CN218018505U - Mechanical arm - Google Patents

Abstract

The present disclosure provides a robot arm. The mechanical arm is provided with an assembling concave part for the wrist connecting rod and/or the output flange of the wrist driving mechanism, so that at least part of axial structures of the first adapter flange of the wrist driving mechanism and/or the second adapter flange of the tail end actuating mechanism can be accommodated in the assembling concave part, the axial size of the mechanical arm is reduced, and the dynamic performance of the mechanical arm is improved.

Description

Mechanical arm

Technical Field

The disclosure relates to the technical field of mechanical arms, in particular to a mechanical arm.

Background

In the related art, the requirements for dynamic end operation and axial size compactness of the robot arm are high in the case of a To-C tabletop-level robot arm and the case of carrying the robot arm on a movable platform and the like. However, in most mechanical arms, due to the integration design problem of the clamping jaw and the bottom layer driving joint of the mechanical arm, the axial size is easily larger in the aspects of selection, structure and the like of the related driving joint, and the dynamic performance and the axial integration of the mechanical arm are affected.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides an improved mechanical arm to reduce the axial dimension of the mechanical arm, promote the dynamic performance of the mechanical arm.

A first aspect of the present disclosure provides a robot arm including:

the wrist driving mechanism comprises a wrist connecting rod, a first adapter flange, a first driving joint and an output flange; the first adapter flange is fixedly connected to the static end of the first driving joint, and the output flange is fixedly connected to the movable end of the first driving joint; the first adapter flange comprises a first main body and a first connecting part which axially protrudes out of the first main body, and the first connecting part is fixedly connected with the wrist connecting rod;

the tail end executing mechanism comprises a second adapter flange and a second driving joint fixedly connected with the second adapter flange; the second adapter flange comprises a second main body and a second connecting part protruding out of the second main body in the axial direction of the second adapter flange, and the second connecting part is fixedly connected with the output flange;

the wrist connecting rod and/or the output flange are/is provided with an assembling concave part; at least a part of the first connecting part is contained in the assembling concave part of the wrist connecting rod, and/or at least a part of the second connecting part is contained in the assembling concave part of the output flange.

Optionally, the first connection portion is provided with at least one first assembly hole extending in a radial direction of the first adaptor flange, a side wall of the assembly recess of the wrist connection rod is provided with a second assembly hole corresponding to the first assembly hole in position, and the first connection portion and the wrist connection rod are fixedly connected by a connection piece passing through the first assembly hole and the second assembly hole;

and/or the second connecting part is provided with at least one third assembling hole extending along the radial direction of the second adapter flange, the side wall of the assembling concave part of the output flange is provided with a fourth assembling hole corresponding to the third assembling hole, and the second connecting part and the output flange are fixedly connected through a connecting piece penetrating through the third assembling hole and the fourth assembling hole.

Optionally, the first connecting portion includes a first extending wall disposed at one side of the first main body and extending in an axial direction of the first adapter flange, and a radial distance is provided between the first extending wall and an edge of the first main body;

and/or the second connecting part comprises a second extending wall which is arranged on one side of the second main body and extends along the axial direction of the second adapter flange, and the second extending wall and the edge of the second main body are provided with radial distances.

Optionally, a first opening is formed in an edge of the first main body, a second opening corresponding to the first opening is formed in the wrist connecting rod, and the first opening and the second opening cooperate to enclose a first harness outlet communicated with the first driving joint;

the edge of the second main body is provided with a third opening, the output flange is provided with a fourth opening corresponding to the third opening in position, and the third opening and the fourth opening are matched to form a second harness outlet communicated with the second driving joint.

Optionally, the wrist link is provided with a plurality of harness openings.

Optionally, the first main body and the second main body are provided with axial extension holes, the first adapter flange and the first driving joint are fixedly connected through a connecting piece penetrating through the axial extension holes, and the second adapter flange and the second driving joint are fixedly connected through a connecting piece penetrating through the axial extension holes.

Optionally, the end effector includes a clamping jaw, and the clamping jaw is assembled to the second driving joint, so that the second driving joint drives the clamping jaw to move.

Optionally, the mechanical arm further includes a base arm and a third driving joint, the third driving joint includes a moving end output flange and a static end output flange, the moving end output flange is fixedly connected to the wrist connecting rod, and the static end output flange is fixedly connected to the base arm.

