CN215968842U - Robot arm and robot with same - Google Patents
Robot arm and robot with same Download PDFInfo
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- CN215968842U CN215968842U CN202120204727.7U CN202120204727U CN215968842U CN 215968842 U CN215968842 U CN 215968842U CN 202120204727 U CN202120204727 U CN 202120204727U CN 215968842 U CN215968842 U CN 215968842U
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- 238000013016 damping Methods 0.000 claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of robots, and provides a robot arm and a robot, wherein the robot arm is additionally provided with a damping unit on the basis of the original robot arm to be connected with an arm unit and a driving unit, and when no person or object is shielded, the driving unit drives the arm unit to swing back and forth under the transmission action of the damping unit; when the arm unit is shielded by people or objects, the first connecting piece and the second connecting piece of the damping unit slide relatively, when the control unit detects that the relative sliding occurs in the damping unit, the control unit controls the driving unit to rotate slowly, when the people or the objects leave to shield the robot arm, the damping unit eliminates the relative sliding, and when the control unit detects that the damping unit does not slide relatively, the driving unit drives the arm unit to recover to a normal motion state.
Description
Technical Field
The utility model belongs to the technical field of robots, and particularly relates to a robot arm. The utility model also relates to a robot.
Background
This section provides background information related to the present disclosure only and is not necessarily prior art.
Along with the continuous development of the robot industry, various robots such as companions, entertainment and cartoons are more and more involved in the life and work of people, and because the working scenes of the companions, the entertainment and the cartoons are open and close to users, the robots can be in close contact with people when dancing and waving arms during the interaction with people, under the condition, the problem that how to prevent the arms of the robots from contacting the physical ability of the people to stop and the hitting power of the people does not cause pain is very critical is solved.
SUMMERY OF THE UTILITY MODEL
The utility model aims to at least solve the problem that the robot arm may cause harm to people when the robot is used in the prior art, and the aim is realized by the following technical scheme:
a first aspect of the present invention provides a robot arm including:
an arm unit;
the driving unit comprises an output end used for driving the arm unit to rotate;
the damping unit comprises a first connecting piece and a second connecting piece which are coaxially arranged, the first connecting piece and the second connecting piece are connected in a mutual friction mode, the first connecting piece is connected with the output end of the driving unit, and the second connecting piece is connected with the arm unit;
the control unit comprises a controller and a sensor used for monitoring the position of the first connecting piece and the position of the second connecting piece, and the controller is electrically connected with the sensor and the driving unit.
The robot arm provided by the utility model is additionally provided with the damping unit on the basis of the original robot arm to be connected with the arm unit and the driving unit, and when no person or object is shielded, the driving unit drives the arm unit to swing back and forth under the transmission action of the damping unit; when the arm unit is shielded by people or objects, the first connecting piece and the second connecting piece of the damping unit slide relatively, when the control unit detects that the relative sliding occurs in the damping unit, the control unit controls the driving unit to rotate slowly, when the people or the objects leave to shield the robot arm, the damping unit eliminates the relative sliding, and when the control unit detects that the damping unit does not slide relatively, the driving unit drives the arm unit to recover to a normal motion state.
In addition, the robot arm according to the present invention may further have the following additional technical features:
in some embodiments of the present invention, the first connecting member includes at least one friction plate connected to the output end, the second connecting member includes a set screw connected to the arm unit and at least one friction plate connected to the set screw, and the friction plate are frictionally connected to each other.
In some embodiments of the present invention, the damping unit further comprises a friction force adjusting mechanism, the friction force adjusting mechanism is connected with the fixing screw, and the adjusting mechanism adjusts the friction force between the friction plate and the friction disc by adjusting the axial force applied to the friction plate.
In some embodiments of the present invention, the friction force adjusting mechanism includes an adjusting nut and a disc spring, the adjusting nut and the disc spring are sleeved outside the fixing screw, one axial end of the disc spring abuts against the friction plate, the other axial end of the disc spring abuts against the adjusting nut, and the adjusting nut is slidably sleeved outside the fixing screw.
In some embodiments of the present invention, the friction force adjusting mechanism further includes a limiting plate sleeved outside the fixing screw, the limiting plate includes a circular disc plate and a limiting plate annularly disposed at an outer edge of the circular disc plate, and the disc spring is clamped in an area surrounded by the limiting plate.
In some embodiments of the present invention, the number of the friction disc is one, the number of the friction discs is two, the two friction discs are coaxially arranged at intervals, the friction disc is sandwiched between the two friction discs, and two ends of the friction disc are respectively connected with the two friction discs in a mutual friction manner.
In some embodiments of the utility model, the drive unit comprises a servo motor, and the output is an output shaft of the servo motor.
In some embodiments of the present invention, the arm unit includes an arm main body and a rotation shaft connected to the arm main body, and the rotation shaft is connected to the second connector.
In some embodiments of the present invention, the friction force adjusting mechanism further includes a washer sleeved outside the fixing screw, and the washer is clamped between the disc spring and the adjusting nut.
