow rotating shaft is connected with the rotor;
and the speed reducer is connected with the other end of the hollow rotating shaft.
The utility model also provides a mechanical arm, the mechanical arm joint comprises the mechanical arm joint described in the previous embodiment, the mechanical arm joint comprises the wire protection structure of the mechanical arm joint described in each previous embodiment,
the mechanical arm joint comprises a shell with a hollow inner part, a joint motor is arranged in the shell, and the joint motor comprises a hollow rotating shaft for a cable to pass through;
the shell is connected with a wire protecting sleeve seat, a first wire protecting sleeve is arranged on the wire protecting sleeve seat, and the first wire protecting sleeve is located at an opening at the upper end of the hollow rotating shaft. Compared with the prior art, the utility model discloses beneficial technological effect lies in:
the embodiment of the utility model provides a protect line mechanism, it can contact through first protect line cover and cable when each arm joint rotates, prevents the part direct friction in cable and the arm joint, leads to the cable to take place wearing and tearing after the arm joint rotates for a long time, and then shortens the life of cable. That is to say, the embodiment of the utility model provides a through first wire sheath and cable flexonics, avoid the part direct friction in cable and the arm joint to the life of extension cable.
Drawings
Fig. 1 is a schematic structural view of an embodiment of a mechanical arm joint of the present invention;
FIG. 2 is an exploded view of the robotic arm joint shown in FIG. 1;
fig. 3 is a schematic structural view of the wire protection structure of the mechanical arm joint of the present invention;
fig. 4 is a schematic structural view of the mounting plate of the wire protection structure of the mechanical arm joint of the present invention;
fig. 5 is a schematic structural view of a first wire sheath of the wire protection structure of the mechanical arm joint of the present invention;
fig. 6 is a schematic structural view of the driving control board of the mechanical arm joint of the present invention;
FIG. 7 is an orthographic view of the robotic arm joint shown in FIG. 1;
FIG. 8 is an enlarged partial schematic view taken at A-A of FIG. 7;
fig. 9 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 wire-protecting structure of a mechanical arm joint, which is shown in figures 1-3,
the mechanical arm joint comprises a shell 10 with a hollow interior, a joint motor 20 is arranged in the shell 10, and the joint motor 20 comprises a hollow rotating shaft 23 for a cable to pass through;
the casing 10 is connected with a wire protecting sleeve seat 30, a first wire protecting sleeve 40 is arranged on the wire protecting sleeve seat 30, and the first wire protecting sleeve 40 is positioned at an opening at the upper end of the hollow rotating shaft 23.
The main function of the housing 10 provided by the embodiment of the present invention is to mount electronic accessories of the joints of the robot arm, such as the driving control board 60, the driving power board, etc., and also to mount components such as the joint motor 20, the speed reducer 90, the electromagnetic brake, and the encoder. The inside cavity of shell 10, its inside constitution is used for the holding chamber of holding above-mentioned part, and shell 10 is including upper and lower two parts casing, and upper portion casing can dismantle with lower part casing and be connected, specifically corresponds respectively on upper portion casing and lower part casing and is equipped with public tang and female tang to it is fixed through the grafting cooperation of public tang and female tang. It should be noted that the housing 10 including the upper housing part and the lower housing part which are detachably connected is only a preferred embodiment of the present invention, which is only exemplary and not limiting, and the skilled person can design the housing 10 as an integral molding according to the actual situation.
The embodiment of the utility model provides a joint motor 20's main effect lies in driving the arm joint rotation, joint motor 20 specifically including stator 21, rotor 22 and well idle rotation shaft 23, stator 21 and shell 10 fixed connection, the drive is located its inboard rotor 22 and rotates after the stator 21 circular telegram, rotor 22 rotates and drives pivot 23 again and rotates, pivot 23 rotates and drives reduction gear 90 again and rotates, reduction gear 90 again with joint motor 20's torque output, such as the connecting rod or other arm joints of being connected with this arm joint transmission. The hollow rotating shaft 23 is used for cable routing, two openings are formed in the end portion and the side portion of the shell 10, a cable penetrates into the mechanical arm joint from one opening, penetrates into the hollow rotating shaft 23 through one end of the hollow rotating shaft 23, penetrates out through the other end of the hollow rotating shaft 23, and finally penetrates out through the other opening of the shell 10.
