WO2017133131A1 - 机械手臂 - Google Patents

机械手臂 Download PDF

Info

Publication number
WO2017133131A1
WO2017133131A1 PCT/CN2016/082468 CN2016082468W WO2017133131A1 WO 2017133131 A1 WO2017133131 A1 WO 2017133131A1 CN 2016082468 W CN2016082468 W CN 2016082468W WO 2017133131 A1 WO2017133131 A1 WO 2017133131A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
arm member
rotating shaft
wire
shaft
Prior art date
Application number
PCT/CN2016/082468
Other languages
English (en)
French (fr)
Inventor
钱钟锋
Original Assignee
深圳市赛尔西生物科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610083945.3A external-priority patent/CN105563522A/zh
Priority claimed from CN201620118807.XU external-priority patent/CN205521485U/zh
Application filed by 深圳市赛尔西生物科技有限公司 filed Critical 深圳市赛尔西生物科技有限公司
Publication of WO2017133131A1 publication Critical patent/WO2017133131A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible

Definitions

  • the invention relates to the field of robots, and in particular to a robot arm.
  • the driving device of the existing mechanical arm is generally disposed at the joint where the two arm members are rotatably connected, resulting in excessive weight of the robot arm and complicated joint structure.
  • the present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the invention proposes a robotic arm.
  • a mechanical arm includes: a first arm member; a second arm member rotatably coupled to the first arm member via a first rotating shaft, the first rotating shaft being substantially perpendicular to the a longitudinal direction of the first arm member and the second arm member; a third arm member rotatably coupled to the second arm member by a second rotating shaft, the second rotating shaft being substantially parallel to a length direction of the second arm member and the third arm member; a pivoting seat; a fourth arm member, the pivoting seat pivotally connecting the third arm member and the fourth arm member; drawing, the drawing And being fixedly connected to at least one of the first arm member, the second arm member, the third arm member, and the fourth arm member.
  • the robot arm of the present invention can rotate the arm member connected to the wire drawing relative to the other arm member by pulling the wire.
  • the driving device for pulling the wire can be not limited to being disposed at the rotational joint of the two arm members, but It is placed outside the robot arm to reduce the weight of the robot arm and simplify the structure of the robot arm.
  • the arm member can be rotated around the other arm member, thereby realizing the rotation control.
  • each of the first arm member and the second arm member extends an arm connector along a length of the arm member, and the arm connector is formed with a shaft hole.
  • the first rotating shaft rotates through the shaft hole to rotatably connect the first arm member and the second arm member.
  • the arm connector includes two pivot brackets disposed in parallel at intervals, the shaft holes being formed on the two spindle supports, wherein the two shafts of one of the arm members A support frame is disposed between the two pivot support brackets of the other of the arm members.
  • the spindle support frame includes a first surface and a second surface opposite the first surface, the arm connector including a direction away from the second surface along the first surface An extended drawing disk, the axial direction of the wire drawing disk being coaxial with the first rotating shaft, the size of the wire drawing disk being larger than the size of the first rotating shaft, the wire drawing comprising the first arm drawing, A first arm is drawn around the wire drawing disk and fixedly coupled to the spindle support frame.
  • the second shaft is fixed to one end of the third arm member, the second shaft includes a first surface and a second surface opposite the first surface, the second The rotating shaft is provided with a through hole penetrating the first surface and the second surface;
  • the wire drawing includes a second arm wire drawing, the second arm wire drawing includes a connecting end and a pulling end, the connecting end is formed with a protruding end, and the pulling end is worn from the second surface side of the second rotating shaft After the perforation The first surface is pulled until the protruding end of the connecting end is caught in the through hole to fix the second arm wire on the second rotating shaft.
  • the robotic arm includes a steering bearing through which the second arm wire draws a pulling direction of the second arm wire drawing.
  • the wire drawing includes a third arm wire drawing and a pivotal drawing, the third arm wire drawing being fixedly coupled to the fourth arm member, the pivot wire drawing being fixedly coupled to the pivot seat.
  • the pivot seat is rotatably coupled to the third arm member via a third pivot shaft, and is rotatably coupled to the fourth arm member via a fourth pivot shaft;
  • the third rotating shaft and the fourth rotating shaft are perpendicular to each other, the third arm is drawn around the fourth rotating shaft, and the pivoted wire is wound around the third rotating shaft;
  • An axis of the third rotating shaft meets an axis of the fourth rotating shaft at a point.
  • one end of the fourth arm member extends along a longitudinal direction of the fourth arm member, and the rotating shaft support frame defines a first shaft hole, and the pivot seat is provided with a first shaft hole a second shaft hole, the fourth shaft rotatively passes through the first shaft hole and the second shaft hole, the shaft support frame includes two support frames spaced apart, and the first shaft hole is opened in the On the support frame, the pivot seat is located between the two support frames.
  • the support frame includes a first support frame surface facing the pivot seat, the first support frame surface is provided with a drawing disc, and the third arm is drawn around the drawing circle On the disc, the drawing disc is disposed coaxially with the fourth rotating shaft, and the size of the drawing disc is larger than the size of the fourth rotating shaft.
  • one end of the third arm member remote from the second arm member extends along a longitudinal direction of the third arm member with a shaft support frame, and the shaft support frame is provided with a third shaft hole
  • the pivot seat is provided with a fourth shaft hole, and the third shaft rotatively passes through the third shaft hole and the fourth shaft hole.
  • the pivot seat includes a first pivot surface facing the third arm member, the first pivot surface is provided with a wire drawing disc, and the pivot wire is wound around the wire drawing On the disc, the wire drawing disc is disposed coaxially with the third rotating shaft, and the size of the drawing disc is larger than the size of the third rotating shaft.
  • FIG. 1 is a first perspective view of a robot arm according to an embodiment of the present invention.
  • FIG. 2 is a second perspective view of the robot arm according to an embodiment of the present invention.
  • FIG. 3 is a third perspective view of the robot arm according to an embodiment of the present invention.
  • FIG. 4 is a partial perspective view of a robot arm according to an embodiment of the present invention.
  • Fig. 5 is a perspective view showing another part of the robot arm according to the embodiment of the present invention.
  • Fig. 6 is an enlarged schematic view showing a portion I of the robot arm of Fig. 5.
  • Fig. 7 is a perspective view showing the drawing of the robot arm according to the embodiment of the present invention.
  • Figure 8 is a fourth perspective view of the robot arm of the embodiment of the present invention.
  • FIG. 9 is a fifth perspective view of the robot arm according to an embodiment of the present invention.
  • Fig. 10 is a perspective view showing the connection of the arm member of the robot arm of Fig. 9 with the wire drawing and the rotating shaft.
  • Figure 11 is a perspective view of the drawing of the robot arm of Figure 9.
  • Figure 12 is a schematic view showing the connection of the arm member of the robot arm of Figure 9 to the wire drawing.
  • Fig. 13 is a sixth perspective view of the robot arm according to the embodiment of the present invention.
  • Figure 14 is a seventh perspective view of the robot arm of the embodiment of the present invention.
  • Figure 15 is an eighth perspective view of the robot arm of the embodiment of the present invention.
  • Fig. 16 is a perspective view showing the upper arm member of the robot arm according to the embodiment of the present invention.
  • Fig. 17 is a perspective view showing the pivot seat and the rotating shaft of the robot arm according to the embodiment of the present invention.
  • Fig. 18 is a perspective view showing the drawing of the arm of the robot arm according to the embodiment of the present invention.
