CN216030915U - Robot arm and robot - Google Patents
Robot arm and robot Download PDFInfo
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- CN216030915U CN216030915U CN202123073978.5U CN202123073978U CN216030915U CN 216030915 U CN216030915 U CN 216030915U CN 202123073978 U CN202123073978 U CN 202123073978U CN 216030915 U CN216030915 U CN 216030915U
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Abstract
The utility model provides a robot arm and a robot, wherein the robot arm comprises a trunk connecting piece, an arm joint piece, a hand arm piece and a paw piece; the paw piece is fixedly arranged at one end of the arm piece, the other end of the arm piece is fixedly arranged on the arm joint piece, and the arm joint piece is rotatably connected to the trunk connecting piece; the arm joint part comprises a joint upper shell and a joint lower shell, and the joint upper shell and the joint lower shell are covered and connected; one of the upper joint shell and the lower joint shell is provided with a joint groove, and the other one is provided with a joint bulge which is inserted into the joint groove so as to limit the relative displacement of the upper joint shell and the lower joint shell on the covering surface; one of joint epitheca and joint inferior valve is equipped with first buckle, and another is equipped with first fixture block, and first fixture block joint is in first buckle to restriction joint epitheca and joint inferior valve break away from mutually. The robot arm and the robot provided by the utility model have the advantages of simple assembly process and concise and attractive appearance.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a robot arm and a robot.
Background
The existing robot often needs to be provided with a hand arm part, the hand arm part is usually connected through a threaded screw, the assembling process is complicated, the screw is exposed, and the attractiveness is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a robot arm and a robot, which are used for overcoming the defects that the robot arm is complex to assemble and not attractive in the prior art.
The present invention provides a robot arm, including: a trunk connecting piece, an arm joint piece, a hand arm piece and a paw piece; the paw piece is fixedly arranged at one end of the arm piece, the other end of the arm piece is fixedly arranged on the arm joint piece, and the arm joint piece is rotatably connected to the trunk connecting piece; the arm joint piece comprises a joint upper shell and a joint lower shell, and the joint upper shell and the joint lower shell are connected in a covering mode; one of the joint upper shell and the joint lower shell is provided with a joint groove, and the other joint upper shell and the joint lower shell are provided with joint protrusions which are inserted into the joint groove so as to limit the relative displacement of the joint upper shell and the joint lower shell on a covering surface; one of the joint upper shell and the joint lower shell is provided with a first buckle, the other one of the joint upper shell and the joint lower shell is provided with a first clamping block, and the first clamping block is clamped on the first buckle to limit the joint upper shell and the joint lower shell to be separated from each other.
According to the robot arm provided by the utility model, the robot arm further comprises: a drive motor mounted to the trunk link; the motor shaft comprises a shaft coupler, a motor shaft body and a motor shaft body, wherein the shaft coupler is provided with a first shaft section and a clamping shaft section, the first shaft section is provided with a motor mounting hole, and the outer surface of the clamping shaft section is provided with a first plane and/or a first positioning groove; the joint upper shell is provided with a first upper groove, the joint lower shell is provided with a first lower groove, the first upper groove or the first lower groove is provided with a second plane and/or a first positioning block, and the first upper groove and the first lower groove are covered to form a first connecting part; the output shaft of the driving motor is installed in the motor installation hole, the clamping shaft section is installed on the first connecting portion, the first plane abuts against the second plane, and/or the first positioning block is inserted in the first positioning groove.
The robot arm provided by the utility model further comprises a reinforcing shaft; the coupler is also provided with a second shaft section, the first shaft section, the clamping shaft section and the second shaft section are sequentially connected, and the second shaft section is provided with a reinforcing shaft mounting hole; one end of the reinforcing shaft is installed in the reinforcing shaft installation hole, and the other end of the reinforcing shaft is installed in the arm joint piece.
According to the robot arm provided by the utility model, the arm piece comprises an upper arm shell and a lower arm shell, and the upper arm shell and the lower arm shell are connected in a covering manner; one of the arm upper shell and the arm lower shell is provided with an arm bulge, the other one of the arm upper shell and the arm lower shell is provided with an arm groove, and the arm bulge is inserted into the arm groove so as to limit the relative displacement of the arm upper shell and the arm lower shell on the covering surface; one of the arm upper shell and the arm lower shell is provided with a second buckle, the other one is provided with a second clamping block, and the second clamping block is clamped with the second buckle to limit the arm upper shell and the arm lower shell to be separated from each other.
According to the robot arm provided by the utility model, the arm joint piece is provided with a second connecting part, and the second connecting part is provided with a second positioning groove; the arm upper shell is provided with a second upper groove, the arm lower shell is provided with a second lower groove, and one of the second upper groove and the second lower groove is provided with a second positioning block; the second upper groove and the second lower groove are covered to form a third connecting portion, the second connecting portion is inserted into the third connecting portion, and the second positioning block is inserted into the second positioning groove.