A second aspect of the present invention provides a robot comprising:
a robot main body;
at least one robot arm, the robot arm being the robot arm set forth in the first aspect of the present invention, the robot arm being mounted to the robot main body.
The robot provided by the second aspect of the present invention has the same advantages as the robot arm provided by the first aspect of the present invention, and details are not described herein.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the utility model
Limitation of utility model. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
fig. 1 schematically shows a schematic structural view of a robot according to an embodiment of the utility model;
FIG. 2 schematically illustrates a partial cross-sectional view of section A of FIG. 1;
the reference symbols in the drawings denote the following:
100: a robot;
10: a drive unit;
20: damping unit, 21: friction plate, 22: friction disc, 23: set screw, 24: adjusting nut, 25: disc spring, 26: spacing piece, 27: a gasket;
30: arm unit, 31: rotation axis, 32: an arm body.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, an element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "inner", "side", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 to 2, a first aspect of the present invention provides a robot arm, where the robot arm includes an arm unit 30, a driving unit 10, a damping unit 20, and a control unit, the driving unit 10 includes an output end for driving the arm unit 30 to rotate, the damping unit 20 includes a first connecting member and a second connecting member coaxially disposed, the first connecting member and the second connecting member are connected in a mutual friction manner, the first connecting member is connected with the output end of the driving unit 10, the second connecting member is connected with the arm unit 30, the control unit includes a controller and a sensor for monitoring a position of the first connecting member and a position of the second connecting member, and the controller is electrically connected with the sensor and the driving unit 10.
The robot arm provided by the utility model is additionally provided with the damping unit 20 on the basis of the original robot arm to connect the arm unit 30 and the driving unit 10, and when no person or object is shielded, the driving unit 10 drives the arm unit 30 to swing back and forth under the transmission action of the damping unit 20; when the arm unit 30 is blocked by a person or an object, the first connecting piece and the second connecting piece of the damping unit 20 slide relatively, when the control unit detects that the relative sliding occurs in the damping unit 20, the control unit controls the driving unit 10 to rotate slowly, when the robot arm is blocked by the person or the object after being removed, the damping unit 20 eliminates the relative sliding, and when the control unit detects that the damping unit 20 does not slide relatively, the driving unit 10 drives the arm unit 30 to return to a normal motion state.
When the robot arm meets with a person or an object, the arm unit 30 stops rotating when being blocked, the driving unit 10 continues rotating, the second connecting piece connected with the arm unit 30 and the first connecting piece connected with the driving unit 10 slide and rotate relatively, the control unit detects that the damping unit 20 slides relatively, and the driving unit 10 is controlled to rotate slowly at an ultra-low speed; when people or objects leave the space to shield the arms, the arm units 30 rotate again, the relative rotation sliding between the second connecting piece and the first connecting piece connected with the arm units 30 disappears, the first detected damping first inner part has no relative sliding, the driving unit 10 rotates normally, and the driving unit 10 drives the arm units 30 to move normally and automatically synchronously through the damping unit 20.
In some embodiments of the utility model, the first connector comprises at least one friction disc 22 connected to the output end, the friction disc 22 may be a stainless steel friction disc 22, and the second connector has a fixing screw 23 and at least one friction disc 21 connected to the fixing screw 23, the fixing screw 23 is connected to the arm unit 30, and the friction disc 22 and the friction disc 21 are connected in a mutual friction manner. The friction plate 21 and the friction disc 22 are in friction connection to achieve a damping effect, the arm unit 30 can stop moving in time when being blocked, and the friction force between the friction plate 21 and the friction disc 22 is preset according to actual conditions.
In some embodiments of the present invention, the damping unit 20 further includes a friction force adjusting mechanism for adjusting the friction force between the friction plates 21 and the friction plates 22. The friction force adjusting mechanism is adjusted according to different conditions, and adaptability is improved.
The damping unit further comprises a friction force adjusting mechanism connected to the set screw 23, the adjusting mechanism adjusting the friction force between the friction plates 21 and the friction discs 22 by adjusting the axial force applied to the friction plates 21.
In some embodiments of the present invention, the friction force adjusting mechanism includes an adjusting nut 24 and a disc spring 25, which are sleeved outside the fixing screw 23, one axial end of the disc spring 25 abuts against the friction plate 21, the other axial end of the disc spring 25 abuts against the adjusting nut 24, and the adjusting nut 24 is slidably sleeved outside the fixing screw 23. The adjusting nut 24 is rotated to press the disc spring 25, so that the friction force between the friction plate 21 and the friction disc 22 is adjusted, the whole structure is simple, and the applicability is good.
In some embodiments of the present invention, the friction force adjusting mechanism further includes a limiting sheet 26 sleeved outside the fixing screw 23, the limiting sheet 26 includes a circular disc plate and a limiting plate disposed around the outer edge of the circular disc plate, and the disk spring 25 is clamped in an area surrounded by the limiting plate. The disc spring 25 is prevented from slipping by providing the stopper piece 26.