  • Figure 19 is a partial perspective view of the robot arm of the embodiment of the present invention.
  • Fig. 20 is a perspective view showing another part of the robot arm according to the embodiment of the present invention.
  • Figure 21 is a perspective view showing still another part of the robot arm according to the embodiment of the present invention.
  • Fig. 22 is a perspective view showing the drawing of the pivoting arm of the robot arm according to the embodiment of the present invention.
  • FIG. 23 is a perspective view showing another arm member of the robot arm according to the embodiment of the present invention.
  • Fig. 24 is a ninth perspective view of the robot arm according to the embodiment of the present invention.
  • the robot arm 100 of the embodiment of the present invention includes two arm members 20 rotatably coupled by a rotating shaft 10 and a wire drawing 30 fixedly coupled to at least one of the arm members 20 about the rotating shaft 10.
  • the robot arm 100 of the embodiment of the present invention can rotate the arm member 20 connected to the wire drawing 30 relative to the other arm member 20 by pulling the wire 30.
  • the driving device for pulling the wire drawing 30 can be not limited to being disposed on two arms.
  • the member 20 is rotatably coupled to the joint, but may be disposed at other suitable locations, even outside the robotic arm 100, thereby reducing the weight of the robotic arm 100 while simplifying the joint structure of the robotic arm 100.
  • the shaft 10 is substantially perpendicular to the length of the arm member 20.
  • the arm member 20 can be swung around the other arm member 20, thereby achieving the swing control.
  • the arm member 20 is a tubular structure that is hollow and open at both ends, for example, in some examples, the arm member 20 is a circular tubular shape.
  • the weight of the arm member 20 can be reduced, thereby further reducing the weight of the robot arm 100.
  • arm member 20 is not limited to the embodiments discussed above, but other suitable configurations may be employed as desired in other embodiments.
  • one end of the arm member 100 has an arm connector 21 extending along the length of the arm member 20.
  • the arm connector 21 is formed with a shaft hole 22.
  • the shaft 10 is rotatably inserted into the shaft holes 22 of the two arm members 20 to rotatably connect the two arm members 20.
  • the rotating connection structure is simple and convenient for design and manufacture.
  • the arm connector 21 can be two pivot support frames 210 that are spaced apart and disposed in parallel.
  • Each of the spindle support frames 210 is formed with a shaft hole 22, and two pivot support frames 210 of the same arm connector 21.
  • the upper shaft holes 22 are aligned.
  • the arm member 20 can include a lower arm member 20 (see FIG. 4) and an upper arm member 20 (see FIG. 5).
  • the interval between the two shaft support frames 210 of the lower arm member 20 may be larger than the interval between the two shaft support frames 210 of the upper arm member 20, such that the two shaft support frames 210 of the lower arm member 20 constitute a pivot socket.
  • the two shaft support frames 210 of the upper arm member 20 may be disposed between the two arm support frames 210 of the lower arm member 20 (ie, embedded in the pivot socket). The rotational connection of the two arm members 20 is then effected by the shaft 10 being threaded into the shaft bore 22.
  • the spindle 10 can be a cylindrical pin and secured through the shaft bore 22.
  • the accommodating space is formed between the two shaft support frames 210 of the arm connector 21, and other components or other design structures can be provided, thereby improving the design freedom of the joint of the robot arm 100.
  • the rotational connection structure between the arm members 20 may not be limited to the embodiments discussed above, and may vary depending on specific needs.
  • the wire drawing 30 may be a flexible stainless steel wire or other materials having the required strength of the wire drawing.
  • the wire 20 can include a connection end 31 and a pull end 32.
  • the spindle support 210 of the arm connector 21 of the upper arm member 20 includes a first surface 211 and a second surface 212 opposite the first surface 211.
  • the arm connector 21 includes a drawing disc 213 extending outwardly along the first surface 211.
  • the axial direction of the drawing disc 213 is substantially parallel or coaxial with the rotating shaft 10, and the size of the drawing disc 213 is larger than the size of the rotating shaft 10.
  • the drawing 30 is fixedly connected to the rotating shaft support frame 210 after the drawing disc 213.
  • the wire 30 is disposed about the wire disc 213, i.e., about the axis of rotation 10. This can increase the pulling force of the pulling member 30 to pull the arm member 20 so that the pulling of the arm member 20 by the wire drawing 30 is more labor-saving. Thus, a lower power drive can be used to pull the wire.
  • the rotating shaft support frame 210 is formed with a first connecting hole 214 (see FIG. 5) penetrating the first surface 211 and the second surface 212 outside the drawing disk 213.
  • the first attachment aperture 214 has a dimension that is greater than the cross-sectional dimension of the wire to allow the wire 30 to pass through.
  • the connecting end 31 of the wire 30 may be formed with a projection 311 having a size larger than that of the first connecting hole 214.
  • the pulling end 32 of the wire drawing 30 passes through the first connecting hole 214 from the side of the second surface 212 and is pulled around the drawing disk 213 until the protruding end 311 of the connecting end 31 (see FIG. 8) is locked in the first connecting hole 214.
  • the wire 30 can be fixed to the spindle support frame 210.
  • the arc of the wire drawing 30 around the drawing disk 213 can be set by, for example, 180 degrees by the position where the first connecting hole 214 is disposed according to the winding direction of the wire 30. Thereby, the angle at which the wire drawing 30 pulls the arm member 20 can be controlled.
  • the wire drawing 30 includes two wires, and the two wire wires 30 are respectively disposed on the two shaft support frames 210 of the arm member 20, and are wound in opposite directions, so that the arm members can be pulled to rotate in two opposite directions.
  • the structure in which the arm member 20 is rotated can be pulled, and the angle at which the two arm members 20 can rotate relative to each other can be obtained.
  • one wire 30 can pull the arm member 20 to rotate 180 degrees
  • the other wire 30 can pull the arm member 20 to rotate -180 degrees
  • the wire 30 can pull the arm member 20 to rotate -180 to 180 degrees.
  • wire 30 may not be limited to the embodiments discussed above, but may be set as desired in other embodiments.
  • the robotic arm 100 includes a balance spring 40.
  • the two arm members 20 are connected by a balance spring 40.
  • the self-weight of the robot arm 100 is balanced by the supporting force provided by the balance spring 40, so that the starting and running of the robot arm 100 is more stable, and the load capacity of the robot arm 100 can be increased, and the driving efficiency can be improved.
  • the balance spring 40 includes two and is fixedly coupled to the two shaft support brackets 210, respectively. The two ends of the balance spring 40 are respectively connected to the two arm members 20. When the arm member 20 is relatively rotated, the tension of the balance spring 40 is overcome. When the two arm members 20 are relatively rotated to be in the vertical position, the center of gravity of the arm member 20 at the upper end is substantially at the center of the rotating shaft 10, at which time the balance spring 40 provides the minimum balance torque; when the upper arm member 20 is relatively rotated When in the horizontal position, the center of gravity of the upper arm member 20 is farthest from the center of the rotating shaft 10, and the balance torque provided by the balance spring 40 is approaching the maximum. As such, the balance spring 40 can balance the weight of the robot arm 100, thereby improving the efficiency of use of the drive device that drives the robot arm 100.
  • the balance spring 40 includes a wire spring and includes a spring hook 41.
  • a connecting shaft 215 is disposed on the second surface 212 of the arm connector 21. The balance spring 40 is snapped onto the connecting shaft 215 by a spring hook 41.
  • the balance spring 40 is disposed in the accommodating space of the arm connector 21 by the spring hook 41 being coupled to the connecting shaft 215, thereby balancing the weight of the arm member 20.
