CN218965412U

CN218965412U - Multi-degree-of-freedom mechanical arm and end component

Info

Publication number: CN218965412U
Application number: CN202220059137.4U
Authority: CN
Inventors: 魏洪兴; 靳宇; 崔元洋
Original assignee: Aubo Beijing Intelligent Technology Co ltd
Current assignee: Aubo Beijing Intelligent Technology Co ltd
Priority date: 2022-01-11
Filing date: 2022-01-11
Publication date: 2023-05-05
Anticipated expiration: 2032-01-11

Abstract

A multi-degree-of-freedom mechanical arm and an end assembly thereof can be arranged at one processing end of the mechanical arm. The end assembly includes: a wrist member comprising a wrist extension direction. The wrist member includes a first end and a second end along a wrist extension direction. Through carrying out modularized design and installation with the arm is whole, can adjust the length of arm pipe between the modularization joint according to the demand of actual conditions, thereby adjust the arm exhibition of arm, improve the maintainability of arm simultaneously, all modules all can independent quick replacement, this device has small and exquisite nimble wrist design simultaneously, whole width from the forearm to wrist structure is little, can easily get into narrow space operation, be convenient for realize terminal cavity design, can realize similar welding robot's cavity wrist, be applicable to special fields such as welding.

Description

Multi-degree-of-freedom mechanical arm and end component

Technical Field

The utility model relates to a mechanical arm, in particular to a multi-degree-of-freedom mechanical arm and an end assembly.

Background

The existing serial multi-degree-of-freedom mechanical arm is provided with a driver which controls the mechanical arm to move and is arranged in a control cabinet. The driver of the robot sends control information to the joint motor of the mechanical arm in a wired or wireless mode. In application, the control information is easy to be interfered by the outside, is difficult to control accurately, has a complex structure and is not beneficial to realization.

Disclosure of Invention

The utility model further aims to provide the mechanical arm end assembly which is of an integrated structure and simple in structure, and can ensure the rotation and transmission of the mechanical arm end assembly at the degree angle in operation, so that the mechanical arm end assembly can be used in multiple scenes.

It is still another object of the present utility model to provide a multi-degree-of-freedom mechanical arm, which can be composed of multi-joint joints, and can be assembled according to actual use situations, and has a higher degree of freedom and a wider range of application.

In one embodiment, an end assembly of a robotic arm is provided that can be disposed at one processing end of the robotic arm. The end assembly includes:

a wrist member comprising a wrist extension direction. The wrist member includes a first end and a second end along a wrist extension direction. A wrist cavity is provided in the wrist member.

An finger member is rotatably connected to the second end about a first axis of rotation. The first rotation axis is perpendicular to the wrist extending direction. And

a wrist motor disposed in the wrist cavity. The output shaft of the wrist motor can drive the finger piece to rotate around the first rotation axis. The wrist motor has a wrist motor control end capable of driving the output torque of the wrist motor.

A wrist motor driver disposed in the wrist cavity. The wrist motor driver is connected with the wrist motor control end.

In another embodiment of the end assembly of the present utility model, the first end of the wrist member extends a forearm duct in a direction extending from the wrist toward a direction away from the second end. The wrist cavity extends inside the forearm tube to form a forearm tube inner cavity. The wrist motor driver is positioned in the inner cavity of the forearm tube.

In another embodiment of the end assembly of the present utility model, the finger tip is provided with a finger tip cavity. The end assembly further includes:

an end piece is rotatably connected to one end of the finger piece about a second axis of rotation. One end of the finger tip in its direction of extension can be remote from the wrist member. The second axis of rotation is perpendicular to the first axis of rotation. And

and the finger end motor is arranged in the finger end cavity. The output shaft of the finger motor can drive the end piece to rotate around the second rotation axis, and the finger motor is provided with a finger motor control end capable of driving the finger motor to output torque.

In yet another embodiment of the end assembly of the present utility model, a finger motor drive is also included and is disposed in the wrist cavity. The finger end motor driver is connected with the finger end motor control end. The finger motor drive and the wrist motor drive may be integrally arranged on one circuit board.

In a further embodiment of the end assembly according to the utility model, two mutually parallel first and second supports are formed along the wrist extension in the direction of the second end of the wrist member away from the first end. A set gap is provided between the first support and the second support. The finger piece is arranged at the set gap of the two supporting pieces.