According to the robot arm provided by the utility model, the paw piece is provided with a fifth connecting part, and the fifth connecting part is provided with a third positioning groove; the arm upper shell is provided with a third upper groove, the arm lower shell is provided with a third lower groove, and one of the third upper groove and the third lower groove is provided with a third positioning block; the third upper groove and the third lower groove are covered to form a fourth connecting portion, the fifth connecting portion is inserted into the fourth connecting portion, and the third positioning block is inserted into the third positioning groove.
According to the robot arm provided by the utility model, the paw piece comprises a rubber paw and a paw connecting piece, and the fifth connecting part is arranged on the paw connecting piece; the rubber paw is provided with a stepped shaft, the paw connecting piece is provided with a stepped through hole, and the hole wall of the stepped through hole is provided with a groove; the stepped shaft is inserted into the stepped through hole in an interference manner.
The robot arm provided by the utility model further comprises a joint protection plate, and the joint protection plate is fixedly arranged on the arm joint piece.
The robot arm further comprises an arm protection plate, and the arm protection plate is fixedly arranged on the hand arm piece.
The utility model also provides a robot, which comprises a robot body and the robot arm, wherein the robot arm is arranged on the robot body.
According to the robot arm and the robot, the arm joint piece of the robot arm is formed by combining the joint upper shell and the joint lower shell and fixedly connecting the joint groove, the joint protrusion, the first buckle and the first clamping block, wherein the joint groove and the joint protrusion form limit on the covering plane, so that the joint upper shell and the joint lower shell are prevented from relatively translating or relatively rotating on the covering plane, and the first buckle and the first clamping block are ensured to be buckled; the first buckle and the first clamping block are buckled to form limiting to prevent the joint upper shell and the joint lower shell from being separated from each other. Thereby, arm joint spare only realizes fixed connection through arch, recess, fixture block, buckle structure, need not extra connecting piece such as screw bolt, and the connecting piece all can be hidden inside arm joint spare, makes the outward appearance succinct pleasing to the eye, and assembles the simple and difficult taking off of process.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is an exploded view of a robotic arm provided by the present invention;
FIG. 2 is a schematic structural diagram of a robot arm provided by the present invention;
FIG. 3 is a schematic structural view of a superior articular shell provided by the present invention;
FIG. 4 is a schematic view of the inferior articular shell construction provided by the present invention;
FIG. 5 is a schematic structural view of a coupling provided by the present invention;
FIG. 6 is a schematic structural diagram of an arm top shell according to the present invention;
FIG. 7 is a schematic view showing the construction of the inferior shell of the arm provided by the present invention;
FIG. 8 is a schematic view of a gripper connection according to the present invention;
FIG. 9 is a second schematic view of the structure of the paw connecting element provided by the utility model;
fig. 10 is a schematic structural view of the rubber paw provided by the utility model.
Reference numerals:
100: a trunk connector; 200: a drive motor; 300: a deep groove ball bearing; 400: a coupling; 410: a first shaft section; 411: a motor mounting hole; 420: clamping the shaft section; 421: a first positioning groove; 422: a first plane; 430: a second shaft section; 500: a joint superior shell; 501: a first buckle; 502: a first knuckle groove; 503: a second knuckle groove; 504: a third joint groove; 505: a first mounting hole; 506: a second mounting hole; 510: a first upper trough section; 520: a second upper trough section; 521: a first positioning block; 522: a second plane; 530: a third upper trough section; 541: a first boss; 542: an outer cylindrical surface; 550: a mounting base on the reinforcing shaft; 560: a second connection upper portion; 561: a second positioning groove; 600: a inferior articular shell; 601: a first clamping block; 602: a first articular projection; 603: a second articular lobe; 604: a third joint bulge; 605: a first post projection; 610: a first lower trough section; 620: a second lower trough section; 630: a third lower trough section; 640: reinforcing the lower shaft mounting base; 650: a second connecting lower part; 700: reinforcing the shaft; 800: a joint guard plate; 900: an arm upper shell; 901: a first arm recess; 902: a second arm groove; 903: a second buckle; 904: a second column projection; 910: a second upper groove; 911: a second positioning block; 920: a third upper groove; 921: a third positioning block; 1000: a lower arm shell; 1001: a first arm projection; 1002: a second arm projection; 1003: a second fixture block; 1004: a third mounting hole; 1010: a second lower groove; 1020: a third lower groove; 1100: an arm guard plate; 1110: a guard plate body; 1120: a guard plate mounting plate; 1121: a guard plate mounting hole; 1200: a gripper connection member; 1210: a fifth connecting part; 1211: a third positioning groove; 1212: a third plane; 1220: a stepped through hole; 1221: a second boss; 1222: a stepped through-hole groove; 1300: a rubber gripper; 1310: a claw portion; 1321: a third boss; 1322: a first step shaft section; 1323: a second stepped shaft section.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The robot arm of the present invention is described below with reference to fig. 1 to 10.
