CN216830894U

CN216830894U - Device convenient for monitoring angle of mechanical arm joint

Info

Publication number: CN216830894U
Application number: CN202220596140.XU
Authority: CN
Inventors: 张春松; 刘瑞君; 陈钊; 唐昭
Original assignee: Zhuhai Daran Robot Technology Co ltd
Current assignee: Zhuhai Daran Robot Technology Co ltd
Priority date: 2022-03-18
Filing date: 2022-03-18
Publication date: 2022-06-28
Anticipated expiration: 2032-03-18

Abstract

The utility model relates to a device of convenient monitoring arm joint angle, including arm body and the monitor of installing to the arm body, the arm body is on a parallel with the horizontal plane for the movable axis of last component, the monitor includes open-top's cylindricality backshell and the protecgulum of being connected rather than the bearing. The utility model discloses simple structure, the staff need not extra appurtenance and can directly read out the contained angle of arm and horizontal plane, can improve the efficiency of debugging in earlier stage and later stage calibration to the arm.

Description

Device convenient for monitoring angle of mechanical arm joint

Technical Field

The utility model relates to a robotic arm technical field especially relates to a conveniently monitor device of arm joint angle.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. The robot arm generally comprises a rotating base, a plurality of end-to-end connected robot arms, an end effector and other components, and adjacent robot arms and the robot arms and other components are connected through joint modules. The mechanical arm needs to measure the included angle between the mechanical arm and the horizontal direction through an auxiliary tool in the assembling, debugging and later-stage calibration processes, the operation is complex, and the working efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that overcome exist among the prior art not enough, provide a device of convenient control arm joint angle.

The utility model discloses a realize through following technical scheme:

a device convenient for monitoring the joint angle of a mechanical arm comprises a mechanical arm body and a monitor mounted on the mechanical arm body, wherein the movable axis of the mechanical arm body relative to a previous component is parallel to a horizontal plane, the monitor is characterized in that the monitor comprises a cylindrical rear shell with an opening at the top end and a front cover connected with a bearing of the cylindrical rear shell, when the monitor is mounted on the mechanical arm body, the central axis of the front cover is parallel to the movable axis of the mechanical arm body relative to the previous component, a plurality of inner clamping plates which are distributed at equal angles are arranged on the inner side of the bottom surface of the cylindrical rear shell, a first clamping groove matched with an inner ring of the bearing is arranged at the tail end of each inner clamping plate, a plurality of outer clamping plates which are distributed at equal angles are arranged on the inner side of the front cover, a second clamping groove matched with an outer ring of the bearing is arranged at the tail end of each outer clamping plate, a gap is arranged between every two adjacent inner clamping plates, and a counterweight lug is arranged on one side of each two adjacent outer clamping plates, the counter weight lug is fan ring shape, the protecgulum lateral surface ring is carved with the scale all around, the arm body is carved with the pointer at monitor one side.

Preferably, the arm body all is equipped with the mounting groove with monitor looks adaptation, the cylindricality backshell outside is equipped with two at least fixture blocks, the cylindricality backshell passes through the fixture block joint to the mounting groove in.

Preferably, the cylindricality backshell outside is equipped with two fixture blocks, and every fixture block one side all is equipped with the bar groove that is on a parallel with cylindricality backshell axis, bar groove one end extends to cylindricality backshell top.

Preferably, the mechanical arm body is provided with a dismounting hole corresponding to the clamping block.

Preferably, the bottom surface of the cylindrical rear shell is provided with a fabrication hole on the inner side of the inner clamping plate, and the bottom surface of the cylindrical rear shell is provided with a transition arc between the adjacent inner clamping plates.

Preferably, the outer side of the tail end of the inner clamping plate and the inner side of the tail end of the outer clamping plate are both wedge-shaped surfaces.

Preferably, a plurality of additional blocks which are distributed at equal angles are fixedly connected with the counterweight convex block.

Preferably, the inner side of the front cover is circumferentially provided with an annular bump extending into the cylindrical rear shell, and a gap is formed between the outer side surface of the annular bump and the inner side surface of the cylindrical rear shell.

Preferably, when the monitor is mounted to the robot arm body, the outer surface of the front cover is flush with the mounting surface of the robot arm body.

