CN217195433U - Mechanical arm and robot - Google Patents
Mechanical arm and robot Download PDFInfo
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- CN217195433U CN217195433U CN202220315191.0U CN202220315191U CN217195433U CN 217195433 U CN217195433 U CN 217195433U CN 202220315191 U CN202220315191 U CN 202220315191U CN 217195433 U CN217195433 U CN 217195433U
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- seal ring
- sealing
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- shell
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Abstract
The utility model discloses a arm and robot, the arm includes: first joint module, first joint module includes: the output piece is positioned at the end part of the first shell; the second joint module, the second joint module includes: the second shell is fixedly connected with the output part; a first seal ring disposed between the edge of the output member and the second housing; and the second sealing ring is arranged between the end surface of the output part and the end surface of the second shell and is positioned on the inner side of the first sealing ring. From this, through setting up first sealing washer between the edge of output and the second shell, set up the second sealing washer between the terminal surface of output and the terminal surface of second shell to the second sealing washer is located the inboard of first sealing washer, can promote the sealing performance between output and the second shell, prevents that external foreign matter from invading between output and the second shell, thereby can promote the dustproof and waterproof grade of arm.
Description
Technical Field
The utility model belongs to the technical field of the arm technique and specifically relates to a arm and robot are related to.
Background
The mechanical arm is a machine device capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, and can assist or even replace human beings to finish dangerous, heavy and complex work. A plurality of joint modules which are connected with each other and can rotate relatively are arranged between the mechanical arms.
In the correlation technique, joint module interconnect fixed connection to realize that driven position uses the sealing member more to seal, with the performance of realizing dustproof and waterproof, but the quantity and the arrangement form of sealing member are comparatively single, can lead to the sealing performance between the joint module like this to be lower, and the dustproof and waterproof grade of arm is lower.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a mechanical arm, this mechanical arm sealing performance is higher, and dustproof and waterproof grade is higher.
The utility model discloses a robot is further provided.
According to the utility model discloses arm, include: a first joint module, the first joint module comprising: the driving device is arranged in the first shell, and the output piece is in transmission connection with the driving device and is positioned at the end part of the first shell; a second joint module, the second joint module comprising: the second shell is fixedly connected with the output piece so as to synchronously rotate along with the output piece; a first seal ring disposed between an edge of the output member and the second housing; and the second sealing ring is arranged between the end surface of the output part and the end surface of the second shell and is positioned on the inner side of the first sealing ring.
From this, through setting up first sealing washer between the edge of output and the second shell, set up the second sealing washer between the terminal surface of output and the terminal surface of second shell to the second sealing washer is located the inboard of first sealing washer, can promote the sealing performance between output and the second shell, prevents that external foreign matter from invading between output and the second shell, thereby can promote the dustproof and waterproof grade of arm.
According to some embodiments of the present invention, the output member and be provided with a plurality of fasteners for fixed connection between the second casing, it is a plurality of the fastener is in circumference interval distribution and around the outside of second sealing washer.
According to the utility model discloses a some embodiments, the terminal surface of second shell is provided with the through-hole, the second sealing washer is provided with towards the convex first bulge in the radial outside, first bulge centers on in the outside of through-hole.
According to some embodiments of the invention, the second sealing ring is provided with a second protrusion on a radially opposite side of the first protrusion, the height of the second protrusion protruding radially outward being smaller than the height of the first protrusion protruding radially outward.
According to some embodiments of the invention, the peripheral edge of the output member is provided with an annular step portion, the second housing is provided with an annular sealing flange, the first sealing ring set in the step portion with between the sealing flanges.
According to some embodiments of the present invention, the cross-sectional shape of the first sealing ring is circular, the step portion and one of the sealing flanges is provided with a first sealing groove, and the first sealing ring is disposed in the first sealing groove.
According to some embodiments of the present invention, the cross-sectional shape of the first sealing ring is a rectangle, one side surface of the first sealing ring is attached to the step portion, and the other side surface of the first sealing ring is attached to the sealing flange.
According to some embodiments of the invention, the first sealing ring is a teflon sealing ring; and/or the second sealing ring is a polytetrafluoroethylene sealing ring.
According to some embodiments of the invention, the mechanical arm further comprises: a third seal ring disposed between the edge of the output member and the second housing and between the first seal ring and the second seal ring.
According to the utility model discloses a robot, include: the robot arm described above.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic view of a robotic arm according to an embodiment of the present invention;
fig. 2 is a cross-sectional view of a first joint module and a second joint module according to an embodiment of the present invention;
FIG. 3 is a schematic view of region A of FIG. 2;
fig. 4 is a schematic view of a first joint module according to an embodiment of the present invention;
fig. 5 is a schematic view of a second joint module according to an embodiment of the present invention.