The utility model provides a robot arm, which comprises a trunk connecting piece 100, an arm joint piece, a hand arm piece and a hand claw piece. The gripper member is fixedly mounted to one end of the arm member, and the other end of the arm member is fixedly mounted to an arm joint member that is rotatably connected to the trunk connection member 100. Wherein, arm joint spare includes joint epitheca 500 and joint inferior valve 600, and joint epitheca 500 and joint inferior valve 600 lid close the connection, and one in joint epitheca 500 and the joint inferior valve 600 is equipped with the joint recess, and another is equipped with the joint arch, and the joint arch is inserted and is located the joint recess to the relative displacement of restriction joint epitheca 500 and joint inferior valve 600 on the face of closing. One of the joint upper shell 500 and the joint lower shell 600 is provided with a first buckle 501, the other one is provided with a first clamping block 601, and the first buckle 501 is clamped on the first clamping block 601 to limit the joint upper shell 500 and the joint lower shell 600 to be separated from each other.
As shown in fig. 1 and 2, the arm joint member, the arm member and the paw member are two members, and the trunk link 100 is a plate member, and the arm joint members are respectively connected to the left and right sides of the trunk link 100, so that the two arms and the trunk link 100 are integrated and further mounted to the body of the robot through the trunk link 100.
As shown in fig. 2, the arm joint member may be a sphere, and the sphere is provided with a connecting portion for connecting the trunk connector 100 and a connecting portion for connecting the arm member. The arm joint members are rotatably connected to the trunk link 100, and during rotation, the arm members and the claw members are driven together to circumferentially swing around the side surfaces of the trunk link 100.
As shown in fig. 1, 3 and 4, the arm joint component includes a joint upper shell 500 and a joint lower shell 600, the joint upper shell 500 and the joint lower shell 600 may be hemispherical shells, and the upper and lower shells are combined and fixedly connected to form a complete arm joint component.
The joint upper shell 500 and the joint lower shell 600 are fixedly connected through the joint protrusion and the joint groove, and the first buckle 501 and the first latch 601. For example, in one embodiment, as shown in fig. 3 and 4, a first latch 601 is disposed on an inner sidewall of the inferior articular shell 600, and the first latch 601 may be triangular or trapezoidal; the inner side wall of the joint upper shell 500 is provided with a first buckle 501, and when the joint upper shell 500 and the joint lower shell 600 are covered, the direction of the joint upper shell 500 relative to the joint lower shell 600 is upward, and then the first buckle 501 extends downward and exceeds the spherical shell of the joint lower shell 600. The first buckle 501 is provided with a notch-shaped bayonet facing the spherical shell wall of the arm joint component. Therefore, when the joint upper shell 500 and the joint lower shell 600 are closed, the first latch 601 is accommodated in the bayonet of the first buckle 501, and when the joint upper shell 500 and the joint lower shell 600 do not rotate relatively on the closed surface, the first buckle 501 and the first latch 601 are kept buckled, so that the joint upper shell 500 and the joint lower shell 600 cannot be separated.
As shown in fig. 3 and 4, the joint upper shell 500 has a first joint groove 502 on the thickness surface of the shell, the first joint groove 502 is arc-shaped, the joint lower shell 600 has a first joint protrusion 602 on the thickness surface of the shell, and the first joint protrusion 602 is arc-shaped to match the first joint groove 502. It can be understood that the thickness surfaces of the joint upper shell 500 and the joint lower shell 600 are covering planes, the first joint protrusion 602 is inserted into the first joint groove 502, and the groove wall of the first joint groove 502 limits the relative displacement of the joint upper shell 500 and the joint lower shell 600 on the covering planes, so as to play a role in positioning during assembly and avoid the rotation and separation of the first buckle 501 and the first fixture block 601.
Wherein, the protruding cooperation of joint recess and joint to and the cooperation of first buckle 501 and first fixture block 601 can be interference fit, and joint epitheca 500 and joint inferior valve 600 can be the injection molding, thereby first fixture block 601, first joint arch 602 etc. have certain elasticity, insert and take place slight elastic deformation and chucking when locating corresponding bayonet socket or recess, with the fixed connection who consolidates joint epitheca 500 and joint inferior valve 600.
In addition, the hand arm piece and the hand claw piece can be two parts formed by assembling a plurality of parts, and the hand claw piece, the hand arm piece and the arm joint piece are connected in sequence to form an arm. The arm member and the paw member may also be an integral piece that is directly connected to the arm joint member to form an arm. The claw member may be constructed in various shapes such as a claw shape, a shovel shape, etc.