The embodiment of the utility model provides a main effect of protecting wire cover seat 30 lies in installing first protecting wire cover 40, and protecting wire cover seat 30 is with shell 10 fixed connection, and the shape, the size of protecting wire cover seat 30 can be changeable, only need it can be used for installing first protecting wire cover 40, do not do the injeciton to protecting wire cover seat 30's concrete structure in this example, and technical personnel in the field can design according to actual conditions. The first wire sheath 40 is located at the upper end opening of the hollow rotating shaft 23, and it should be noted that, the vertical direction described in the embodiment takes the direction shown in the drawing as reference, and after the cable passes through the upper end opening of the middle idle shaft 23, the cable passes through the first wire sheath 40, passes through the upper end opening of the housing 10, and passes through another mechanical arm joint in transmission connection with the mechanical arm joint. Thus, when the two mechanical arm joints rotate relatively, the cable penetrating between the two mechanical arm joints is in flexible contact with the first wire protecting sleeve 40, and is not directly in direct friction with parts in the mechanical arm joints, so that the abrasion of the cable can be reduced, and the service life of the cable is prolonged.
Example two
Referring to fig. 3 to 5, the wire protecting sleeve 30 according to the embodiment of the present invention includes a supporting frame 31 and a mounting plate 32 disposed on the supporting frame 31, wherein the mounting plate 32 includes a plate-shaped body 321, a first through hole 322 and a clamping hole 323 communicated with the first through hole 322, the first through hole 322 is located in a middle region of the plate-shaped body 321, and one side of the clamping hole 323 is open; the first wire sheath 40 includes an annular body 41, a second through hole 42 corresponding to the first through hole 322 is formed in a middle area of the annular body 41, and annular clamping grooves 43 for clamping with two opposite side walls of the clamping hole 323 are formed on the peripheral side of the annular body 41. In this embodiment, the wire protecting sleeve 30 specifically includes a supporting frame 31 and a mounting plate 32 disposed on the supporting frame 31, the supporting frame 31 includes a disk-shaped connecting plate, a convex lug for fixedly connecting with the housing 10 is disposed on the periphery of the disk-shaped connecting plate, a first fixing hole is disposed on the convex lug, a fixing column is disposed on the housing 10 at a position corresponding to the convex lug, a second fixing hole is disposed on the fixing column, and a screw is screwed into the first fixing hole and the second fixing hole to fix the disk-shaped connecting plate with the housing 10. The mounting plate 32 is connected above the disc-shaped connecting plate, the mounting plate 32 is in a U-shape, the mounting plate 32 specifically includes a plate-shaped body 321, a first through hole 322 and a clamping hole 323, and the clamping hole 323 is communicated with the first through hole 322. The first wire sheath 40 specifically has an annular body 41, a second through hole 42 and an annular clamping groove 43, the annular clamping groove 43 of the first wire sheath 40 is inserted in alignment with two opposite side walls of the clamping hole 323, and after the annular clamping groove is inserted in the two opposite side walls of the clamping hole 323, the first wire sheath 40 is moved transversely so that the first wire sheath 40 faces the first through hole 322 until the second through hole 42 is located right above the first through hole 322. After the cable passes through the upper opening of the middle idle shaft 23, the cable passes through the first through hole 322 of the mounting plate 32, then passes through the second through hole 42 of the first cable sheath 40, and finally passes through the upper opening of the housing 10.
EXAMPLE III
Referring to fig. 4, the mounting plate 32 provided in the embodiment of the present invention is further provided with a plurality of deformation holes 33, the plurality of deformation holes 33 are respectively located at the left and right sides of the first through hole 322 and the clamping hole 323, and each deformation hole 33 is in a U-shape. In this embodiment, the plurality of deformation holes 33 are disposed in a U shape and distributed on the left and right sides of the first through hole 322 and the retaining hole 323, and it should be noted that the left and right directions described in this embodiment refer to the directions shown in the drawings. The deformation hole 33 is designed to increase the elasticity and ensure that the mounting plate can be slightly deformed if the cable is pulled in the moving process, so as to prevent the cable from being torn.