  • the connecting shaft 215 can be a cylindrical pin.
  • Threaded holes are provided on the second surface 212 of the arm connector 21 Threaded holes are provided. The cylindrical pin is threadedly engaged with the threaded hole to be disposed on the second surface 212.
  • the connecting shaft 215 can be disposed on the second surface 212 by welding or the like, and therefore, it should be noted that it is not limited to the cylindrical pin discussed above.
  • the balance spring 40 can also be a torsion spring. Therefore, it should be noted that the balance spring 40 is not limited to the wire spring discussed above.
  • an embodiment of the present invention provides a robot arm 100a that includes two arm members 20a that are rotatably coupled by a rotating shaft 10a.
  • the wire 30a of the robot arm 100a is fixedly coupled to the upper arm member 20a.
  • the rotating shaft 10a is substantially parallel to the longitudinal direction of the arm member 20a (in the direction of the double arrow shown in Fig. 9).
  • the arm member 20a can be rotated about the other arm member 20a, thereby achieving rotation control.
  • the angle of relative rotation of the two arm members 20a includes -180 degrees to 180 degrees.
  • the relative angle can be set as desired, and in some embodiments, the arm member 20a has a greater range of rotation and can be adapted for more applications.
  • Both ends of the rotating shaft 10a are fixedly coupled to one ends of the two arm members 20a, respectively, and at least one end is rotatably coupled to the at least one arm member 20a.
  • the robot arm 100a forms a rotating structure and can be set as the case may be.
  • the shaft 10a is rotatably coupled to one of the arm members 20a.
  • the rotating shaft 10a includes a first surface 11a and a second surface 12a opposite to the first surface 11a.
  • the rotating shaft 10a is provided with a second connecting hole 13a penetrating the first surface 11a and the second surface 12a.
  • the wire 30a includes a connecting end 31a and a pulling end 32a.
  • the connecting end 31a is formed with a projection 311a.
  • the pulling end 32a is pulled around the first surface 11a from the second surface 12a side of the rotating shaft 10a through the second connecting hole 13a until the protruding end 311a of the connecting end 31a is caught in the second connecting hole 13a to pull the wire 30a. It is fixed to the rotating shaft 10a.
  • the two wires 30a are directly wound around the rotating joint formed by the arm member 20a, so that the rotation control is realized by the wire 30a.
  • the arm member 20a is a hollow structure with open ends.
  • the wire 30a is passed through the arm member 20a.
  • the pulling end 32a extends out of the arm member 20a.
  • the wire drawing 30a protrudes from the inside of the arm member 20a to extend the arm member 20a, which is advantageous for protecting the wire 30a and having a beautiful and compact structure.
  • the pulling end 32a of the extending arm member 20a can be directly connected to a driving device provided outside the robot arm 100a.
  • the shaft 10a is a bearing.
  • the two arm joint members 21a of the two arm members 20a are respectively connected to the inner and outer rings of the bearing.
  • the two arm joint members 21a (Fig. 12) are relatively rotated by the bearings.
  • connection structure of the arm member 20a is simple, and the frictional force at the joint of the two arm joint members 21a of the robot arm 100a and the bearing is small.
  • the bearings in certain embodiments may be crossed roller bearings.
  • the bearing can withstand both radial and axial forces.
  • the wire 30a includes two.
  • the wire drawing 30a is the same as the wire drawing 30.
  • the two wires 30a are capable of individually driving one arm member 20a to rotate in a direction opposite to each other in the positive and negative directions with respect to the other arm member 20a.
  • the robot arm 100a includes a steering bearing 40a (Fig. 10).
  • the wire drawing 30a changes the pulling direction of the wire 30a through the steering bearing 40a.
  • the pulling direction of the wire 30a can be set according to a specific situation
  • the steering bearing 40a changes the longitudinal direction of the wire 30a substantially perpendicular to the arm member 20a to be substantially parallel to the length direction of the arm member 20a, facilitating the driving of the robot arm 100a, and facilitating
  • the wire drawing 30a passes through the middle of the arm member 20a, which improves the stability of the operation of the robot arm 100a, and prevents the wire 30a from being exposed on the outside of the arm member 20a.
  • the appearance is compact and beautiful.
  • the steering bearing 40a is provided in the arm member 20a.
  • the connection structure is simple and stable.
  • the arm member 20a is provided with a receiving hole 22a.
  • the steering bearing 40a is disposed in the receiving hole 22a. Therefore, the structure of the robot arm 100a can be made more compact.
  • the rotating shaft 10a is housed in the arm member 20a.
  • the robot arm 100a includes an upper arm member 20aa and a lower arm member 20ab.
  • the rotating shaft 10a is housed in the lower arm member 20ab. In this way, the structure is simple and saves space.
  • the rotating shaft 10a is provided with a winding groove 14a.
  • the wire 30a is housed in the winding groove 14a.
  • the wire 30a can be stably fixed to the rotating shaft 10a.
  • the wire 30a is passed through the second connection hole 13a and housed in the winding groove 14a, and the pulling end 32a of the wire 30a protrudes through the side wall of the lower arm member 20ab. Therefore, the arrangement of the winding groove 14a makes the movement of the wire 30a smoother and improves the operational stability of the robot arm 100a.
  • a robotic arm 700 of an embodiment of the present invention includes two arm members 710, a pivot base 720, and an arm wire 740.
  • the pivot base 720 is rotatably coupled to the two arm members 710 via the rotating shaft 730, respectively.
  • the arm wire 740 is fixedly coupled to at least one of the arm members 710 about the axis of rotation 730.
  • the robotic arm 700 of the embodiment of the present invention can rotate the arm member 710 connected to the arm wire 740 by pulling the arm wire 740, in which case the driving device for pulling the arm wire 740 can be not limited to the rotation of the two arm members 710.
  • the joint is provided outside the robot arm 700, thereby reducing the weight of the robot arm 700 and simplifying the structure of the robot arm 700.
  • the arm member 710 has a hollow structure and has both ends open.
  • the weight of the arm member 710 can be reduced, thereby further reducing the weight of the robot arm 700.
  • the arm member 710 has a circular tubular shape.
  • the pivot base 720 has a substantially square shape.
  • the pivot seat 720 may have a suitable shape such as a rectangular parallelepiped shape, and thus is not limited to the square shape in the present embodiment.
  • the pivot base 720 has a structure in which both ends are open. In this way, the weight of the pivot base 720 can be reduced, thereby further reducing the weight of the robot arm 700.
  • pivot 720 is not limited to the structure of the embodiments discussed above, but other suitable configurations may be employed in other embodiments as desired.
  • the rotating shaft 730 is substantially perpendicular to the longitudinal direction of the arm member 710 (in the direction of the double arrow shown by 13).
  • the arm member 710 can swing around the pivot seat 720, thereby achieving swing control.
  • the two arm members 710 are an upper arm member 710a and a lower arm member 710b, respectively, and the upper arm member 710a and the lower arm member 710b are each pivotally coupled to the pivot seat 720.
  • the arm wire 740 is fixedly coupled to the upper arm member 710a. Under the pulling force of the arm drawing 740, the arm drawing 740 causes the upper arm member 710a to rotate relative to the pivoting seat 720.
  • the robot arm 700 further includes a pivot wire drawing 750 (see FIG. 13).
  • the pivot wire drawing 750 is fixedly coupled to the pivot base 720 about the rotating shaft 730.