The robot arm provided by the embodiment of the utility model can be used for robots such as educational robots, toy robots and guest welcoming robots, has a degree of freedom, and can swing up and down when being mounted on a robot body to play a decorative role. The arm joint part is formed by covering the joint upper shell 500 and the joint lower shell 600 and fixedly connecting the joint groove and the joint protrusion as well as the first buckle 501 and the first fixture block 601, wherein the joint groove and the joint protrusion form a limit position on a covering plane so as to prevent the joint upper shell 500 and the joint lower shell 600 from relatively translating or relatively rotating on the covering plane and ensure that the first buckle 501 and the first fixture block 601 are kept buckled; the first buckle 501 and the first latch 601 are buckled to form a limit perpendicular to the covering plane, so as to prevent the joint upper shell 500 and the joint lower shell 600 from being separated from each other. Thereby, arm joint spare only realizes fixed connection through arch, recess, fixture block, buckle structure, need not extra connecting piece such as screw bolt, and the connecting piece all can be hidden inside arm joint spare, makes the outward appearance succinct pleasing to the eye, and assembles the simple and difficult taking off of process.
On the basis of the above embodiments, optionally, in some embodiments of the utility model, the robot arm further includes: and a driving motor 200, wherein the driving motor 200 is installed on the trunk connecting member 100. The shaft coupling 400 is provided with a first shaft section 410 and a clamping shaft section 420, the first shaft section 410 is provided with a motor mounting hole 411, and the outer surface of the clamping shaft section 420 is provided with a first plane 422 and/or a first positioning groove 421. The joint upper shell 500 is provided with a first upper groove, the joint lower shell 600 is provided with a first lower groove, the first upper groove or the first lower groove is provided with a second plane 522 and/or a first positioning block 521, and the first upper groove and the first lower groove are covered to form a first connecting part. The output shaft of the driving motor 200 is installed in the motor installation hole 411, the clamping shaft section 420 is installed in the first connection portion, the first plane 422 abuts against the second plane 522, and/or the first positioning block 521 is inserted into the first positioning groove 421.
It can be understood that there are two drive motors 200 and two couplings 400, as shown in fig. 1 and 2, the two drive motors 200 are installed at the left and right sides of the trunk connecting member 100, and the motor output shafts of the two drive motors 200 are opposite to each other.
As shown in fig. 5, the coupling 400 includes at least a first shaft segment 410 and a snap shaft segment 420. Wherein, the output shaft of the motor is inserted into the motor mounting hole 411 on the end surface of the first shaft section 410. Optionally, the cross sections of the motor output shaft and the motor mounting hole 411 are both D-shaped, so that the motor output shaft and the motor mounting hole 411 are fixedly connected to drive the whole coupler 400 to rotate.
The snap shaft section 420 and the first shaft section 410 are in turn connected, wherein the snap shaft section 420 and the first shaft section 410 may form a stepped shaft and the snap shaft section 420 may be constructed in various shapes. For example, in one embodiment, the snap shaft segment 420 has a "D" shaped cross-section with a first flat 422 being a flat portion of the outer surface thereof. In another embodiment, the snap shaft segment 420 is a square or polygonal shaft having a plurality of first flats 422 disposed thereon. In yet another embodiment, the snap shaft segment 420 is a cylindrical shaft, and the outer surface thereof is provided with a first positioning groove 421. In yet another embodiment, as shown in fig. 5, the outer surface of the clamping shaft segment 420 is provided with a first plane 422 and an arc-shaped surface, so as to form a shaft segment with a "D" shaped cross section, and the arc-shaped outer surface is provided with a first positioning groove 421.
As shown in fig. 1, 3 and 4, the joint superior shell 500 and the joint inferior shell 600 are provided with a first superior groove and a first inferior groove, respectively. When the joint upper shell 500 and the joint lower shell 600 are covered, the first upper groove and the first lower groove notch are oppositely covered to form a first connecting part. It can be understood that the first connecting portion is configured as a through hole corresponding to the outer surface of the coupler 400, the coupler 400 is inserted and fixed in the first connecting portion, and when the motor output shaft drives the whole coupler 400 to rotate, the coupler 400 drives the whole arm joint member to rotate.
It is understood that the first upper groove and the first lower groove are respectively provided with a plurality of sections to be respectively engaged with the first shaft section 410 and the clamping shaft section 420. For example, in one embodiment, as shown in fig. 3, 4 and 5, the snap shaft section 420 and the first shaft section 410 form a stepped shaft, the first shaft section 410 is cylindrical, and the outer surface of the snap shaft section 420 is provided with a first plane 422 and a first positioning groove 421. The first upper groove is provided with a first upper groove section 510 and a second upper groove section 520 and the first lower groove is provided with a first lower groove section 610 and a second lower groove section 620. The cross sections of the first upper groove section 510 and the first lower groove section 610 are the same semicircular shape, the second upper groove section 520 is provided with a second plane 522 and a first positioning block 521, and the cross section of the second lower groove section 620 is semicircular. When the joint upper shell 500 and the joint lower shell 600 are closed, the first upper groove and the first lower groove notch are oppositely closed, the first upper groove section 510 and the first lower groove section 610 form a through hole for accommodating the first shaft section 410, and the second upper groove section 520 and the second lower groove section 620 form a through hole for accommodating the snap-in shaft section 420. When the coupler 400 is installed, the coupler 400 is connected to the joint upper shell 500, the first shaft section 410 is accommodated in the first upper groove section 510, the clamping shaft section 420 is accommodated in the second upper groove section 520, the first plane 422 is opposite to the second plane 522, and the first positioning block 521 is inserted into the first positioning groove 421. And then the joint lower shell 600 is snapped to the joint upper shell 500, thereby completing the fixed connection of the arm joint member and the coupling 400. When the shaft coupling 400 rotates, the first plane 422 and the first positioning groove 421 drive the whole arm joint to rotate.