The utility model has the advantages that:

the utility model has simple structure, the included angle between the mechanical arm body and the horizontal plane can be directly read out by the staff without additional auxiliary tools, and the efficiency of early debugging and later calibration of the mechanical arm body can be improved; when the bearing is assembled, the gap between the adjacent inner clamping plates can avoid the mutual interference of the adjacent inner clamping plates, so that the bearing is conveniently installed on the inner clamping plates; the wedge-shaped surfaces at the inner sides of the tail ends of the inner clamping plate and the outer clamping plate further facilitate the assembly of the inner clamping plate and the bearing; the clamping blocks are matched to facilitate the stable clamping of the cylindrical rear shell into the mounting groove; the strip-shaped groove can ensure that the clamping block and the cylindrical rear shell body are not damaged when the cylindrical rear shell is installed or disassembled; the disassembly hole is convenient for workers to disassemble the monitor, so that the monitor can be maintained; the process holes can reduce the weight of the cylindrical rear shell on one hand, and can enable the tail end of the inner clamping plate to have larger movement along the radial direction of the cylindrical rear shell on the other hand, so that the bearing is convenient to mount to the inner clamping plate; the additional block can further overcome the rotation resistance between the cylindrical rear shell and the front cover; the annular convex block ensures that dust is not easy to enter the inside of the monitor, thereby ensuring the normal work of the bearing.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is the explosion structure schematic diagram of the monitor of the present invention.

Fig. 3 is a schematic structural diagram of the front cover of the present invention.

Fig. 4 is a schematic structural diagram of the cylindrical rear shell of the present invention.

Fig. 5 is a schematic structural diagram of the robot arm body of the present invention.

Fig. 6 is a schematic structural diagram of a six-axis robot arm according to the present invention.

In the figure: 1. a monitor; 2. a mechanical arm body; 3. a front cover; 4. a bearing; 5. a cylindrical rear housing; 6. an annular projection; 7. a second card slot; 8. an outer clamping plate; 9. an additional block; 10. a counterweight projection; 11. a fabrication hole; 12. a first card slot; 13. a clamping block; 14. a strip-shaped groove; 15. an inner clamping plate; 16. a transition arc; 17. a pointer; 18. disassembling the hole; 19. and (4) mounting the groove.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and preferred embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

As shown in the figure, the utility model comprises a mechanical arm body 2 and a monitor 1 arranged on the mechanical arm body 2, the movable axis of the mechanical arm body 2 relative to the last component is parallel to the horizontal plane, the last component of the mechanical arm body 2 refers to the last mechanical arm or the rotating base which is adjacent to the mechanical arm body 2 and is close to one side of the rotating base, and the monitor 1 is characterized in that the monitor comprises a cylindrical rear shell 5 with an opening at the top end and a front cover 3 connected with a bearing 4 thereof, the front cover 3 is wholly circular, when the monitor 1 is arranged on the mechanical arm body 2, the central axis of the front cover 3 is parallel to the movable axis of the mechanical arm body 2 relative to the last component, a plurality of inner clamping plates 15 which are distributed at equal angles are arranged on the inner side of the bottom surface of the cylindrical rear shell 5, the tail end of the inner clamping plate 15 is provided with a first clamping groove 12 which is matched with the inner ring of the bearing, a plurality of outer clamping plates 8 which are distributed at equal angles are arranged on the inner side of the front cover 3, the tail end of the outer clamping plate 8 is provided with a second clamping groove 7 matched with the outer ring of the bearing, the inner clamping plates 15 are matched with the outer clamping plates 8 to facilitate assembly of the monitor 1, gaps are formed between every two adjacent inner clamping plates 15, when the bearing is assembled, the gaps between every two adjacent inner clamping plates 15 can avoid mutual interference of every two adjacent inner clamping plates 15, the bearing can be conveniently installed on the inner clamping plates 15, one side of each two adjacent outer clamping plates 8 is provided with a counterweight lug 10, each counterweight lug 10 is in a sector ring shape, scales are carved on the periphery of the outer side surface of the front cover 3, under the action of gravity, the intersection line of the sector ring-shaped counterweight lug 10, passing through the symmetrical plane of the axis of the front cover 3, and the outer side surface of the front cover 3 is a straight line vertical to the horizontal plane, a designer can mark the scales according to the intersection line, and a pointer 17 is carved on one side of the monitor 1 by the mechanical arm body 2, pointer 17 and scale cooperate and are convenient for the staff direct reading arm body 2 and the contained angle of horizontal plane, need not extra appurtenance, can improve the efficiency to arm body 2 debugging in earlier stage and later stage calibration.