Example four
Referring to fig. 7-8, the lower end opening of the hollow rotating shaft 23 provided by the embodiment of the present invention is provided with a second wire sheath 50, the inner side of the hollow rotating shaft 23 is provided with an annular groove for clamping the second wire sheath 50, and the annular groove is circumferentially distributed along the hollow rotating shaft 23. In this embodiment, a second wire sheath 50 is disposed at the lower opening of the hollow rotating shaft 23, the second wire sheath 50 is specifically disposed at the inner side of the hollow rotating shaft 23, and in order to dispose the second wire sheath 50 at the inner side of the hollow rotating shaft 23, an annular groove is disposed at a position close to the lower opening inside the hollow rotating shaft 23, and upper and lower opposite sidewalls of the annular groove are used for abutting against upper and lower two side portions of the second wire sheath 50, so that the second wire sheath 50 is fixed at the inner side of the hollow rotating shaft 23. It is understood that the second wire sheath 50 can be disposed at a position below the lower end opening of the hollow rotating shaft 23, and in this case, it is necessary to provide a mounting structure for mounting the second wire sheath 50, which can be similar to the aforementioned wire sheath seat 30, and can be designed by those skilled in the art according to the actual situation.
EXAMPLE five
Referring to fig. 3 and 6, a driving control board 60 is disposed between the hollow rotating shaft 23 and the first wire sheath 40, a third through hole is disposed on the driving control board 60, and a third wire sheath 80 is disposed on the driving control board 60 corresponding to the third through hole 70. In this embodiment, a driving control board 60 is disposed between the hollow rotating shaft 23 and the first wire sheath 40, a third through hole 70 is disposed on the driving control board 60, the third through hole 70 is located right above the upper end opening of the hollow rotating shaft 23, the cable is threaded out through the upper end opening of the hollow rotating shaft 23 and then threaded out from the driving control board 60 through the third wire sheath 80, and then the first wire sheath 40 is threaded out and threaded into other mechanical arm joints, direct friction between the cable and the driving control board 60 can be avoided through the third wire sheath 80, thereby further reducing abrasion of the cable and prolonging service life of the cable.
The utility model discloses a mechanical arm joint that further provides includes the articulated line structure that protects of the arm that aforementioned each embodiment recorded, this articulated line structure that protects of arm's concrete structure refer to above-mentioned embodiment, because this mechanical arm joint 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.
Further, the embodiment of the present invention provides a mechanical arm joint, which further comprises:
a housing 10;
the joint motor 20 comprises a stator 21, a rotor 22 and a hollow rotating shaft 23, wherein one end of the hollow rotating shaft 23 is connected with the rotor 22;
and a speed reducer 90 connected to the other end of the hollow shaft 23.
In this embodiment, the mechanical arm joint includes a housing 10, a joint motor 20 is disposed in the housing 10, the joint motor 20 is configured to drive the mechanical arm joint to rotate, the joint motor 20 specifically includes a stator 21, a rotor 22 and a middle idle shaft 23, the stator 21 is fixedly connected to the housing 10, the rotor 22 is located inside the stator 21 and is sleeved on the rotating shaft 23, the stator 21 is powered on to drive the rotor 22 to rotate, the rotor 22 rotates to drive the rotating shaft 23 to rotate, the rotating shaft 23 rotates to drive the speed reducer 90 to rotate, and the speed reducer 90 outputs a torque of the joint motor 20.
Referring to fig. 9, the present invention further provides a mechanical arm, wherein the mechanical arm includes the mechanical arm joint described in the foregoing embodiments, and the mechanical arm joint includes the wire protection structure of the mechanical arm joint described in each of the foregoing embodiments, and the specific structure of the wire protection structure of the mechanical arm joint refers to the foregoing embodiments.