It is understood that the first positioning block 521 and the second plane 522 can also be provided on the second lower groove section 620. When snap shaft segment 420 is configured in a different shape, second upper groove segment 520 and second lower groove segment 620 are configured in a shape corresponding to snap shaft segment 420.
On the basis of the above embodiment, optionally, the robot arm further includes a reinforcing shaft 700, the coupler 400 is further provided with a second shaft section 430, the first shaft section 410, the clamping shaft section 420 and the second shaft section 430 are sequentially connected, and the second shaft section 430 is provided with a reinforcing shaft mounting hole. One end of the reinforcing shaft 700 is installed in the reinforcing shaft installation hole, and the other end is installed in the arm joint.
The reinforcing shaft 700 may be a linear shaft and is installed in the arm joint to reinforce the structural strength of the arm joint.
As shown in fig. 5, the second shaft segment 430 and the first shaft segment 410 are respectively disposed at two sides of the clamping shaft segment 420, and the second shaft segment 430 is provided with a reinforcing shaft mounting hole (not shown). Correspondingly, the first upper groove is further provided with a third upper groove section 530, the first lower groove is further provided with a third lower groove section 630, and the third upper groove section 530 and the third lower groove section 630 form a through hole for accommodating the second shaft section 430. In addition, the joint upper shell 500 is further provided with a reinforcing shaft upper mounting seat 550, the joint lower shell 600 is further provided with a reinforcing shaft lower mounting seat 640, the reinforcing shaft upper mounting seat 550 and the reinforcing shaft lower mounting seat 640 are covered to form a complete reinforcing shaft mounting seat, and the other end of the reinforcing shaft 700 is inserted into the reinforcing shaft mounting seat.
On the basis of the above embodiment, optionally, second joint grooves 503 are provided on both sides of the third upper groove section 530, second joint protrusions 603 are provided on both sides of the third lower groove section 630, and the second joint protrusions 603 are inserted into the second joint grooves 503 to reinforce the connection between the joint upper shell 500 and the joint lower shell 600.
On the basis of the above embodiment, optionally, the outer surface of the first connecting part is provided with a bearing mounting surface. As shown in fig. 3, the joint upper shell 500 is provided with a first boss 541 and a cylindrical outer surface 542, and the joint lower shell 600 is correspondingly provided with a boss and a cylindrical outer surface (not shown), so that the arm joint member forms a bearing mounting surface at the outer surface of the first coupling portion. As shown in fig. 1 and 2, the bearing mounting surface can be used for connecting with a deep groove ball bearing 300, and the first boss 541 is used for forming an axial limit for the deep groove ball bearing 300.
Based on the above embodiments, optionally, in some embodiments of the present invention, the arm piece includes an arm upper shell 900 and an arm lower shell 1000, and the arm upper shell 900 and the arm lower shell 1000 are covered and connected. One of the arm upper shell 900 and the arm lower shell 1000 is provided with an arm protrusion, and the other is provided with an arm groove, and the arm protrusion is inserted into the arm groove to limit the relative displacement of the arm upper shell 900 and the arm lower shell 1000 on the covering surface. One of the arm superior shell 900 and the arm inferior shell 1000 is provided with a second buckle 903, the other one is provided with a second clamping block 1003, and the second clamping block 1003 is clamped on the second buckle 903 so as to limit the arm superior shell 900 and the arm inferior shell 1000 to be separated from each other.
As shown in fig. 6 and 7, the upper arm shell 900 and the lower arm shell 1000 may be two semi-cylindrical shells, and the two shells are covered and combined to form a cylindrical hand arm member.