  • the pivoting seat 710 rotates about the rotating shaft 730, thereby causing the pivoting seat 710 to rotate relative to the arm member 710, for example, in the example shown in FIG. 21, relative to the lower arm member 710b. .
  • the rotating shaft 730 includes a first rotating shaft 731 and a second rotating shaft 732.
  • the first rotating shaft 731 and the second rotating shaft 732 are perpendicular to each other.
  • the arm wire 740 is wound around the first rotating shaft 731.
  • the pivot wire drawing 750 is wound around the second rotating shaft 732.
  • the axis of the first rotating shaft 731 and the axis of the second rotating shaft 732 meet at one point.
  • the upper arm member 710a when the upper arm member 710a is rotated about the pivot seat 720 under the force of the arm wire 740, the lower arm member 710b is not affected, and at the same time, the pivot seat 720 is opposed to the lower arm member 710b under the force of the pivotal wire drawing 750.
  • the upper arm member 710a When rotated, the upper arm member 710a is not affected.
  • the first rotating shaft 731 and the second rotating shaft 732 are perpendicular to each other to enable The universal joint is formed such that the arm member 710 of the robot arm 700 can be rotated relative to the pivot seat 720, and the angle between the two arm members 710 can vary as the two arm members 710 rotate relative to the pivot seat 20. .
  • the upper arm member 710a is rotated about the pivot seat 720 by the first rotating shaft 731
  • the lower arm member 710b is rotated about the pivot seat 720 by the second rotating shaft 732, thereby achieving an angle change between the two arm members 10.
  • the upper arm member 710a is in the A position, at which time the axis of the upper arm member 710a and the axis of the lower arm member 710b are substantially on the same axis, and the angle between the two arm members 710 is close to 0 degrees.
  • the lower arm member 710b can be fixed, and when the upper arm member 710a is subjected to the force of the arm drawing 740, the upper arm member 710a is rotated about the pivot seat 720 by the first rotating shaft 731.
  • the result of the rotation is as shown in Fig. 15. Under the force of the arm wire 740, the upper arm member 710a is rotated about the pivot seat 720 to the B position.
  • the axis of the upper arm member 710a is substantially perpendicular to the axis of the lower arm member 710b, and the angle between the two arm members 710 is approximately 90 degrees.
  • the arm drawing 740 can be further pulled to bring the two arm members 710 between The angle is between 100 and 120 degrees.
  • the angle between the upper arm member 710a and the lower arm member 710b may vary as the upper arm member 710a rotates about the pivot seat 720 under the force of the arm wire 740. Therefore, it should be noted that the present example is merely used to illustrate that the two arm members 710 can be rotated about the pivot base 720 and are not affected by each other, and cannot be construed as limiting the embodiments of the present invention.
  • one end of the arm member 710 has a shaft support frame 711 extending in the longitudinal direction of the arm member 710.
  • one end of the upper arm member 710a has a shaft support frame 711a extending in the longitudinal direction of the upper arm member 710a.
  • the shaft support frame 711a is provided with a first shaft hole 7111a.
  • the pivot seat 720 is provided with a second shaft hole 721a. The first rotating shaft 731 is rotated and penetrates the first shaft hole 7111a and the second shaft hole 721a.
  • one end of the lower arm member 710b has a rotation shaft support frame 711b extending in the longitudinal direction of the lower arm member 710b.
  • the shaft support frame 711b is provided with a third shaft hole 7111b.
  • the pivot seat 720 is provided with a fourth shaft hole 721b.
  • the second rotating shaft 732 is rotatably inserted through the third shaft hole 7111b and the fourth shaft hole 721b.
  • the rotating connection structure is simple and convenient for design and manufacture.
  • first rotating shaft 731 and the second rotating shaft 732 may be cylindrical pins.
  • the rotational connection between the arm member 710 and the pivot base 720 may not be limited to the structure of the embodiments discussed above, and may vary depending on specific needs.
  • the rotating shaft support frame 711 includes two support frames 712 that are spaced apart.
  • the first shaft hole 7111 is opened on the support frame 712.
  • the pivot base 720 is located between the two support frames 712.
  • a receiving space is formed between the two support frames 712 of the rotating shaft support frame 711.
  • the pivoting seat 720 is received in the receiving space formed between the two supporting frames 712, and has a compact structure.
  • the receiving space can be provided with other components or other design structures, thereby improving the design freedom of the joint of the robot arm 700.
  • the spindle support frame 711a of the upper arm member 710a includes two support frames 712a that are spaced apart.
  • the first shaft hole 7111a is opened on the support frame 712a.
  • the pivot base 720 is located between the two support brackets 712a.
  • the number of arm wires 740 is two, wherein each arm wire 740 can individually pull the arm member 710 to swing around the pivot seat 720.
  • the number of arm wires 740 that are coupled to the upper arm member 710a is two, with each arm wire 740 being able to individually swing the upper arm member 710a about the pivot seat 720.
  • one end of the arm wire 740 is fixed to the support frame 712.
  • the arm member 710 is rotated about the pivot seat 720 by the rotating shaft 730 due to the force acting on the support frame 712.
  • one end of the arm wire 740 is fixed to the support frame 712a.
  • the upper arm member 710a is rotated about the pivot seat 720 by the first rotating shaft 731 due to the force acting on the support frame 712a.
  • the support frame 712 includes a first support frame surface 7121 that faces the pivot seat 720.
  • a first wire drawing disk 7122 is disposed on the first support frame surface 7121.
  • the arm wire 740 is wound around the first wire drawing disk 7122.
  • the arm wire 740 is disposed around the first wire drawing disk 7122 to facilitate the fixing of the arm wire 740.
  • the support frame 712a of the upper arm member 710a includes a first support frame surface 7121a that faces the pivot seat 720.
  • a first wire drawing disk 7122 is disposed on the first support frame surface 7121a.
  • the arm wire 740 is wound around the first wire drawing disk 7122.
  • the first wire drawing disk 7122 is formed to protrude on the inner side of the upper arm member 710a on the first support frame surface 7121a.
  • the first wire drawing disk 7122 is disposed coaxially with the first rotating shaft 731.
  • the size of the first wire drawing disk 7122 is larger than the size of the first rotating shaft 731.
  • the first wire drawing disk 7122 can increase the arm drawing 740 to pull the rotational force arm of the upper arm member 710a so that the arm wire drawing 740 pulls the upper arm member 710a more labor-saving.
  • a lower power drive can be used to pull the wire.
  • the first shaft hole 7111 penetrates the first wire drawing disk 7122 in the axial direction of the first wire drawing disk 7122.
  • the first wire drawing disk 7122 is disposed coaxially with the first rotating shaft 731, and the arm drawing wire 740 can effectively constitute a more labor-saving rotating force arm around the first wire drawing disk 7122.
  • the first shaft hole 7111a of the upper arm member 710a penetrates the first wire drawing disk 7122 in the axial direction of the first wire drawing disk 7122.
  • the size of the first wire drawing disk 7122 on the first support frame surface 7121a of the upper arm member 710a may be set according to a specific situation.
  • the support frame 712 includes a second support frame surface 7123 opposite the first support frame surface 7121.
  • the support frame 712 defines a first fixing hole 7124 extending through the first support frame surface 7121 and the second support frame surface 7123.
  • the arm drawing 740 includes a connecting end 741 and a pulling end 742 (see Figure 18).
  • the connection end 741 is formed with a projection 741a.
  • the pulling end 742 is pulled around the first drawing hole 7122 from the side of the second supporting frame surface 7123 and then pulled around the first drawing disk 7122 until the protruding end 741a of the connecting end 741 is caught in the first fixing hole 7124 to draw the arm 740. It is fixed on the support frame 712.