Optionally, the third drive joint comprises a pitch drive joint relative to an axial direction;

and/or the first drive joint comprises a rotational joint relative to an axial direction;

and/or the second drive joint comprises a rotational joint relative to the axial direction.

Optionally, the second drive joint comprises a half direct drive joint.

The technical scheme provided by the disclosure can at least achieve the following beneficial effects:

the mechanical arm is provided with the assembling concave part for the wrist connecting rod and/or the output flange of the wrist driving mechanism, so that at least part of axial structures of the first adapter flange of the wrist driving mechanism and/or the second adapter flange of the tail end executing mechanism can be contained in the assembling concave part, the axial size of the mechanical arm is reduced, and the dynamic performance of the mechanical arm is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

FIG. 1 is a schematic diagram of an assembled structure of a robot arm according to an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic illustration of an assembled configuration of a robot at another angle in an exemplary embodiment of the present disclosure;

FIG. 3 is an exploded view of a robot arm according to an exemplary embodiment of the present disclosure;

fig. 4 is an exploded view of a robot at another angle in an exemplary embodiment of the disclosure.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. Unless otherwise defined, technical or scientific terms used herein should have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and the like in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Similarly, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item, and are instead denoted individually as if only one of the referenced item is referred to. "plurality" or "a number" means two or more. Unless otherwise specified, "front", "back", "lower" and/or "upper", "top", "bottom", and the like are for ease of description only and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

In the related art, the requirements for dynamic end operation and axial size compactness of the robot arm are high in the case of a To-C tabletop-level robot arm and the case of carrying the robot arm on a movable platform and the like. However, in most of the mechanical arms, due to the integration design problem of the bottom layer driving joints of the clamping jaws and the mechanical arms, the axial size is large in the aspects of selection, structure and the like of the related driving joints, and the dynamic performance and the axial integration of the mechanical arms are affected.

The present disclosure provides a robotic arm comprising a wrist drive mechanism and an end effector mechanism. The wrist driving mechanism comprises a wrist connecting rod, a first adapter flange, a first driving joint and an output flange, the first adapter flange is fixedly connected to the static end of the first driving joint, and the output flange is fixedly connected to the moving end of the first driving joint. The first adapter flange comprises a first main body and a first connecting part protruding out of the first main body in the axial direction of the first adapter flange, and the first connecting part is fixedly connected with the wrist connecting rod. The tail end actuating mechanism comprises a second adapter flange and a second driving joint fixedly connected with the second adapter flange, the second adapter flange comprises a second main body and a second connecting part protruding out of the second main body in the axial direction of the second adapter flange, and the second connecting part is fixedly connected with the output flange. The wrist connecting rod and/or the output flange are/is provided with an assembling concave part, at least one part of the first connecting part is contained in the assembling concave part of the wrist connecting rod, and/or at least one part of the second connecting part is contained in the assembling concave part of the output flange.

The mechanical arm is provided with the assembling concave part for the wrist connecting rod and/or the output flange of the wrist driving mechanism, so that at least part of axial structures of the first adapter flange of the wrist driving mechanism and/or the second adapter flange of the tail end actuating mechanism can be accommodated in the assembling concave part, the axial size of the mechanical arm is reduced, and the dynamic performance of the mechanical arm is improved.

It should be noted that, an assembly recess may be separately provided in the wrist link or the output flange, so as to accommodate a part of the axial structure of the first adapter flange or the second adapter flange in the assembly recess, thereby reducing the axial dimension of the robot arm. Alternatively, the wrist link and the output flange may be provided with an assembly recess, respectively, so that the axial dimension of the robot arm can be further reduced by accommodating part of the axial structures of the first adapter flange and the second adapter flange in the assembly recess.