The arm upper shell 900 and the arm lower shell 1000 are also fixedly connected through an arm groove and an arm protrusion, and a second latch 903 and a second latch 1003, for example, as shown in fig. 6 and 7, the arm upper shell 900 is provided with a first arm groove 901, a second arm groove 902, a second latch 903 and a second latch 904, and the arm lower shell 1000 is correspondingly provided with a first arm protrusion 1001, a second arm protrusion 1002, a second latch 1003 and a third mounting hole 1004. The first arm groove 901 and the second arm groove 902 are strip-shaped grooves formed in the thick surface of the arm upper shell 900, and correspondingly, the first arm protrusion 1001 and the second arm protrusion 1002 are strip-shaped protrusions formed in the arm lower shell 1000. The direction of arm epitheca 900 for arm inferior valve 1000 is the top when using arm epitheca 900 and arm inferior valve 1000 to cover, and second buckle 903 is located the inside wall of arm epitheca 900 and extends to surpassing arm epitheca 900 downwards, is equipped with the bayonet socket of groove shape on second buckle 903. The second latch 1003 is disposed on the inner sidewall of the inferior arm shell 1000, the second latch 1003 may be triangular, trapezoidal or other shapes, and the second latch 1003 provides a latching surface protruding from the inner sidewall of the inferior arm shell 1000.
During installation, the second clamping block 1003 is accommodated in the bayonet of the second buckle 903, so that the second clamping block 1003 is clamped in the second buckle 903, the first arm protrusion 1001 is inserted into the first arm groove 901, and the second arm protrusion 1002 is inserted into the second arm groove 902. So that the arm upper case 900 and the arm lower case 1000 pass through the arm protrusion and the arm groove. Second buckle 903 and second fixture block 1003 fixed connection, wherein arm protrusion and arm recess have restricted arm epitheca 900 and arm inferior valve 1000 and have closed the relative displacement on the face at the lid, play the positioning action of assembly and ensure that second buckle 903 and second fixture block 1003 can the lock, second buckle 903 and second fixture block 1003 lock form perpendicular to lid and close planar spacing to avoid arm epitheca 900 and arm inferior valve 1000 to break away from each other.
The arm piece of the robot arm provided by the embodiment of the utility model is simple to assemble, and the clamping groove and the protrusion which are used as the connecting structure are arranged in the arm piece, so that the appearance is simple and attractive.
On the basis of the above embodiments, optionally, in some embodiments of the present invention, the arm joint member is provided with a second connecting portion, and the second connecting portion is provided with a second positioning groove 561. The arm upper shell 900 is provided with a second upper groove 910, the arm lower shell 1000 is provided with a second lower groove 1010, and one of the second upper groove 910 and the second lower groove 1010 is provided with a second positioning block 911 corresponding to the second positioning groove 561. The second upper groove 910 and the second lower groove 1010 are covered to form a third connecting portion, the second connecting portion is inserted into the third connecting portion, and the second positioning block 911 is inserted into the second positioning groove 561.
The second connecting portion may be formed by splicing the joint upper shell 500 and the joint lower shell 600. For example, as shown in fig. 3 and 4, the edge of the joint upper shell 500 is provided with a second connecting upper portion 560, the second connecting upper portion 560 is an L-shaped bent plate, a first section of the second connecting upper portion is provided on the end surface of the joint upper shell 500, a second section of the second connecting upper portion is perpendicular to the first section, and the edge of the second section is provided with a second positioning groove 561; the border of joint inferior valve 600 is equipped with second connection lower part 650, and second connection lower part 650 is the plate of "L" type bending, and the terminal surface of joint inferior valve 600 is located to its first section, and the second section perpendicular to first section. When the superior articular shell 500 and the inferior articular shell 600 are closed, a first segment of the second coupling upper portion 560 and a first segment of the second coupling lower portion 650 overlap and a second segment of the second coupling upper portion 560 and a second segment of the second coupling lower portion 650 are flush with each other. Optionally, a first section of the second upper connecting portion 560 is provided with a third joint groove 504 and a first mounting hole 505, a first section of the second lower connecting portion 650 is provided with a third joint protrusion 604 and a first column protrusion 605, the third joint protrusion 604 is inserted into the third joint groove 504, and the first column protrusion 605 is inserted into the first mounting hole 505, so as to reinforce the connection between the upper joint shell 500 and the lower joint shell 600.
As shown in fig. 9 and 10, the arm upper shell 900 is provided with a second upper groove 910, a second positioning block 911 is provided at the bottom of the second upper groove 910, and the arm lower shell 1000 is provided with a second lower groove 1010. During assembly, the joint upper shell 500 and the joint lower shell 600 are first mounted on the coupler 400, then the second section of the second connecting upper portion 560 is inserted into the second upper groove 910, the second positioning block 911 is inserted into the second positioning groove 561, and then the arm lower shell 1000 is covered and connected to the arm upper shell 900, so that the second section of the second connecting lower portion 650 is inserted into the second lower groove 1010. The first section of the second coupling upper portion 560 and the first section of the second coupling lower portion 650 are sandwiched between the arm upper shell 900 and the arm lower shell 1000.
On the basis of the above embodiments, optionally, in some embodiments of the present invention, the gripper member is provided with a fifth connecting portion 1210, and the fifth connecting portion 1210 is provided with a third positioning groove 1211; the arm upper shell 900 is provided with a third upper groove 920, the arm lower shell 1000 is provided with a third lower groove 1020, and one of the third upper groove 920 and the third lower groove 1020 is provided with a third positioning block 921 corresponding to the third positioning groove 1211. The third upper groove 920 and the third lower groove 1020 are covered to form a fourth connecting portion, the fifth connecting portion 1210 is inserted into the fourth connecting portion, and the third positioning block 921 is inserted into the third positioning groove 1211.