In some embodiments of the present invention, the number of the friction plates 22 is one, the number of the friction plates 21 is two, the two friction plates 21 are coaxially arranged at intervals, the friction plate 22 is sandwiched between the two friction plates 21, and two ends of the friction plate 22 are respectively connected with the two friction plates 21 in a mutual friction manner. The friction plates 22 are clamped by the two friction plates 21, so that the axial direction of the friction plates is skillfully limited, and the compactness of the device is improved.
In some embodiments of the present invention, the drive unit 10 comprises a servo motor, and the output is an output shaft of the servo motor. The servo motor has a simple structure and long service life, and can execute a complex operation mode according to the instruction of the control unit.
In some embodiments of the present invention, arm unit 30 includes an arm body 32 and a rotation shaft 31 connected to arm body 32, and rotation shaft 31 is connected to the second connection member. The structure is simple and compact by connecting the rotating shaft 31 with the second connecting piece.
In some embodiments of the present invention, the friction force adjusting mechanism further comprises a washer 27 sleeved outside the fixing screw 23, the washer 27 is sandwiched between the disc spring 25 and the adjusting nut 24, and the washer 27 is arranged to reduce the abrasion of the disc spring 25.
A second aspect of the utility model proposes a robot 100, the robot 100 comprising:
a robot main body;
at least one robot arm, the robot arm being a robot arm according to the first aspect of the present invention, the robot arm being mounted to the robot main body.
The robot 100 according to the second aspect of the present invention has the same advantages as the robot arm according to the first aspect of the present invention, and therefore, the detailed description thereof is omitted.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A robot arm, characterized in that the robot arm comprises:
an arm unit;
the driving unit comprises an output end used for driving the arm unit to rotate;
the damping unit comprises a first connecting piece and a second connecting piece which are coaxially arranged, the first connecting piece and the second connecting piece are connected in a mutual friction mode, the first connecting piece is connected with the output end of the driving unit, and the second connecting piece is connected with the arm unit;
the control unit comprises a controller and a sensor used for monitoring the position of the first connecting piece and the position of the second connecting piece, and the controller is electrically connected with the sensor and the driving unit.
2. A robot arm as claimed in claim 1, wherein the first connection member comprises at least one friction disc connected to the output end, the second connection member comprises a set screw connected to the arm unit and at least one friction disc connected to the set screw, the friction disc and the friction disc being frictionally connected to each other.
3. A robot arm as claimed in claim 2, wherein the damping unit further comprises a friction force adjustment mechanism coupled to the set screw, the adjustment mechanism adjusting the friction force between the friction plates and the friction discs by adjusting the axial force applied to the friction plates.
4. A robot arm as claimed in claim 3, wherein the frictional force adjustment mechanism comprises an adjustment nut and a disc spring which are fitted around the outer side of the fixing screw, one axial end of the disc spring abuts against the friction plate, the other axial end of the disc spring abuts against the adjustment nut, and the adjustment nut is slidably fitted around the outer side of the fixing screw.
5. A robot arm as claimed in claim 4, wherein the friction force adjustment mechanism further comprises a limiting plate sleeved outside the fixing screw, the limiting plate comprises a disc plate and a limiting plate annularly arranged at the outer edge of the disc plate, and the disc spring is clamped in an area surrounded by the limiting plate.
6. A robot arm as claimed in claim 2, wherein said friction disc is one in number, said friction plates are two in number, said friction plates are coaxially spaced apart, said friction disc is sandwiched between said friction plates, and both ends of said friction disc are frictionally coupled to said friction plates, respectively.
7. A robot arm as claimed in any of claims 1 to 6, wherein the drive unit comprises a servo motor and the output is an output shaft of the servo motor.
8. A robot arm as claimed in any of claims 1 to 6, wherein the arm unit comprises an arm body and a rotary shaft connected to the arm body, the rotary shaft being connected to the second link.
9. A robot arm as claimed in claim 4 or 5, wherein the friction force adjustment mechanism further comprises a washer sleeved outside the set screw, the washer being sandwiched between the belleville spring and the adjustment nut.
10. A robot, characterized in that the robot comprises:
a robot main body;
at least one robot arm according to any one of claims 1 to 9, the robot arm being mounted to the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120204727.7U CN215968842U (en) | 2021-01-25 | 2021-01-25 | Robot arm and robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120204727.7U CN215968842U (en) | 2021-01-25 | 2021-01-25 | Robot arm and robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215968842U true CN215968842U (en) | 2022-03-08 |
Family
ID=80567466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120204727.7U Active CN215968842U (en) | 2021-01-25 | 2021-01-25 | Robot arm and robot with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215968842U (en) |
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2021
- 2021-01-25 CN CN202120204727.7U patent/CN215968842U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231220 Address after: 100600 District C, Qiankun Building, Chaoyang District, Beijing Patentee after: Beijing Weimo Zhuoran Technology Co.,Ltd. Address before: 101100 rooms 1-6, building 1, courtyard 3, binhuibei 1st Street, Tongzhou District, Beijing Patentee before: Teslan Technology Group Co.,Ltd. |
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| TR01 | Transfer of patent right |