FIG. 1 is a schematic diagram of an assembled structure of a robot arm according to an exemplary embodiment of the present disclosure; FIG. 2 is a schematic illustration of an assembled configuration of a robot at another angle in an exemplary embodiment of the present disclosure; FIG. 3 is an exploded view of a robot arm according to an exemplary embodiment of the present disclosure; fig. 4 is an exploded view of a robot at another angle in an exemplary embodiment of the disclosure. As shown in fig. 1 to 4, the robot arm 1 includes a wrist driving mechanism 11 and an end effector 12. The wrist driving mechanism 11 includes a wrist connecting rod 111, a first adapter flange 112, a first driving joint 113 and an output flange 114, wherein the first adapter flange 112 is fixedly connected to a stationary end of the first driving joint 113, and the output flange 114 is fixedly connected to a movable end of the first driving joint 113. The first adapter flange 112 includes a first body 1121 and a first connection portion 1122 protruding from the first body 1121 in the axial direction of the first adapter flange 112, and the first connection portion 1122 is fixedly connected to the wrist link 111. The end effector 12 includes a second adapter flange 121 and a second driving knuckle 122 fixedly connected to the second adapter flange 121, the second adapter flange 121 includes a second body 1211 and a second connecting portion 1212 protruding from the second body 1211 in an axial direction of the second adapter flange 121, and the second connecting portion 1212 is fixedly connected to the output flange 114. The wrist link 111 and the output flange 114 of the wrist drive mechanism 11 are respectively provided with an assembly recess 15, the first connection portion 1122 of the first adaptor flange 112 is housed in the assembly recess 15 of the wrist link 111, and the second connection portion 1212 of the second adaptor flange 121 is housed in the assembly recess 15 of the output flange 114.

The robot arm 1 has the assembly recess 15 provided for the wrist link 111 and the output flange 114 of the wrist driving mechanism 11, so that the first connecting portion 1122 of the first adaptor flange 112 and the second connecting portion 1212 of the second adaptor flange 121 can be accommodated in the assembly recess 15, thereby reducing the axial dimension of the robot arm 1 and improving the dynamic performance of the robot arm 1.

In some embodiments, the first connection portion 1122 may be provided with at least one first assembly hole 1122a extending in a radial direction of the first adaptor flange 112, the side wall of the assembly recess 15 of the wrist link 111 is provided with a second assembly hole 1112 corresponding to a position of the first assembly hole 1122a, and the first connection portion 1122 and the wrist link 111 are fixedly connected by a connection member passing through the first and second assembly holes 1122a and 1112. Through the cooperation of the first assembly hole 1122a and the second assembly hole 1112 extending in the radial direction of the first adaptor flange 112, the radial assembly fixation is realized, the occupation of the axial space is avoided, and the reduction of the axial size of the robot arm 1 is facilitated. For example, four first assembly holes 1122a may be provided in the circumferential direction of the first adapter flange 112, and the four first assembly holes 1122a may be uniformly distributed in the circumferential direction of the first adapter flange 112. The first adapter flange 112 and the wrist link 111 can be fixed by a screw 16 or other threaded connection passing through the first assembling hole 1122a and the second assembling hole 1112, so as to improve the assembling and disassembling efficiency and the assembling and disassembling convenience.

Similarly, the second connecting portion 1212 may be provided with at least one third assembling hole 1212a extending in a radial direction of the second adaptor flange 121, the side wall of the assembling recess 15 of the output flange 114 is provided with a fourth assembling hole 1142 corresponding to the third assembling hole 1212a, and the second connecting portion 1212 and the output flange 114 are fixedly connected by a connector passing through the third assembling hole 1212a and the fourth assembling hole 1142. Through the cooperation of the third assembling hole 1212a and the fourth assembling hole 1142 extending radially along the second adaptor flange 121, radial assembling fixation is achieved, occupation of axial space is avoided, and reduction of the axial size of the robot arm 1 is facilitated. For example, four third assembly holes 1212a may be formed in the circumferential direction of the second adaptor flange 121, and the four third assembly holes 1212a may be uniformly distributed in the circumferential direction of the second adaptor flange 121. The second adaptor flange 121 and the output flange 114 can be fixed by a screw connector such as a screw 16 passing through the third assembling hole 1212a and the fourth assembling hole 1142, so as to improve the assembling and disassembling efficiency and the assembling and disassembling convenience.

In the above embodiment, the first connecting portion 1122 may include a first extension wall disposed on one side of the first body 1121 and extending in the axial direction of the first adapter flange 112, so that a first assembling hole 1122a extending in the radial direction of the first adapter flange 112 is disposed on the first extension wall. The first extending wall is spaced from the edge of the first body 1121 in a radial direction to avoid structural interference between the first extending wall and the wrist link 111, so that the first extending wall is directly received in the receiving recess 15 of the wrist link 111 when the first transfer flange 112 is assembled to the wrist link 111.