  • the pulling end 742 of the arm drawing 740 passes through the first fixing hole 7124 from the side of the second supporting frame surface 7123 and then pulls around the first drawing disk 7122 until the protruding end 741a of the connecting end 741 is engaged with the first fixing hole 7124.
  • the arm wire 740 can be secured to the support frame 712.
  • the number of the arm wires 740 is two, and the two arm wires 740 are respectively disposed on the two first support frame surfaces 7121 of the arm member 710, and are wound in opposite directions.
  • the arm member 710 can be pulled along two Rotate in opposite directions.
  • the structure in which the arm member 710 is rotated can be pulled, and the angle at which the two arm members 710 can rotate relative to each other can be obtained.
  • one arm wire 740 can pull the arm member 710 to rotate 90 degrees
  • the other arm wire 740 can pull the arm member 710 to rotate -90 degrees
  • the two arm wires 740 can pull the arm member 710 to rotate at -90 degrees to Rotate between 90 degrees.
  • twisting of the two arm wires 740 may increase the range of mutual rotation of the arm members 710.
  • arm wire 740 may not be limited to the embodiments discussed above, but may be set as desired in other embodiments.
  • the support frame 712a includes a second support frame surface 7123a opposite the first support frame surface 7121a (see Figure 16).
  • the pulling end 742 of the arm drawing 740 passes through the first fixing hole 7124a from the side of the second supporting frame surface 7123a and then pulls around the first drawing disk 7122 until the protruding end 741a of the connecting end 741 is engaged in the first fixing hole 7124a. Fix the arm wire 740 to the upper arm On the support frame 712 of the member 710a.
  • the upper arm member 710a is rotated about the pivot seat 720 by the first rotating shaft 731.
  • the upper arm member 710a in the initial position, the upper arm member 710a is in the C position; when the upper arm member 710a is subjected to the force of the arm drawing 40, the upper arm member 710a is rotated from the C position to the D position by the first rotating shaft 731 about the pivoting seat 720.
  • the arm member 710 is hollow and has a structure in which both ends are open.
  • the arm wire 740 is threaded with the arm member 710.
  • the pull end 742 extends out of the arm member 710.
  • the arm drawing 740 extends the arm member 710 along the inside of the arm member 710, which facilitates the protection of the arm drawing 740, and is structurally compact.
  • the pulling end 742 of the arm wire 740 can be extended by the arm member 710. As such, the pull end 742 of the arm wire 740 that is extended by the arm member 710 can be directly coupled to the drive.
  • the robot arm 700 includes a steering bearing 760 (see FIG. 20) rotatably disposed on the pivot seat 720.
  • the arm wire 740 changes the pulling direction of the arm wire 740 through the steering bearing 760.
  • the pulling direction of the arm drawing 740 can be set according to a specific situation, which facilitates the driving of the robot arm 700, and improves the stability of the operation of the robot arm 700, and at the same time makes the appearance compact and beautiful.
  • the arm wire 740 fixedly coupled to the upper arm member 710a changes the pulling direction of the arm wire 740 through the steering bearing 760.
  • the pivot base 720 is formed with a recess 725 (see FIG. 17).
  • a steering bearing 760 is rotatably disposed in the recess 725.
  • the structure of the robot arm 700 can be made more compact and more stable.
  • the structure of the pivot wire drawing 750 is substantially the same as that of the arm wire drawing 740.
  • the pivot wire drawing 750 and the arm wire drawing 740 may be flexible stainless steel wire or other materials having the required strength of the wire drawing.
  • the pivot base 720 is driven by the pivot wire 750.
  • the pivot seat 720 is rotatably coupled to the arm member 710 about the second pivot shaft 732 by the pivot wire 750.
  • the pivot base 720 is rotatably coupled to the lower arm member 710b by a pivotal pull wire 750 about a second pivot shaft 732.
  • the pivot base 720 includes a first pivot surface 722 that faces the arm member 710.
  • a second wire disc 7122b (see FIG. 17) is disposed on the first pivot surface 722.
  • the pivot wire drawing 750 is wound around the second wire drawing disk 7122b.
  • the pivot wire 750 is disposed around the second wire disc 7122b to facilitate the fixation of the pivot wire 750.
  • the second wire drawing disk 7122b is formed to protrude outward from the pivoting seat 720 on the first pivot surface 722.
  • the second wire drawing disk 7122b is disposed coaxially with the second rotating shaft 732.
  • pivot wire 750 is disposed around the second wire 712b around the second wire 732 to facilitate driving.
  • the size of the second wire drawing disk 7122b is larger than the size of the second rotating shaft 732.
  • the second wire drawing disk 7122b can increase the pivoting force of the pivot wire 50 to pull the pivoting arm 720 so that the pivot wire drawing 750 pulls the pivoting seat 720 more labor-saving.
  • a lower power drive can be used to pull the pivot wire 750.
  • the second wire drawing disk 7122b can increase the pivoting force of the pivot wire 750 pulling the pivoting seat 720 such that the pivoting wire drawing 750 pulls the pivoting seat 720 more labor-saving.
  • the pivot base 720 includes a second pivot surface 723 (see FIG. 21) opposite the first pivot surface 722.
  • the pivot seat 720 defines a second fixing hole 724 (see FIG. 21) penetrating the first pivot surface 722 and the second pivot surface 723.
  • the pivot drawing 750 includes a connecting end 751 and a pulling end 752 (see Fig. 22).
  • the connection end 751 is formed with a projection 751a.
  • the pulling end 752 is pulled from the second pivoting surface 723 of the pivoting seat 720 through the second fixing hole 724 and then pulled around the second drawing disk 7122b until the protruding end 751a of the connecting end 751 is engaged in the second fixing hole 724.
  • the pivot wire 750 is secured to the pivot 720.
  • the pulling end 752 of the pivot wire 750 is pulled from the second pivoting surface 723 through the second fixing hole 724 and then pulled around the second wire drawing disk 7122b until the protruding end 751a of the connecting end 751 is locked in the second fixing hole. 724
  • the pivot wire 750 is secured to the pivot 720.
  • the rotating shaft support frame 711b is provided with a through hole 713 (see FIG. 23).
  • the pivot wire 750 is threaded through the perforations 713 and extends out of the lower arm member 710b.
  • the second rotating shaft 732 is rotatably passed through the rotating shaft support frame 711b.
  • the pivotal drawing wire 750 extends out of the lower arm member 710b along the inner portion of the lower arm member 710b, thereby facilitating the protection of the pivoting wire drawing 50, and the structure is beautiful and compact.
  • the fourth shaft hole 721b penetrates the second wire drawing disk 7122b in the axial direction of the second wire drawing disk 7122b.
  • the robot arm 200 of the present embodiment includes a robot arm 100 , a robot arm 100 a , and a robot arm 700 .
  • the number of robot arms 100 is two, and the two robot arms 100 are connected to each other.
  • the number of robot arms 100a is two.
  • One of the robot arms 100 is rotatably coupled to one of the robot arms 100a, and the other robot arm 100 is rotatably coupled to the other robot arm 100a.
  • the other robot arm 100a is rotatably coupled to the robot arm 700.
  • the robotic arm 200 can be a universal joint six-axis robotic arm.
  • a rotary joint 201 formed by one of the robot arms 100a From the end of the robot arm 200 to the front end, a rotary joint 201 formed by one of the robot arms 100a, a swing joint 202 formed by one of the robot arms 100, a swing joint 203 formed by another robot arm 100, and another A rotating joint 204 formed by the robot arm 100a and a universal swing joint 205 formed by the robot arm 700.