In yet another embodiment of the end assembly of the present utility model, the first support member defines a support cavity therein that communicates with the wrist cavity. The output shaft of the wrist motor drives the finger piece to rotate around the first rotation axis through the belt transmission mechanism. The driven wheel of the belt drive is arranged at one end of the supporting cavity, which is close to the finger piece, and is connected with the finger piece. The belt driven driving wheel is arranged at one end of the supporting cavity communicated with the wrist cavity and is connected with an output shaft of the wrist motor.

An end piece motor driver is arranged in the inner cavity of the small arm tube. The end piece motor driver is electrically connected with the end piece motor driver through the wrist cavity and the cavity of the supporting cavity.

In yet another embodiment of the end assembly of the present utility model, the driven wheel is provided with a wrist disc reducer near one end of the finger. The driven wheel drives the finger piece through a wrist disc type speed reducer.

In yet another embodiment of the end assembly of the present utility model, the end piece is provided with a finger plate speed reducer at an end remote from the finger piece. The output shaft of the finger tip is connected with a finger tip disk speed reducer. The axis of the output shaft of the wrist motor and the axis of the output shaft of the finger end motor are parallel or perpendicular.

In yet another embodiment of the end assembly of the utility model, the outer face of the wrist member is provided with control buttons and a set communication interface.

Meanwhile, the utility model also provides a multi-degree-of-freedom mechanical arm which comprises the end component. A fourth joint module is disposed at the first end of the wrist member. The extending direction of the fourth joint module is parallel to the wrist extending direction. The third joint module is disposed in a direction of the fourth joint module facing away from the first end. The extending direction of the third joint module is perpendicular to the extending direction of the fourth joint module.

And a large arm pipe is arranged in the direction of the third joint module deviating from the fourth joint module. The extending direction of the big arm pipe is perpendicular to the extending direction of the third joint module.

The second joint module is arranged in the direction of the large arm pipe away from the third joint module. The extending direction of the second joint module is perpendicular to the extending direction of the big arm pipe.

The first joint module is arranged at one end of the second joint module. The extending direction of the first joint module is perpendicular to the extending direction of the second joint module. A base module is disposed at an end of the first joint module.

Drawings

The following drawings are only illustrative of the utility model and do not limit the scope of the utility model.

Fig. 1 is a schematic structural view of a mechanical arm according to the present utility model.

Fig. 2 is a schematic view of an end assembly according to the present utility model.

FIG. 3 is a schematic cross-sectional view of an end assembly of the present utility model

Detailed Description

For a clearer understanding of the technical features, objects and effects of the present utility model, embodiments of the present utility model will now be described with reference to the drawings, in which like reference numerals refer to identical or structurally similar but functionally identical components throughout the separate views.

In this document, "schematic" means "serving as an example, instance, or illustration," and any illustrations, embodiments described herein as "schematic" should not be construed as a more preferred or advantageous solution.

In one embodiment of the present utility model, as shown in fig. 1, an end assembly of a robotic arm is provided that can be disposed at one of the machine ends of the robotic arm. The end assembly includes: a wrist member 1 comprising a wrist extension direction. The wrist element 1 comprises a first end 11 and a second end 12 in the direction of extension of the wrist. A wrist chamber 28 is provided in wrist member 1. A finger member 10 is rotatably connected to the second end 12 about a first axis of rotation 30. The first swivel axis 30 is perpendicular to the wrist extension direction. And a wrist motor 29 disposed in the wrist chamber 28. The output shaft of wrist motor 29 is capable of rotating finger 10 about first axis of rotation 30. The wrist motor 29 has a wrist motor control end capable of driving the output torque of the wrist motor 29, and a motor driver 19 of the wrist part is provided in the wrist chamber 28. The wrist motor driver 19 is connected to the wrist motor control terminal.

As shown in fig. 1, the first end 11 of the wrist member 1 extends out of one forearm tube 3 in a direction away from the second end 12 in the direction of extension of the wrist. The wrist lumen 28 extends inside the forearm tube 3 to form the forearm tube lumen 18. A wrist motor drive 19 is located in the forearm lumen 18.

Referring to fig. 2, the finger tip 10 is provided with a finger tip cavity 26. The end assembly further includes:

an end piece 2 is rotatably connected to one end of the finger piece 10 about a second axis of rotation 31. One end of the finger tip 10 in its extension can be remote from the wrist member 1. The second axis of rotation 31 is perpendicular to the first axis of rotation 30. And a finger motor 25 disposed in finger cavity 26. The output shaft of the finger motor 25 is capable of rotating the end piece 2 about the second axis of rotation 31, and the finger motor 25 has a finger motor control end capable of driving the finger motor 25 to output torque.