Arm body 2 all is equipped with the mounting groove 19 with 1 looks adaptation of monitor, the 5 outsides of cylindricality backshell are equipped with two at least fixture blocks 13, cylindricality backshell 5 is through fixture block 13 joint to mounting groove 19 in, and a plurality of fixture blocks 13 cooperate and be convenient for with cylindricality backshell 5 joint to mounting groove 19 steadily in, this embodiment is equipped with two fixture blocks 13.

Two fixture blocks 13 are arranged on the outer side of the cylindrical rear shell 5, a strip-shaped groove 14 parallel to the axis of the cylindrical rear shell 5 is formed in one side of each fixture block 13, one end of each strip-shaped groove 14 extends to the top end of the cylindrical rear shell 5, when the cylindrical rear shell 5 is installed or disassembled, radial movement of the cylindrical rear shell 5 corresponding to the position of each fixture block 13 can occur, and the strip-shaped grooves 14 can guarantee that the fixture blocks 13 and the cylindrical rear shell 5 cannot be damaged in the process.

The mechanical arm body 2 is provided with a dismounting hole 18 corresponding to the clamping block 13, and a worker can directly press the clamping block 13 through the dismounting hole 18, so that the monitor 1 is dismounted and is convenient to perform later maintenance on the monitor.

The inside of cardboard 15 is equipped with fabrication hole 11 including the cylindricality backshell 5 bottom surface, can reduce the weight of cylindricality backshell 5 on the one hand, on the other hand can make inside callipers 15 terminal radially have great activity along cylindricality backshell 5, be convenient for install the bearing to inside callipers 15, when dismantling the bearing from inside callipers 15, can avoid inside callipers 15 to take place the rupture because the activity is too big, cylindricality backshell 5 bottom surface is equipped with transition circular arc 16 between adjacent inside callipers 15, prevent stress concentration, avoid the cylindricality backshell 5 to appear the crack between adjacent inside callipers 15.

The outer side of the tail end of the inner clamping plate 15 and the inner side of the tail end of the outer clamping plate 8 are both wedge-shaped surfaces, so that the assembly of the inner clamping plate and the bearing is further facilitated.

The counterweight bump 10 is fixedly connected with a plurality of additional blocks 9 distributed at equal angles, the additional blocks 9 are counterweight bolts connected to the counterweight bump 10 in a threaded manner, the additional blocks 9 can also be auxiliary counterweight blocks clamped to the counterweight bump 10, the rotation resistance between the cylindrical rear shell 5 and the front cover 3 can be further overcome, and the rotation sensitivity of the front cover 3 relative to the cylindrical rear shell 5 is improved.

The inboard ring week of protecgulum 3 is equipped with the annular lug 6 that stretches into cylindricality backshell 5 for the dust is difficult for getting into inside monitor 1, thereby guarantees the normal work of bearing, there is the clearance between 6 lateral surfaces of annular lug and the 5 medial surfaces of cylindricality backshell, avoids producing frictional resistance because of both contact.

When the monitor 1 is installed to the arm body 2, the outer surface of the front cover 3 is flush with the installation surface of the arm body 2, so that the monitor 1 is prevented from colliding with other objects due to the fact that the monitor 1 protrudes out of the installation surface, and the monitor 1 can be protected.