  • all joints are driven by wire 206.
  • the wire 206 can include a wire 30, 30a, an arm wire 740, and a pivot wire 750.
  • the driving device 210a that pulls the wire 206 can be disposed outside the robot arm 200, thereby reducing the weight of the robot arm 200 and simplifying the structure of the robot arm 200.
  • the wire 206 is jacketed with a spring tube 220.
  • One end of the wire 206 is fixed to the robot arm 200, and the other end thereof is connected to the driving device 210a through a cavity formed in the robot arm 200.
  • the structure is simple, and the weight of the robot arm 200 is reduced, and the load efficiency is improved.
  • the robot arm 200 includes a pivot seat 207a and a plurality of arm members.
  • the plurality of arm members include a first arm member 200a, a second arm member 200b, a third arm member 200c, and a fourth arm member 200d.
  • the second arm member 200b is rotatably coupled to the first arm member 200a via the first rotating shaft 207.
  • the first rotating shaft 207 is substantially perpendicular to the longitudinal direction of the first arm member 200a and the second arm member 200b.
  • the third arm member 200c is rotatably coupled to the second arm member 200b by a second rotating shaft (which may be coupled to FIG. 12), and the second rotating shaft is substantially parallel to the longitudinal direction of the second arm member 200b and the third arm member 200c.
  • the pivot seat 207a is rotatably coupled to the third arm member 200c and the fourth arm member 200d.
  • the wire 206 is fixedly coupled to at least one of the first arm member 200a, the second arm member 200b, the third arm member 200c, and the fourth arm wire 200d.
  • the wire 206 can include a wire 30, a wire 30a, an arm wire 740, and a pivot wire 750, and the wire 30 (which can be understood as a first arm wire) is fixedly coupled to the second arm member 200b.
  • the second arm member 200b is driven to rotate about the first rotating shaft 207.
  • the wire 30a (which can be understood as the second arm wire drawing) is fixedly coupled to the third arm member 200c to drive the third arm member 200c to rotate about the second axis of rotation.
  • the pivot wire drawing 750 is fixedly coupled to the pivot seat 207a to drive the pivot seat 207a to rotate about the third rotating shaft 208.
  • the arm drawing 740 (which can be understood as a third arm drawing) is fixedly coupled to the fourth arm member 200d to drive the fourth arm member 200d to rotate about the fourth rotating shaft 209.
  • the specific structure of the first rotating shaft 207 and the first arm member 200a and the second arm member 200b and the connection manner of the three can be referred to the description of the robot arm 100 of the above embodiment, and the second rotating shaft and the third arm member.
  • the specific structure of the 200c and the connection manner of the two can be referred to the description of the robot arm 100a of the above embodiment.
  • the specific structure of the third rotating shaft 208, the third arm member 200c and the pivoting seat 207a, and the connection manner of the three, and the specific structure of the fourth rotating shaft 209 and the fourth arm member 200d and the pivoting seat 207a, and the connection manner of the three can be referred to.
  • the description of the robot arm 700 of the above embodiment will not be described in detail herein. That is, the above explanation of the embodiments of the robot arms 100, 100a, and 700 is also applicable to the robot arm 200 of the present embodiment.
  • the second arm member 200b is rotatably coupled to the first arm member 200a via the first rotating shaft 207 to form a swing joint.
  • the third arm member 200c is rotatably coupled to the second arm member 200b by a second rotating shaft and forms a rotating joint.