Similarly, the second connecting portion 1212 may include a second extending wall disposed at one side of the second body 1211 and extending in an axial direction of the second adaptor flange 121, so that a third assembling hole 1212a extending in a radial direction of the second adaptor flange 121 is disposed on the second extending wall. The second extending wall is spaced from the edge of the second body 1211 in a radial direction to avoid structural interference between the second extending wall and the output flange 114, so that the second extending wall is directly received in the receiving recess 15 of the output flange 114 when the second adapter flange 121 is mounted on the output flange 114.

In some embodiments, an edge of the first body 1121 may be provided with a first opening 1121a, the wrist link 111 is provided with a second opening 1111 corresponding to the first opening 1121a in position, and the first opening 1121a and the second opening 1111 cooperate to enclose a first harness outlet communicated with the first driving joint 113, so that an electrical harness conductively connected with the third driving joint 13 can extend out through the first harness outlet and be connected to the first driving joint 113, thereby improving the convenience of wiring.

The edge of the second body 1211 may be provided with a third opening 1211a, the output flange 114 is provided with a fourth opening 1141 corresponding to the third opening 1211a, and the third opening 1211a and the fourth opening 1141 cooperate to enclose a second harness outlet communicated with the second driving joint 122, so that an electrical harness conductively connected with the first driving joint 113 can extend out through the second harness outlet and be connected to the second driving joint 122, thereby improving the convenience of wiring.

In some embodiments, wrist link 111 is provided with a plurality of harness openings 1113 to facilitate shuttling placement of electrical harnesses, improving routing flexibility and convenience.

In some embodiments, the first body 1121 and the second body 1211 are provided with an axially extending hole 17, the first adapter flange 112 and the first driving joint 113 are fixedly connected by a connecting member passing through the axially extending hole 17, and the second adapter flange 121 and the second driving joint 122 are fixedly connected by a connecting member passing through the axially extending hole 17, so as to improve the assembly efficiency of the robot arm 1. For example, a plurality of axially extending holes 17 distributed along the circumferential direction may be formed on the end surfaces of the first body 1121 and the second body 1211, and the first driving joint 113 and the first adapter flange 112 and the second adapter flange 121 and the second driving joint 122 may be fixedly connected by screws 16 or other threaded connectors passing through the axially extending holes 17, thereby improving the assembly efficiency of the robot arm 1.

In some embodiments, the end effector 12 includes a clamping jaw 123, the clamping jaw 123 is assembled to the second driving joint 122, and the second driving joint 122 drives the clamping jaw 123 to move, so as to improve the gripping operation convenience and the structure compactness through the clamping jaw 123. The second driving joint 122 may be a clamping jaw driving joint, so as to drive the clamping jaw 123 to generate a motion with a preset track, thereby implementing a clamping action on an article.

In some embodiments, the robot arm 1 further includes a base arm 14 and a third drive joint 13, the third drive joint 13 includes a moving end output flange 114 and a stationary end output flange 114, the moving end output flange 114 is fixedly connected to the wrist link 111, and the stationary end output flange 114 is fixedly connected to the base arm 14. The third driving joint 13 can drive the wrist connecting rod 111 to move relative to the base arm 14, so that the flexibility of the robot arm 1 can be improved.

In the above embodiment, the third drive joint 13 may include a pitch drive joint with respect to the axial direction to drive the mechanism above the wrist link 111 to perform a pitch motion. And/or, the first driving joint 113 includes a rotational joint relative to the axial direction, so as to drive the end effector 12 to rotate around the axial direction as a whole. And/or, the second driving joint 122 includes a rotational joint relative to the axial direction to rotate the movable portion of the end effector 12 to perform the grasping action.

It should be noted that the second drive joint 122 includes a half direct drive joint, on one hand, the axial size of the robot arm 1 is further reduced by the light and thin characteristics of the half direct drive joint, on the other hand, the structure of the robot arm 1 can be simplified based on the electric drive characteristics of the half direct drive joint, and the compactness of the wrist drive mechanism 11 is improved. In addition, the output speed of the second driving joint 122 can be increased by adopting the half direct-drive joint with the low reduction ratio, so that the overall dynamic performance is improved.