Wherein, the paw part can be a whole part and is provided with a paw part 1310 and a fifth connecting part 1210; or a single paw and a paw connecting piece 1200 are assembled, and the paw connecting piece 1200 is provided with a fifth connecting part 1210.
In one embodiment, as shown in fig. 8, the fifth connecting portion 1210 may be a boss, and the side surface of the boss may be provided with a third positioning groove 1211 and a third plane 1212. Correspondingly, as shown in fig. 6 and 7, the third upper groove 920 is provided with a third positioning block 921, and a groove wall of one side is a plane. During assembly, the fifth connecting portion 1210 is received in the third upper groove 920, the third positioning block 921 is inserted into the third positioning groove 1211, the third plane 1212 abuts against a plane groove wall of the third upper groove 920, and then the arm lower shell 1000 is covered and connected to the arm upper shell 900, so that another portion of the fifth connecting portion 1210 is received in the third lower groove 1020.
On the basis of the above embodiment, optionally, the gripper unit includes a rubber gripper 1300 and a gripper link 1200, and the fifth connecting portion 1210 is provided in the gripper link 1200. The rubber paw 1300 is provided with a stepped shaft, the paw connecting piece 1200 is provided with a stepped through hole 1220, and the hole wall of the stepped through hole 1220 is provided with a groove. The stepped shaft is inserted into the stepped through hole 1220 with interference.
As shown in fig. 9, the claw coupling 1200 is provided with a through hole for mounting the rubber claw 1300, a second boss 1221 is provided in the through hole to form a stepped through hole 1220, a stepped through hole groove 1222 is provided on a wall of the stepped through hole 1220, and the stepped through hole groove 1222 may be a strip-shaped groove extending in an axial direction of the stepped through hole 1220.
As shown in fig. 10, the rubber gripper 1300 includes a gripper portion 1310 and a stepped shaft connected to the gripper portion 1310 and forming a third boss 1321 at the connection, the stepped shaft being provided with a first stepped shaft section 1322 and a second stepped shaft section 1323. It should be noted that the rubber gripper 1300 may be made of rubber as a whole, or only the stepped shaft portion may be made of rubber.
During assembly, the stepped shaft is inserted into the claw connecting member 1200, the third boss 1321 abuts against the second boss 1221, and the first stepped shaft section 1322 made of rubber is inserted into the stepped through hole 1220 in an interference manner, so that elastic deformation occurs, and therefore, the outer surface part of the first stepped shaft section 1322 is squeezed and filled into the stepped through hole groove 1222, so that the connection between the rubber claw 1300 and the claw connecting member 1200 is more stable.
On the basis of the above embodiment, optionally, as shown in fig. 1 and fig. 2, the arm joint protection device further includes a joint protection plate 800, and the joint protection plate 800 is fixedly mounted on the arm joint. In one embodiment, for example, as shown in fig. 3, the joint upper shell 500 is further provided with a second mounting hole 506, and the joint guard plate 800 is inserted and fixed in the second mounting hole 506. Or, the joint upper shell 500 is further provided with a threaded mounting hole, and the joint guard plate 800 is in threaded connection with the joint upper shell 500.
On the basis of the above embodiment, as shown in fig. 1 and fig. 2, optionally, the hand arm protection plate 1100 is further included, and the arm protection plate 1100 is fixedly mounted on the hand arm piece. For example, as shown in fig. 1, an arm protector 1100 includes a protector body 1110 and a protector mounting plate 1120, and the protector mounting plate 1120 is attached to the protector body 1110. The shield mounting plate 1120 is provided with a shield mounting hole 1121. In assembly, the arm guard 1100 is fixedly attached to the arm member by fitting the guard mounting hole 1121 on the second column protrusion 904 and then connecting and fixing the arm upper shell 900 and the arm lower shell 1000.