The utility model discloses a theory of operation is, when the staff controlled the arm body around its movable axis motion for last component, the monitor is under the gravity combined action of counter weight lug and additional piece, and the protecgulum does not take place to rotate for movable axis, and the staff can directly read out the contained angle of arm body and horizontal plane through pointer and protecgulum scale this moment, the utility model is suitable for a six robotic arm, five robotic arm etc. are on a parallel with the arm of horizontal plane for the movable axis of last component. The utility model has simple structure, the included angle between the mechanical arm body and the horizontal plane can be directly read out by the staff without additional auxiliary tools, and the efficiency of early debugging and later calibration of the mechanical arm body can be improved; when the bearing is assembled, the gap between the adjacent inner clamping plates can avoid the mutual interference of the adjacent inner clamping plates, so that the bearing is conveniently installed on the inner clamping plates; the wedge-shaped surfaces at the inner sides of the tail ends of the inner clamping plate and the outer clamping plate further facilitate the assembly of the inner clamping plate and the bearing; the clamping blocks are matched to facilitate the stable clamping of the cylindrical rear shell into the mounting groove; the strip-shaped groove can ensure that the clamping block and the cylindrical rear shell body are not damaged when the cylindrical rear shell is installed or disassembled; the disassembly hole is convenient for workers to disassemble the monitor, so that the monitor can be maintained; the process holes can reduce the weight of the cylindrical rear shell on one hand, and can enable the tail end of the inner clamping plate to have larger movement along the radial direction of the cylindrical rear shell on the other hand, so that the bearing is convenient to mount to the inner clamping plate; the additional block can further overcome the rotation resistance between the cylindrical rear shell and the front cover; the annular convex block ensures that dust is not easy to enter the inside of the monitor, thereby ensuring the normal work of the bearing.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A device convenient for monitoring the joint angle of a mechanical arm comprises a mechanical arm body and a monitor mounted on the mechanical arm body, wherein the movable axis of the mechanical arm body relative to a previous component is parallel to a horizontal plane, the monitor is characterized in that the monitor comprises a cylindrical rear shell with an opening at the top end and a front cover connected with a bearing of the cylindrical rear shell, when the monitor is mounted on the mechanical arm body, the central axis of the front cover is parallel to the movable axis of the mechanical arm body relative to the previous component, a plurality of inner clamping plates which are distributed at equal angles are arranged on the inner side of the bottom surface of the cylindrical rear shell, a first clamping groove matched with an inner ring of the bearing is arranged at the tail end of each inner clamping plate, a plurality of outer clamping plates which are distributed at equal angles are arranged on the inner side of the front cover, a second clamping groove matched with an outer ring of the bearing is arranged at the tail end of each outer clamping plate, a gap is arranged between every two adjacent inner clamping plates, and a counterweight lug is arranged on one side of each two adjacent outer clamping plates, the counter weight lug is fan ring shape, the protecgulum lateral surface ring is carved with the scale all around, the arm body is carved with the pointer at monitor one side.

2. The device for conveniently monitoring the joint angle of the mechanical arm according to claim 1, wherein the mechanical arm body is provided with a mounting groove adapted to the monitor, at least two clamping blocks are arranged on the outer side of the cylindrical rear shell, and the cylindrical rear shell is clamped in the mounting groove through the clamping blocks.

3. The device for conveniently monitoring the joint angle of the mechanical arm as claimed in claim 2, wherein two clamping blocks are arranged on the outer side of the cylindrical back shell, one side of each clamping block is provided with a strip-shaped groove parallel to the axis of the cylindrical back shell, and one end of each strip-shaped groove extends to the top end of the cylindrical back shell.

4. The device for conveniently monitoring the joint angle of the mechanical arm as claimed in claim 3, wherein the mechanical arm body is provided with a dismounting hole corresponding to the fixture block.

5. The device for conveniently monitoring the joint angle of the mechanical arm as claimed in claim 1, wherein the bottom surface of the cylindrical back shell is provided with a fabrication hole inside the inner clamping plate, and the bottom surface of the cylindrical back shell is provided with a transition arc between the adjacent inner clamping plates.

6. The device for conveniently monitoring the joint angle of the mechanical arm as claimed in claim 1, wherein the outer side of the end of the inner clamping plate and the inner side of the end of the outer clamping plate are both wedge-shaped surfaces.

7. The device for conveniently monitoring the joint angle of the mechanical arm as claimed in claim 1, wherein a plurality of additional blocks distributed at equal angles are fixed on the counterweight protruding block.

8. The device for conveniently monitoring the joint angle of the mechanical arm as claimed in claim 1, wherein an annular projection extending into the cylindrical rear shell is circumferentially arranged on the inner side of the front cover, and a gap is formed between the outer side surface of the annular projection and the inner side surface of the cylindrical rear shell.

9. The apparatus as claimed in claim 1, wherein when the monitor is mounted to the robot arm body, the outer surface of the front cover is flush with the mounting surface of the robot arm body.