Reference numerals:
100. a mechanical arm;
10. a first joint module; 11. a first housing; 12. a drive device; 13. an output member; 131. a step portion; 133. a first fixing hole;
20. a second joint module; 21. a second housing; 211. a through hole; 212. a sealing flange; 213. a second fixing hole;
30. a first seal ring;
40. a second seal ring; 41. a first projecting portion; 42. a second projection;
50. a fastener.
Detailed Description
Embodiments of the present invention are described in detail below, and the embodiments described with reference to the drawings are exemplary.
A robot arm 100 according to an embodiment of the present invention will be described below with reference to fig. 1 to 5, and the robot arm 100 may be applied to a robot.
As shown in fig. 1 to 3, a robot arm 100 according to an embodiment of the present invention may mainly include: the first joint module 10, the second joint module 20, the first seal ring 30 and the second seal ring 40. Wherein, the first joint module 10 may include: the first housing 11 can protect the driving device 12, and prevent the driving device 12 from being damaged due to corrosion of external foreign objects or impact of external force, so that the driving reliability of the driving device 12 on the output member 13 can be ensured, and the service life of the driving device 12 can be prolonged.
In addition, the driving device 12 may mainly include a driving motor and a speed reducer, and the driving motor needs to be decelerated by the speed reducer before transmitting power to the output member 13, so as to further improve the stability and reliability of the driving device 12 driving the output member 13.
Further, the output member 13 is disposed at an end of the first housing 11, and the output member 13 is in transmission connection with the driving device 12, and the second joint module 20 may mainly include: the second housing 21 and the second housing 21 are fixedly connected with the output member 13, so that the driving device 12 can drive the output member 13 to rotate, and further the second housing 21 rotates synchronously with the output member 13, thereby realizing the rotation of the second joint module 20 relative to the first joint module 10, and ensuring the normal operation of the mechanical arm 100.
As shown in fig. 2 and 3, the first seal ring 30 is provided between the edge of the output member 13 and the second housing 21, and the second seal ring 40 is provided between the end surface of the output member 13 and the end surface of the second housing 21 and is located inside the first seal ring 30. Specifically, the output member 13 and the second housing 21 are fixedly connected, when the robot arm 100 operates, external foreign objects may intrude into the interior of the robot arm 100 through a gap between the output member 13 and the second housing 21, and further corrode the structure of the interior of the robot arm 100, thereby reducing the operational reliability of the robot arm 100, by disposing the first seal ring 30 between the edge of the output member 13 and the second housing 21, the first seal ring 30 can prevent the external foreign objects from entering from the gap between the edge of the output member 13 and the second housing 21, and by disposing the second seal ring 40 between the end surface of the output member 13 and the end surface of the second housing 21, the second seal ring 40 can further seal and block a small amount of external foreign objects entering from the gap between the edge of the output member 13 and the second housing 21, thereby preventing the external foreign objects from further intruding, and realizing a double sealing function of the output member 13 and the second housing 21, the sealing performance between the output member 13 and the second housing 21 can be improved, so that the dustproof and waterproof grade of the robot arm 100 can be improved.
Thus, by disposing the first seal ring 30 between the edge of the output member 13 and the second housing 21, disposing the second seal ring 40 between the end surface of the output member 13 and the end surface of the second housing 21, and disposing the second seal ring 40 inside the first seal ring 30, it is possible to improve the sealing performance between the output member 13 and the second housing 21, prevent foreign objects from intruding between the output member 13 and the second housing 21, and thus improve the dustproof and waterproof grade of the robot arm 100.
As shown in fig. 3 to 5, a plurality of fastening members 50 for fixed connection are provided between the output member 13 and the second housing 21, the plurality of fastening members 50 are circumferentially spaced apart, and the plurality of fastening members 50 surround the outside of the second seal ring 40. Specifically, the output member 13 is provided with first fixing holes 133 distributed at intervals in the circumferential direction, the second housing 21 is correspondingly provided with second fixing holes 213 distributed at intervals in the circumferential direction, the fastening member 50 penetrates through the first fixing holes 133 and the second fixing holes 213, and the fastening function is performed, so that the fastening connection between the output member 13 and the second housing 21 can be realized, the fixing connection between the output member 13 and the second housing 21 can be simpler, the plurality of fastening members 50 are distributed at intervals in the circumferential direction, and the reliability and stability of the fixing connection between the output member 13 and the second housing 21 can be improved.