In another aspect, the present invention further provides a robot, including a robot body and the robot arm provided in any of the above embodiments, where the robot arm is mounted to the robot body through the trunk connection member 100.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A robotic arm, comprising: a trunk connecting piece, an arm joint piece, a hand arm piece and a paw piece;
the paw piece is fixedly arranged at one end of the arm piece, the other end of the arm piece is fixedly arranged on the arm joint piece, and the arm joint piece is rotatably connected to the trunk connecting piece;
the arm joint piece comprises a joint upper shell and a joint lower shell, and the joint upper shell and the joint lower shell are connected in a covering mode;
one of the joint upper shell and the joint lower shell is provided with a joint groove, and the other joint upper shell and the joint lower shell are provided with joint protrusions which are inserted into the joint groove so as to limit the relative displacement of the joint upper shell and the joint lower shell on a covering surface;
one of the joint upper shell and the joint lower shell is provided with a first buckle, the other joint upper shell and the joint lower shell are provided with a first clamping block, and the first clamping block is clamped on the first buckle so as to limit the joint upper shell and the joint lower shell from being separated from each other;
the robot arm further includes:
a drive motor mounted to the trunk link;
the motor shaft comprises a shaft coupler, a motor shaft body and a motor shaft body, wherein the shaft coupler is provided with a first shaft section and a clamping shaft section, the first shaft section is provided with a motor mounting hole, and the outer surface of the clamping shaft section is provided with a first plane and/or a first positioning groove;
the joint upper shell is provided with a first upper groove, the joint lower shell is provided with a first lower groove, the first upper groove or the first lower groove is provided with a second plane and/or a first positioning block, and the first upper groove and the first lower groove are covered to form a first connecting part;
the output shaft of the driving motor is installed in the motor installation hole, the clamping shaft section is installed on the first connecting portion, the first plane abuts against the second plane, and/or the first positioning block is inserted in the first positioning groove.
2. A robot arm as claimed in claim 1, further comprising a reinforcing shaft;
the coupler is also provided with a second shaft section, the first shaft section, the clamping shaft section and the second shaft section are sequentially connected, and the second shaft section is provided with a reinforcing shaft mounting hole;
one end of the reinforcing shaft is installed in the reinforcing shaft installation hole, and the other end of the reinforcing shaft is installed in the arm joint piece.
3. The robot arm of claim 1, wherein the arm member comprises an upper arm shell and a lower arm shell, and the upper arm shell and the lower arm shell are covered and connected;
one of the arm upper shell and the arm lower shell is provided with an arm bulge, the other one of the arm upper shell and the arm lower shell is provided with an arm groove, and the arm bulge is inserted into the arm groove so as to limit the relative displacement of the arm upper shell and the arm lower shell on the covering surface;
one of the arm upper shell and the arm lower shell is provided with a second buckle, the other one is provided with a second clamping block, and the second clamping block is clamped with the second buckle to limit the arm upper shell and the arm lower shell to be separated from each other.
4. A robot arm as claimed in claim 3, characterized in that the arm joint member is provided with a second connecting portion provided with a second positioning groove;
the arm upper shell is provided with a second upper groove, the arm lower shell is provided with a second lower groove, and one of the second upper groove and the second lower groove is provided with a second positioning block;
the second upper groove and the second lower groove are covered to form a third connecting portion, the second connecting portion is inserted into the third connecting portion, and the second positioning block is inserted into the second positioning groove.
5. A robot arm as claimed in claim 3, characterized in that the gripper member is provided with a fifth connecting portion provided with a third positioning groove;
the arm upper shell is provided with a third upper groove, the arm lower shell is provided with a third lower groove, and one of the third upper groove and the third lower groove is provided with a third positioning block;
the third upper groove and the third lower groove are covered to form a fourth connecting portion, the fifth connecting portion is inserted into the fourth connecting portion, and the third positioning block is inserted into the third positioning groove.
6. A robot arm as claimed in claim 5, wherein the gripper member comprises a rubber gripper and a gripper connector, the fifth connection being provided at the gripper connector;
the rubber paw is provided with a stepped shaft, the paw connecting piece is provided with a stepped through hole, and the hole wall of the stepped through hole is provided with a groove;
the stepped shaft is inserted into the stepped through hole in an interference manner.
7. A robot arm as claimed in claim 1, further comprising a joint guard fixedly mounted to the arm knuckle.
8. A robot arm as claimed in claim 1, further comprising an arm guard fixedly mounted to the hand arm member.
9. A robot comprising a robot body and a robot arm according to any one of claims 1 to 8, the robot arm being mounted to the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123073978.5U CN216030915U (en) | 2021-12-09 | 2021-12-09 | Robot arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123073978.5U CN216030915U (en) | 2021-12-09 | 2021-12-09 | Robot arm and robot |
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| Publication Number | Publication Date |
|---|---|
| CN216030915U true CN216030915U (en) | 2022-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123073978.5U Active CN216030915U (en) | 2021-12-09 | 2021-12-09 | Robot arm and robot |
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| CN (1) | CN216030915U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932574A (en) * | 2022-04-11 | 2022-08-23 | 深圳市大族机器人有限公司 | Joint assembly and mechanical arm |
| WO2023232207A1 (en) * | 2022-06-03 | 2023-12-07 | Universal Robots A/S | A robot arm joint |
-
2021
- 2021-12-09 CN CN202123073978.5U patent/CN216030915U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932574A (en) * | 2022-04-11 | 2022-08-23 | 深圳市大族机器人有限公司 | Joint assembly and mechanical arm |
| WO2023232207A1 (en) * | 2022-06-03 | 2023-12-07 | Universal Robots A/S | A robot arm joint |
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