Also included is a finger motor drive 32 disposed in wrist cavity 28. The finger motor driver 32 is connected to the finger motor control terminal. The finger motor drive 32 and wrist motor drive 19 may be integrally disposed on a single circuit board.

Figure 2 is but one embodiment and a specific finger tip motor may be provided in the wrist cavity.

Still further, the finger end motor drive and the motor drive of the wrist member may be integrated together or may be separate two drives, both disposed within the forearm tube.

As shown in fig. 2, two first and

second supports

13, 14 are formed parallel to each other in the direction of extension of the wrist in the direction of the second end of the wrist member away from the first end. There is a set gap between the first support 13 and the second support 14. The finger piece is arranged at the set gap of the two supporting pieces.

Referring to fig. 2, the first support member 13 is provided with a support chamber 27 communicating with the wrist chamber 28. The output shaft of wrist motor 29 rotates finger 10 about first axis of rotation 30 via belt drive 21. A driven pulley 23 of the belt drive is provided at the end of the support cavity 27 adjacent the finger tip 10 and is connected to the finger tip 10. The belt-driven driving wheel 20 is arranged at one end of the supporting cavity 27, which is communicated with the wrist cavity 28, and is connected with an output shaft of the wrist motor 29.

A motor driver 19 of the end piece 2 is arranged in the inner cavity 18 of the forearm tube. The motor driver 19 of the end piece 2 is electrically connected to the motor driver 19 of the end piece 2 through the wrist cavity 28, the cavity of the support cavity 27.

In another embodiment of the end assembly of the present utility model, a driven wheel 23 is provided with a wrist disc reducer 22 near one end of the finger 10. Driven wheel 23 drives finger 10 through wrist-disk speed reducer 22.

In another embodiment of the end assembly of the present utility model, the end piece 2 is provided with a finger plate reducer 24 at the end remote from the finger piece 10. The output shaft of the finger tip 10 is connected to a finger tip disc reducer 24. The axis of the output shaft of wrist motor 29 and the output shaft of finger motor 25 are parallel or perpendicular.

In another embodiment of the end assembly according to the utility model, the outer face of wrist member 1 is provided with control buttons 15 and a setting communication interface 16.

Referring to fig. 3, in addition to the above-described end components, a multi-degree-of-freedom robot arm is provided with a fourth joint module 4 at the first end 11 of the wrist 1. The extension direction of the fourth joint module 4 is parallel to the wrist extension direction. The third joint module 5 is arranged in the direction of the fourth joint module 4 facing away from the first end 11. The extension direction of the third joint module 5 is perpendicular to the extension direction of the fourth joint module 4.

The boom pipe 6 is arranged in the direction of the third joint module 5 facing away from the fourth joint module 4. The extension direction of the boom pipe 6 is perpendicular to the extension direction of the third joint module 5.

In another embodiment of the multi-degree of freedom manipulator of the present utility model, the second joint module 7 is arranged in a direction in which the boom pipe 6 is remote from the third joint module 5. The extension direction of the second joint module 7 is perpendicular to the extension direction of the boom pipe 6.

A first joint module 8 is provided at one end of the second joint module 7. The direction of extension of the first joint module 8 is perpendicular to the direction of extension of the second joint module 7. A base module 9 is provided at the end of the first joint module 8.

It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is described in terms of a single embodiment, but rather, such description is for clarity only, and that the disclosure is not limited to only one embodiment, as embodiments of the disclosure may be practiced otherwise than as described herein, where appropriate, by one of ordinary skill in the art.

The above list of detailed descriptions is only specific to practical examples of the present utility model, and they are not intended to limit the scope of the present utility model, and all equivalent embodiments or modifications, such as combinations, divisions or repetitions of features, without departing from the technical spirit of the present utility model are included in the scope of the present utility model.