  • the pivot seat 207a is rotatably coupled to the third arm member 200c via the third rotating shaft 208
  • the fourth arm member 200d is rotatably coupled to the fourth arm member 200d to form a universal swing joint.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical connection, or can be electrical connection; can be directly connected, or can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements.
  • installation can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种机械手臂（200），其包括：第一手臂构件（200a）；第二手臂构件（200b），第二手臂构件（200b）通过第一转轴（207）与第一手臂构件（200a）转动地连接，第一转轴（207）基本垂直于第一手臂构件（200a）及第二手臂构件（200b）的长度方向；第三手臂构件（200c），第三手臂构件（200c）通过第二转轴与第二手臂构件（200b）转动地连接，第二转轴基本平行于第二手臂构件（200b）及第三手臂构件（200c）的长度方向；枢座（207a）；第四手臂构件（200d），枢座（207a）转动连接第三手臂构件（200c）及第四手臂构件（200d）；拉丝（206），拉丝（206）与第一手臂构件（200a）、第二手臂构件（200b）、第三手臂构件（200c）及第四手臂构件（200d）中的至少一个手臂构件固定连接。该机械手臂可以通过拉动拉丝使得与拉丝连接的手臂构件相对于另一个手臂构件转动，拉动拉丝的驱动装置可设在机械手臂外，从而减轻机械手臂的自重，简化机械手臂的结构。

Description

机械手臂
优先权信息
本申请请求在2016年02月06日向中国国家知识产权局提交的、专利申请号为201610083945.3和201620118807.X的专利申请的优先权和权益，并且通过参照将其全文并入此处。
技术领域
本发明涉及机器人领域，具体涉及一种机械手臂。
背景技术
现有机械手臂的驱动装置一般设置于两个手臂构件转动连接的关节处，导致机械手臂自重过大，且关节结构复杂。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本发明提出一种机械手臂。
本发明实施方式的机械手臂，包括：第一手臂构件；第二手臂构件，所述第二手臂构件通过第一转轴与所述第一手臂构件转动地连接，所述第一转轴基本垂直于所述第一手臂构件及所述第二手臂构件的长度方向；第三手臂构件，所述第三手臂构件通过第二转轴与所述第二手臂构件转动地连接，所述第二转轴基本平行于所述第二手臂构件及所述第三手臂构件的长度方向；枢座；第四手臂构件，所述枢座转动连接所述第三手臂构件及所述第四手臂构件；拉丝，所述拉丝与所述第一手臂构件、所述第二手臂构件、所述第三手臂构件及第四手臂构件中的至少一个手臂构件固定连接。
本发明的机械手臂可以通过拉动拉丝使得与拉丝连接的手臂构件相对于另一个手臂构件转动，在此情况下，拉动拉丝的驱动装置可以不限于设置在两个手臂构件的转动连接处，而是设置在机械手臂外，从而减轻机械手臂的自重，简化机械手臂的结构。同时，在拉丝的拉力作用下，手臂构件可以绕另外一个手臂构件转动，从而实现转动控制。
在某些实施方式中，所述第一手臂构件及所述第二手臂构件中的每一个手臂构件沿所述手臂构件的长度方向延伸有手臂连接件，所述手臂连接件形成有轴孔，所述第一转轴转动穿设所述轴孔从而将所述第一手臂构件及所述第二手臂构件转动连接。
在某些实施方式中，所述手臂连接件包括间隔平行设置的两个转轴支撑架，所述轴孔开设在所述两个转轴支撑架上，其中一个所述手臂构件的所述两个转轴支撑架设置在另一个所述手臂构件的所述两个转轴支撑架之间。
在某些实施方式中，所述转轴支撑架包括第一表面及与所述第一表面相背的第二表面，所述手臂连接件包括沿所述第一表面向远离所述第二表面方向延伸的拉丝圆盘，所述拉丝圆盘的轴向与所述第一转轴同轴，所述拉丝圆盘的尺寸大于所述第一转轴的尺寸，所述拉丝包括第一手臂拉丝，所述第一手臂拉丝绕所述拉丝圆盘并与所述转轴支撑架固定连接。
在某些实施方式中，所述第二转轴固定在所述第三手臂构件的一端，所述第二转轴包括第一表面及与所述第一表面相背的第二表面，所述第二转轴开设有贯穿所述第一表面及所述第二表面的穿孔；
所述拉丝包括第二手臂拉丝，所述第二手臂拉丝包括连接端及拉动端，所述连接端形成有凸头，所述拉动端从所述第二转轴的所述第二表面一侧穿过所述穿孔后绕所 述第一表面拉动直至所述连接端的所述凸头卡设在所述穿孔内从而将所述第二手臂拉丝固定在所述第二转轴上。
在某些实施方式中，所述机械手臂包括转向轴承，所述第二手臂拉丝通过所述转向轴承改变所述第二手臂拉丝的拉动方向。
在某些实施方式中，所述拉丝包括第三手臂拉丝及枢座拉丝，所述第三手臂拉丝与所述第四手臂构件固定连接，所述枢座拉丝与所述枢座固定连接。
在某些实施方式中，所述枢座通过第三转轴与所述第三手臂构件转动连接，及通过第四转轴与所述第四手臂构件转动连接；
所述第三转轴与所述第四转轴相互垂直，所述第三手臂拉丝绕所述第四转轴，所述枢座拉丝绕所述第三转轴；
所述第三转轴的轴线与所述第四转轴的轴线交汇于一点。
在某些实施方式中，所述第四手臂构件的一端沿所述第四手臂构件的长度方向延伸有转轴支撑架，所述转轴支撑架开设有第一轴孔，所述枢座开设有第二轴孔，所述第四转轴转动地穿设所述第一轴孔及所述第二轴孔，所述转轴支撑架包括间隔设置的两个支撑架，所述第一轴孔开设在所述支撑架上，所述枢座位于所述两个支撑架之间。
在某些实施方式中，所述支撑架包括面向所述枢座的第一支撑架表面，所述第一支撑架表面上设置有拉丝圆盘，所述第三手臂拉丝绕在所述拉丝圆盘上，所述拉丝圆盘与所述第四转轴同轴设置，所述拉丝圆盘的尺寸大于所述第四转轴的尺寸。
在某些实施方式中，远离所述第二手臂构件的所述第三手臂构件的一端沿所述第三手臂构件的长度方向延伸有转轴支撑架，所述转轴支撑架开设有第三轴孔，所述枢座开设有第四轴孔，所述第三转轴转动地穿设所述第三轴孔及所述第四轴孔。
在某些实施方式中，所述枢座包括面向所述第三手臂构件的第一枢座表面，所述第一枢座表面上设置有拉丝圆盘，所述枢座拉丝绕在所述拉丝圆盘上，所述拉丝圆盘与所述第三转轴同轴设置，所述拉丝圆盘的尺寸大于所述第三转轴的尺寸。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施方式的机械手臂的第一立体示意图。
图2是本发明实施方式的机械手臂的第二立体示意图。
图3是本发明实施方式的机械手臂的第三立体示意图。
图4是本发明实施方式的机械手臂的部分立体示意图。
图5是本发明实施方式的机械手臂的另一个部分立体示意图。
图6是图5的机械手臂的Ⅰ部分放大示意图。
图7是本发明实施方式的机械手臂的拉丝的立体示意图。
图8本发明实施方式的机械手臂的第四立体示意图。
图9是本发明实施方式的机械手臂的第五立体示意图。
图10是图9的机械手臂的手臂构件与拉丝及转轴的连接立体示意图。
图11是图9的机械手臂的拉丝的立体示意图。
图12是图9的机械手臂的手臂构件与拉丝的连接示意图。
图13是本发明实施方式的机械手臂的第六立体示意图。
图14是本发明实施方式的机械手臂的第七立体示意图。
图15是本发明实施方式的机械手臂的第八立体示意图。
图16是本发明实施方式的机械手臂的上手臂构件的立体示意图。
图17是本发明实施方式的机械手臂的枢座及转轴的立体示意图。
图18是本发明实施方式的机械手臂的手臂拉丝的立体示意图。
图19本发明实施方式的机械手臂的部分立体示意图。
图20是本发明实施方式的机械手臂的另一部分立体示意图。
图21是本发明实施方式的机械手臂的又一部分立体示意图。
图22是本发明实施方式的机械手臂的枢座拉丝的立体示意图。
图23是本发明实施方式的机械手臂的另一手臂构件的立体示意图。
图24是本发明实施方式的机械手臂的第九立体示意图。
具体实施方式
以下结合附图对本发明的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本发明的实施方式是示例性的，仅用于解释本发明的实施方式，而不能理解为对本发明的限制。
请参阅图1-3，本发明实施方式的机械手臂100包括通过转轴10转动连接的两个手臂构件20及绕转轴10与至少其中一个手臂构件20固定连接的拉丝30。