Further, a plurality of fasteners 50 surround the outside of the second seal ring 40. Specifically, when the fastener 50 fixedly connects the output member 13 and the second housing 21, the end face of the output member 13 and the end face of the second housing 21 abut against each other, and the second seal ring 40 is disposed between the end face of the output member 13 and the end face of the second housing 21, so that the plurality of fasteners 50 surround the outer side of the second seal ring 40, the fastening action of the fasteners 50 can ensure the stable arrangement of the second seal ring 40 between the end face of the output member 13 and the end face of the second housing 21, and the sealing performance of the second seal ring 40 between the end face of the output member 13 and the end face of the second housing 21 can be improved.
As shown in fig. 2 and 5, the end surface of the second housing 21 is provided with a through hole 211, and the second seal ring 40 is provided with a first projecting portion 41 projecting toward the radial outside, the first projecting portion 41 surrounding the outside of the through hole 211. Specifically, the end face of the second housing 21 is provided with the through hole 211, the through hole 211 can avoid the structure between the first joint module 10 and the second joint module 20, so as to ensure the rotation of the first joint module 10 relative to the second joint module 20, the first protruding part 41 protruding towards the radial outer side is arranged on the second sealing ring 40, so that when the output member 13 and the second housing 21 are fixedly connected, the first protruding part 41 can avoid the through hole 211, the first protruding part 41 correspondingly surrounds the outer side of the through hole 211, so as to prevent external foreign matters from entering between the first joint module 10 and the second joint module 20 through the through hole 211, and the sealing performance of the second sealing ring 40 can be ensured.
Further, the second seal ring 40 is provided with second protrusions 42 on the diametrically opposite sides of the first protrusions 41, and the height of the second protrusions 42 protruding radially outward is smaller than the height of the first protrusions 41 protruding radially outward, so that the second protrusions 42 can escape from the connecting and positioning structure between the output member 13 and the second housing 21, thereby ensuring the sealing performance of the second seal ring 40 against the gap between the output member 13 and the second housing 21. In addition, the height of the second protrusion 42 protruding towards the radial outer side is smaller than the height of the first protrusion 41 protruding towards the radial outer side, so that the first protrusion 41 and the second protrusion 42 can be correspondingly distinguished, the installation direction of the second sealing ring 40 can be quickly determined by an installer, and the installation and setting speed and accuracy of the second sealing ring 40 are improved.
As shown in fig. 2 to 4, the outer peripheral edge of the output member 13 is provided with an annular step portion 131, the second housing 21 is provided with an annular seal flange 212, and the first seal ring 30 is provided between the step portion 131 and the seal flange 212. Specifically, an annular step portion 131 and an annular sealing flange 212 are respectively provided on the outer peripheral edge of the output member 13 and the second housing 21, and when the output member 13 and the second housing 21 are connected, the step portion 131 and the sealing flange 212 are correspondingly matched, so that the connection positioning between the output member 13 and the second housing 21 is realized. The first seal ring 30 is disposed between the step portion 131 and the seal flange 212, and the first seal ring 30 can prevent external foreign objects from entering through a gap between the step portion 131 and an end surface of the seal flange 212, so that the sealing performance between the step portion 131 and the seal flange 212 can be ensured, and the sealing performance between the output member 13 and the second housing 21 can be improved.
According to some embodiments of the present invention, the cross-sectional shape of the first sealing ring 30 is circular, one of the step portion 131 and the sealing flange 212 is provided with a first sealing groove, and the first sealing ring 30 is provided in the first sealing groove. Specifically, the cross-sectional shape of the first seal ring 30 may be circular, and by providing a first seal groove on one of the step portion 131 and the seal flange 212, the first seal ring 30 may be disposed in the first seal groove, so that stability of the first seal ring 30 disposed between the step portion 131 and the seal flange 212 may be achieved, and sealing performance of the first seal ring 30 with respect to the output member 13 and the second housing 21 may be ensured.
According to other embodiments of the present invention, as shown in fig. 2 and 3, the cross-sectional shape of the first sealing ring 30 is rectangular, one side surface of the first sealing ring 30 is attached to the step portion 131, and the other side surface of the first sealing ring 30 is attached to the sealing flange 212. Specifically, the cross-sectional shape of the first seal ring 30 may be rectangular, and when the first seal ring 30 is disposed between the step portion 131 and the seal flange 212, one side surface of the first seal ring 30 is attached to the step portion 131, and the other side surface of the first seal ring 30 is attached to the seal flange 212, so that contact areas between the first seal ring 30 and the output member 13 and the second housing 21, respectively, may be increased, a sealing effect between the edge of the output member 13 and the second housing 21 by the first seal ring 30 may be improved, and sealing performance of the manipulator 100 may be improved.