The robot arm 1 is provided with the assembly recess 15 for the wrist link 111 and/or the output flange 114 of the wrist driving mechanism 11, so that at least a part of the axial structure of the first adapter flange 112 of the wrist driving mechanism 11 and/or the second adapter flange 121 of the end effector 12 can be accommodated in the assembly recess 15, thereby reducing the axial dimension of the robot arm 1, further reducing the end inertia of the robot arm 1 as a whole, and improving the dynamic performance of the robot arm 1. By adopting the above scheme, in an embodiment, the axial distance from the output plane of the first driving joint 113 to the palm plane of the clamping jaw 123 may be less than or equal to 65mm, the distance from the output plane of the first driving joint 113 to the bottom surface of the second driving joint 122 facing the first driving joint 113 may be less than or equal to 5mm, the reduction percentage of the rotational inertia of the tail end is greater than or equal to 30%, and the dynamic performance of the tail end operation and the grabbing of the mechanical arm 1 is improved.

The above description is only exemplary of the present disclosure and should not be taken as limiting the disclosure, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims (10)

1. A robotic arm, comprising:

the wrist driving mechanism comprises a wrist connecting rod, a first adapter flange, a first driving joint and an output flange; the first transfer flange is fixedly connected to the static end of the first driving joint, and the output flange is fixedly connected to the movable end of the first driving joint; the first adapter flange comprises a first main body and a first connecting part which axially protrudes out of the first main body, and the first connecting part is fixedly connected with the wrist connecting rod;

the tail end executing mechanism comprises a second adapter flange and a second driving joint fixedly connected with the second adapter flange; the second adapter flange comprises a second main body and a second connecting part which axially protrudes out of the second main body, and the second connecting part is fixedly connected with the output flange;

the wrist connecting rod and/or the output flange are/is provided with an assembling concave part; at least a part of the first connecting part is contained in the assembling concave part of the wrist connecting rod, and/or at least a part of the second connecting part is contained in the assembling concave part of the output flange.

2. The robot arm as claimed in claim 1, wherein the first coupling part is provided with at least one first assembling hole extending in a radial direction of the first adaptor flange, the assembling recess side wall of the wrist link is provided with a second assembling hole corresponding to the first assembling hole in position, and the first coupling part and the wrist link are fixedly coupled by a coupling member passing through the first assembling hole and the second assembling hole;

and/or the second connecting part is provided with at least one third assembling hole extending along the radial direction of the second adapter flange, the side wall of the assembling concave part of the output flange is provided with a fourth assembling hole corresponding to the third assembling hole, and the second connecting part and the output flange are fixedly connected through a connecting piece penetrating through the third assembling hole and the fourth assembling hole.

3. The mechanical arm according to claim 1, wherein the first connecting portion comprises a first extending wall which is arranged on one side of the first main body and extends along the axial direction of the first adapter flange, and the first extending wall is provided with a radial distance from the edge of the first main body;

and/or the second connecting part comprises a second extending wall which is arranged on one side of the second main body and extends along the axial direction of the second adapter flange, and the second extending wall and the edge of the second main body are provided with radial distances.

4. The mechanical arm according to claim 1, wherein the edge of the first main body is provided with a first opening, the wrist connecting rod is provided with a second opening corresponding to the first opening in position, and the first opening and the second opening are matched to form a first wiring harness outlet communicated with the first driving joint;

the edge of the second main body is provided with a third opening, the output flange is provided with a fourth opening corresponding to the third opening in position, and the third opening and the fourth opening are matched to form a second harness outlet communicated with the second driving joint.

5. A robotic arm as claimed in claim 4, in which the wrist link is provided with a plurality of harness openings.

6. The mechanical arm of claim 1, wherein the first body and the second body define an axially extending bore, the first adaptor flange and the first drive joint are fixedly coupled by a coupling member extending through the axially extending bore, and the second adaptor flange and the second drive joint are fixedly coupled by a coupling member extending through the axially extending bore.

7. A robotic arm as claimed in claim 1, in which the end effector comprises a jaw assembled to the second drive joint so that the second drive joint drives movement of the jaw.

8. A robotic arm as claimed in claim 1, further comprising a base arm and a third drive joint, the third drive joint comprising a moving end output flange and a stationary end output flange, the moving end output flange being fixedly connected to the wrist link and the stationary end output flange being fixedly connected to the base arm.

9. The robotic arm of claim 8, wherein the third drive joint comprises a pitch drive joint relative to an axial direction;

and/or the first drive joint comprises a rotational joint relative to an axial direction;

and/or the second drive joint comprises a rotational joint relative to the axial direction.

10. The robotic arm of claim 1, wherein the second drive joint comprises a semi-direct drive joint.

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