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 wire protecting structure of a mechanical arm joint is characterized in that,
the mechanical arm joint comprises a shell with a hollow inner part, a joint motor is arranged in the shell, and the joint motor comprises a hollow rotating shaft for a cable to pass through;
the shell is connected with a wire protecting sleeve seat, a first wire protecting sleeve is arranged on the wire protecting sleeve seat, and the first wire protecting sleeve is located at an opening at the upper end of the hollow rotating shaft.
2. The grommet structure according to claim 1,
the wire protecting sleeve seat comprises a support frame and an installation plate arranged on the support frame, the installation plate comprises a plate-shaped body, a first through hole and a clamping hole communicated with the first through hole, the first through hole is positioned in the middle area of the plate-shaped body, and one side of the clamping hole is arranged in an opening manner;
the first wire protecting sleeve comprises an annular body, a second through hole corresponding to the first through hole is formed in the middle area of the annular body, and annular clamping grooves used for being clamped with two opposite side walls of the clamping hole are formed in the peripheral side of the annular body.
3. The grommet structure according to claim 2,
still be equipped with a plurality of deformation holes on the mounting panel, a plurality of deformation holes are located respectively first through-hole with the left and right sides in hole is held to the card, and every the deformation hole all is the U-shaped setting.
4. The grommet structure according to claim 1,
the lower extreme opening part of cavity pivot is equipped with the second wire sheath, the inboard of cavity pivot is equipped with and is used for the card to hold the annular groove of second wire sheath, the annular groove is followed the circumference of cavity pivot distributes.
5. The grommet structure according to claim 4,
the first wire protecting sleeve and the second wire protecting sleeve are rubber rings.
6. The grommet structure according to claim 1,
and a driving control panel is arranged between the hollow rotating shaft and the first wire protecting sleeve, a third through hole is formed in the driving control panel, and a third wire protecting sleeve is arranged on the driving control panel corresponding to the third through hole.
7. The grommet structure according to claim 6,
the third wire sheath is configured as a hollow cylindrical structure that is protrudingly provided on the drive control board.
8. A robot arm joint, comprising:
the wire guard structure of a robot arm joint of any one of claims 1 to 7.
9. The robotic arm joint of claim 8, further comprising:
a housing;
the joint motor comprises a stator, a rotor and a hollow rotating shaft, wherein one end of the hollow rotating shaft is connected with the rotor;
and the speed reducer is connected with the other end of the hollow rotating shaft.
10. A robot arm, comprising:
the mechanical arm joint of claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023125215.6U CN214520277U (en) | 2020-12-22 | 2020-12-22 | Line protection structure of mechanical arm joint, mechanical arm joint and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023125215.6U CN214520277U (en) | 2020-12-22 | 2020-12-22 | Line protection structure of mechanical arm joint, mechanical arm joint and mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN214520277U true CN214520277U (en) | 2021-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023125215.6U Active CN214520277U (en) | 2020-12-22 | 2020-12-22 | Line protection structure of mechanical arm joint, mechanical arm joint and mechanical arm |
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| CN (1) | CN214520277U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114188900A (en) * | 2021-12-13 | 2022-03-15 | 深圳市大族机器人有限公司 | Joint module cable mounting structure and joint module |
| CN115042221A (en) * | 2022-08-15 | 2022-09-13 | 库卡机器人(广东)有限公司 | Robot joint module and robot |
-
2020
- 2020-12-22 CN CN202023125215.6U patent/CN214520277U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114188900A (en) * | 2021-12-13 | 2022-03-15 | 深圳市大族机器人有限公司 | Joint module cable mounting structure and joint module |
| CN114188900B (en) * | 2021-12-13 | 2024-04-12 | 深圳市大族机器人有限公司 | Joint module cable mounting structure and joint module |
| CN115042221A (en) * | 2022-08-15 | 2022-09-13 | 库卡机器人(广东)有限公司 | Robot joint module and robot |
| CN115042221B (en) * | 2022-08-15 | 2022-11-15 | 库卡机器人(广东)有限公司 | Robot joint module and robot |
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