Further, the first seal ring 30 is a teflon seal ring. The second seal ring 40 is a teflon seal ring. Specifically, polytetrafluoroethylene has the characteristics of resisting acid and alkali, through all setting up first sealing washer 30 and second sealing washer 40 into the polytetrafluoroethylene sealing washer, can promote the anticorrosive performance of first sealing washer 30 and second sealing washer 40, thereby can prevent that arm 100 from working under strong acid and strong base environment, first sealing washer 30 and second sealing washer 40 suffer to corrode, and then can guarantee first sealing washer 30 and second sealing washer 40's structural stability, can guarantee first sealing washer 30 and second sealing washer 40 to exporting the sealed effect between piece 13 and the second shell 21, can further guarantee arm 100's sealing performance.
The robot arm 100 may further include: a third seal ring is provided between the edge of the output member 13 and the second housing 21, and the third seal ring is located between the first seal ring 30 and the second seal ring 40. Specifically, by further providing a third seal ring between the edge of the output member 13 and the second housing 21 and locating the third seal ring between the first seal ring 30 and the second seal ring 40, multiple sealing actions between the output member 13 and the second housing 21 can be achieved, the sealing performance between the output member 13 and the second housing 21 can be further improved, and the dustproof and waterproof grade of the mechanical arm 100 can be further improved.
According to the utility model discloses a robot can mainly include: the robot arm 100 described above. Specifically, the robot arm 100 has high sealing performance and high dustproof and waterproof grade, and by applying the robot arm 100 to a robot, the dustproof and waterproof grade of the robot can be improved, so that the working reliability of the robot can be improved.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship 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 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.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A robot arm, comprising:
a first joint module, the first joint module comprising: the driving device is arranged in the first shell, and the output piece is in transmission connection with the driving device and is positioned at the end part of the first shell;
a second joint module, the second joint module comprising: the second shell is fixedly connected with the output piece so as to synchronously rotate along with the output piece;
a first seal ring disposed between an edge of the output piece and the second housing;
and the second sealing ring is arranged between the end surface of the output part and the end surface of the second shell and is positioned on the inner side of the first sealing ring.
2. A robotic arm as claimed in claim 1, in which a plurality of fasteners are provided for fixed connection between the output member and the second housing, the plurality of fasteners being circumferentially spaced around the outside of the second seal ring.
3. A robot arm as claimed in claim 2, wherein the end surface of the second housing is provided with a through hole, and the second seal ring is provided with a first projection projecting radially outward, the first projection surrounding the outside of the through hole.
4. A robot arm as claimed in claim 3, wherein the second seal ring is provided with second protrusions on diametrically opposite sides of the first protrusions, the second protrusions protruding radially outwardly less than the first protrusions.
5. A robotic arm as claimed in claim 1, in which the peripheral edge of the output member is provided with an annular step, the second housing is provided with an annular sealing flange, and the first sealing ring is provided between the step and the sealing flange.
6. The mechanical arm of claim 5, wherein the first seal ring is circular in cross-sectional shape, one of the step and the seal flange is provided with a first seal groove, and the first seal ring is disposed within the first seal groove.
7. The mechanical arm as claimed in claim 5, wherein the cross-sectional shape of the first seal ring is rectangular, one side surface of the first seal ring is fitted to the step portion, and the other side surface of the first seal ring is fitted to the sealing flange.
8. A robotic arm as claimed in claim 1, in which the first seal ring is a teflon seal ring; and/or
The second sealing ring is a polytetrafluoroethylene sealing ring.
9. A robotic arm as claimed in claim 1, further comprising: a third seal ring disposed between the edge of the output member and the second housing and between the first seal ring and the second seal ring.
10. A robot, comprising: the robotic arm of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220315191.0U CN217195433U (en) | 2022-02-16 | 2022-02-16 | Mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220315191.0U CN217195433U (en) | 2022-02-16 | 2022-02-16 | Mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217195433U true CN217195433U (en) | 2022-08-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220315191.0U Active CN217195433U (en) | 2022-02-16 | 2022-02-16 | Mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217195433U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117690857A (en) * | 2024-01-31 | 2024-03-12 | 北京锐洁机器人科技有限公司 | Waterproof type wafer transport manipulator |
-
2022
- 2022-02-16 CN CN202220315191.0U patent/CN217195433U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117690857A (en) * | 2024-01-31 | 2024-03-12 | 北京锐洁机器人科技有限公司 | Waterproof type wafer transport manipulator |
| CN117690857B (en) * | 2024-01-31 | 2024-05-03 | 北京锐洁机器人科技有限公司 | Waterproof type wafer transport manipulator |
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