Claims

1. An end assembly of a mechanical arm, comprising a wrist member (1), characterized in that it can be arranged at a working end of the mechanical arm; the end assembly includes:

-one of said wrist members (1) comprising a wrist extension direction; the wrist member (1) comprises a first end (11) and a second end (12) along the extending direction of the wrist; the wrist part (1) is provided with a wrist cavity (28);

-an finger (10) rotatably connected to said second end (12) about a first axis of rotation (30); the first axis of rotation (30) is perpendicular to the wrist extension direction;

-a wrist motor (29) arranged in the wrist cavity (28); the output shaft of the wrist motor (29) can drive the finger tip (10) to rotate around the first rotation axis (30); the wrist motor (29) has a wrist motor control end capable of driving the wrist motor (29) to output torque; and

-a wrist motor drive (19) arranged in the wrist cavity (28); the wrist motor driver (19) is connected with the wrist motor control end.

2. An end assembly according to claim 1, wherein the first end (11) extends out of a forearm tube (3) in the direction of extension of the wrist away from the second end (12); the wrist cavity (28) extends inside the forearm tube (3) to form a forearm tube inner cavity (18); the wrist motor driver (19) is located in the forearm tube lumen (18).

3. End assembly according to claim 2, wherein the finger (10) is provided with a finger cavity (26); the end assembly further includes:

an end piece (2) rotatably connected to one end of the finger piece (10) in the direction of extension thereof about a second axis of rotation (31); -said second axis of revolution (31) is perpendicular to said first axis of revolution (30); and

-a finger motor (25) arranged in said finger cavity (26); the output shaft of the finger end motor (25) can drive the tail end piece (2) to rotate around the second rotation axis (31); the finger motor (25) has a finger motor control end capable of driving the finger motor (25) to output torque.

4. The end assembly of claim 3, further comprising:

-a finger motor drive (32) disposed in said wrist cavity (28); the finger end motor driver (32) is connected with the finger end motor control end; the finger motor driver (32) and the wrist motor driver (19) may be integrally arranged on one circuit board.

5. An end assembly according to claim 1, characterized in that two mutually parallel first (13) and second (14) supports are formed along the wrist extension in the direction of the second end (12) of the wrist member (1) away from the first end (11); a set gap (17) is arranged between the first supporting piece (13) and the second supporting piece (14); the finger piece (10) is arranged at the setting gap (17).

6. An end assembly according to claim 5, wherein the first support (13) has a support cavity (27) open therein communicating with the wrist cavity (28); an output shaft of the wrist motor (29) drives the fingerpiece (10) to rotate around the first rotation axis (30) through a belt transmission mechanism (21);

the driven wheel (23) driven by the belt is arranged at one end, close to the finger tip (10), of the supporting cavity (27) and is connected with the finger tip (10); the driving wheel (20) driven by the belt is arranged at one end of the supporting cavity (27) communicated with the wrist cavity (28) and is connected with an output shaft of the wrist motor (29).

7. End assembly according to claim 6, wherein the driven wheel (23) is provided with a wrist disc reducer (22) near one end of the finger (10); the driven wheel (23) drives the finger piece (10) through the wrist disc type speed reducer (22).

8. An end assembly according to claim 3, characterized in that the end piece (2) is provided with a finger end disc reducer (24) at the end remote from the finger end piece (10); the output shaft of the finger tip (10) is connected with the finger tip disc type speed reducer (24); the axis of the output shaft of the wrist motor (29) and the axis of the output shaft of the finger end motor (25) are parallel or perpendicular.

9. End assembly according to claim 1, characterized in that the outer face of the wrist piece (1) is provided with control buttons (15) and a setting communication interface (16).

10. A multi-degree of freedom mechanical arm, comprising an end assembly of the mechanical arm according to any one of claims 1 to 9; -providing a fourth joint module (4) at a first end (11) of the wrist member (1); the extension direction of the fourth joint module (4) is parallel to the wrist extension direction; -arranging a third joint module (5) in a direction of the fourth joint module (4) facing away from the first end (11); the extension direction of the third joint module (5) is perpendicular to the extension direction of the fourth joint module (4);

a large arm pipe (6) is arranged in the direction of the third joint module (5) deviating from the fourth joint module (4); the extending direction of the large arm pipe (6) is perpendicular to the extending direction of the third joint module (5);

a second joint module (7) is arranged in the direction of the large arm pipe (6) away from the third joint module (5); the extending direction of the second joint module (7) is perpendicular to the extending direction of the big arm pipe (6);

a first joint module (8) is arranged at one end of the second joint module (7); the extension direction of the first joint module (8) is perpendicular to the extension direction of the second joint module (7); a base module (9) is arranged at the end part of the first joint module (8).