本发明实施方式的机械手臂100可以通过拉动拉丝30使得与拉丝30连接的手臂构件20相对于另一个手臂构件20转动，在此情况下，拉动拉丝30的驱动装置可以不限于设置在两个手臂构件20转动连接的关节处，而是可以设置在其他合适的位置，甚至是设置在机械手臂100外，从而减轻机械手臂100的自重，同时简化机械手臂100的关节结构。
在某些实施方式中，转轴10基本垂直于手臂构件20的长度方向。
如此，在拉丝30的拉力作用下，手臂构件20可以绕另外一个手臂构件20摆动，从而实现摆动控制。
请一并参阅图4及图5，在某些实施方式中，手臂构件20为中空状且两端开放的管状结构，例如在某些示例中，手臂构件20为圆管状。
如此，可以减轻手臂构件20的自重，从而进一步减轻机械手臂100的自重。
当然，可以理解，手臂构件20并不限于上面讨论的实施方式，而可以在其他实施方式中，根据需要采用其他合适的结构。
在某些实施方式中，手臂构件100的一端沿手臂构件20的长度方向延伸有手臂连接件21。手臂连接件21形成有轴孔22。转轴10转动穿设两个手臂构件20的轴孔22内从而将两个手臂构件20转动连接。
如此，转动连接结构简单，方便设计及制造。
在某些实施方式中，手臂连接件21可以是间隔且平行设置的两个转轴支撑架210，每个转轴支撑架210都形成有轴孔22，同一手臂连接件21的两个转轴支撑架210上的轴孔22对齐。
例如，在某些实施方式中，手臂构件20可以包括下手臂构件20(请参图4)及上手臂构件20(请参图5)。
下手臂构件20的两个转轴支撑架210之间的间隔可以比上手臂构件20的两个转轴支撑架210的间隔大，如此，下手臂构件20的两个转轴支撑架210构成枢接座，而上手臂构件20的两个转轴支撑架210可以设置在下手臂构件20两个转轴支撑架210之间(即嵌入枢接座内)。然后通过转轴10穿设在轴孔22内实现两个手臂构件20的转动连接。
在某些实施方式中，转轴10可以是圆柱销，并穿轴孔22固定。
如此，手臂连接件21的两个转轴支撑架210之间形成有收容空间，可以设置其他元件或其他设计结构，因此提高了机械手臂100的关节处的设计自由度。
当然，在其他实施方式中，手臂构件20之间的转动连接结构可以不限于上面讨论的实施方式，可以视具体需求而改变。
请一并参阅图7，拉丝30可以是柔性的不锈钢丝或者其他材质的强度符合要求的拉丝。拉丝20可以包括连接端31及拉动端32。
在某些实施方式中，上手臂构件20的手臂连接件21的转轴支撑架210包括第一表面211及与第一表面211相背的第二表面212。手臂连接件21包括沿第一表面211向外侧延伸形成有拉丝圆盘213。拉丝圆盘213的轴向与转轴10基本平行或者同轴设置，拉丝圆盘213的尺寸大于转轴10的尺寸，拉丝30绕拉丝圆盘213后与转轴支撑架210固定连接。
可以理解，在上面讨论的实施方式中，拉丝30绕拉丝圆盘213即是绕转轴10设置。如此可以增加拉丝30拉动手臂构件20的转动力臂使得拉丝30拉动手臂构件20更加省力。从而，可以采用较小功率的驱动装置来拉动拉丝。
转轴支撑架210在拉丝圆盘213外形成有贯穿第一表面211及第二表面212的第一连接孔214(见图5)。第一连接孔214的尺寸大于拉丝的横截尺寸，以允许拉丝30穿设。拉丝30的连接端31可以形成有尺寸大于第一连接孔214的凸头311。
如此，拉丝30的拉动端32从第二表面212一侧穿过第一连接孔214后绕拉丝圆盘213拉动直至连接端31(见图8)的凸头311卡设在第一连接孔214即可将拉丝30固定在转轴支撑架210上。
可以理解，通过根据拉丝30的绕向设置第一连接孔214的位置上可以设置拉丝30绕拉丝圆盘213的弧度，例如为180度。从而可以控制拉丝30拉动手臂构件20转动的角度。
在某些实施方式中，拉丝30包括两根，两个拉丝30分别设置手臂构件20的两个转轴支撑架210上，且绕向相反，如此，可以拉动手臂构件沿两个相反方向转动。结合每根拉丝30可以拉动手臂构件20转动的结构，可以得到两个手臂构件20可以相互转动的角度。例如，一根拉丝30可以拉动手臂构件20转动180度，而另一根拉丝30可以拉动手臂构件20转动-180度，从而拉丝30可以拉动手臂构件20转动-180度到180度。
可以理解，两根丝30的绕向相反可以扩大手臂构件的相互转动范围。
当然，拉丝30的具体设置可以不限于上面讨论的实施方式，而可以在其他实施方式中视需求设置。
请一并参阅图8，在某些实施方式中，机械手臂100包括平衡弹簧40。两个手臂构件20通过平衡弹簧40连接。
如此，通过平衡弹簧40提供的支撑力平衡机械手臂100的自重，使机械手臂100的启动和运行更加稳定，并可以增大机械手臂100的负载能力，提高驱动效率。
在某些实施方式中，平衡弹簧40包括两个，并分别与两个转轴支撑架210固定连接。平衡弹簧40两端分别与两个手臂构件20相连，当手臂构件20相对转动时，需克服平衡弹簧40的拉力。当两个手臂构件20相对转动至均处于竖直位置时，处于上端的手臂构件20的重心基本处于转轴10中心处，此时平衡弹簧40提供的平衡扭矩最小；当上端的手臂构件20相对转动至处于水平位置时，上端的手臂构件20的重心离转轴10中心处最远，此时平衡弹簧40提供的平衡扭矩接近最大。如此，平衡弹簧40可以平衡机械手臂100的自重，从而提高驱动机械手臂100的驱动装置使用效率。
在某些实施方式中，平衡弹簧40包括线簧，并包括弹簧钩41。手臂连接件21的第二表面212上设置有连接轴215。平衡弹簧40通过弹簧钩41卡设于连接轴215上。
如此，平衡弹簧40通过弹簧钩41与连接轴215连接而设置于手臂连接件21的所述收容空间内，从而实现平衡手臂构件20自重的作用。
在某些实施方式中，连接轴215可以为圆柱销。手臂连接件21的第二表面212上 开设有螺纹孔。所述圆柱销与所述螺纹孔螺纹配合而设置于第二表面212上。
在其他实施方式中，连接轴215可以通过焊接等合适的方式设置于第二表面212上，因此，需要说明的是，并不仅仅限于上面讨论的圆柱销。
当然，在其他实施方式中，平衡弹簧40还可以为扭簧。因此，需要说明的是，平衡弹簧40并不仅限于上面讨论的线簧。
请参阅图9及图10，本发明实施方式提供一种机械手臂100a，机械手臂100a包括通过转轴10a转动连接的两个手臂构件20a。在图9所示的方位中，机械手臂100a的拉丝30a固定连接位置在上的手臂构件20a。
在本实施方式中，转轴10a基本平行于手臂构件20a的长度方向(如图9所示的双箭头方向)。
如此，在拉丝30a的拉力作用下，手臂构件20a可以绕另外一个手臂构件20a转动，从而实现转动控制。
在某些实施方式中，两个手臂构件20a相对转动的角度包括-180度到180度。
可以根据需求设置相对角度，在某些实施方式中，手臂构件20a具有更大的转动范围，可以适用于更多的场合。
在某些实施方式中。转轴10a两端分别与两个手臂构件20a的一端固定连接且至少一端与至少一个手臂构件20a转动连接。
如此，机械手臂100a形成转动结构，并可以根据具体情况进行设置。
请一并参阅图10、图11及图12，在某些实施方式中，转轴10a与其中一个手臂构件20a转动连接。转轴10a包括第一表面11a及与第一表面11a相背的第二表面12a。转轴10a开设有贯穿第一表面11a及第二表面12a的第二连接孔13a。拉丝30a包括连接端31a及拉动端32a。连接端31a形成有凸头311a。拉动端32a从转轴10a的第二表面12a一侧穿过第二连接孔13a后绕第一表面11a拉动直至连接端31a的所述凸头311a卡设在第二连接孔13a内从而将拉丝30a固定在转轴10a上。
如此，两根拉丝30a直接绕设于手臂构件20a形成的转动关节处，从而通过拉丝30a实现转动控制。
在某些实施方式中，手臂构件20a为中空且两端开放的结构。拉丝30a穿设手臂构件20a。拉动端32a伸出手臂构件20a。
如此，拉丝30a沿手臂构件20a内部伸出手臂构件20a，利于保护拉丝30a，且结构美观紧凑。并且，伸出手臂构件20a的拉动端32a可以直接和设置于机械手臂100a外的驱动装置连接。
在某些实施方式中，转轴10a为轴承。两个手臂构件20a的两个手臂关节构件21a分别与所述轴承内外圈相连。两个手臂关节构件21a(图12)通过所述轴承产生相对转动。
如此，手臂构件20a的连接结构简单，且机械手臂100a的两个手臂关节构件21a与轴承的连接处的摩擦力较小。
具体地，在某些实施方式中的所述轴承可以为交叉滚子轴承。
如此，所述轴承可同时承受径向力和轴向力。
本实施方式中，拉丝30a包括两根。拉丝30a与拉丝30相同。
两根拉丝30a能够单独地分别驱动一个手臂构件20a相对于另一个手臂构件20a沿正负相反的方向进行转动。
本实施方式中，机械手臂100a包括转向轴承40a(图10)。拉丝30a通过转向轴承40a改变拉丝30a的拉动方向。如此，并可以根据具体情况进行设置拉丝30a的拉动方向，转向轴承40a将拉丝30a基本垂直于手臂构件20a的长度方向变为基本平行于手臂构件20a的长度方向，便于机械手臂100a的驱动，方便拉丝30a从手臂构件20a中间通过，提升了机械手臂100a运行的稳定性，避免拉丝30a在手臂构件20a外侧裸露， 同时使外观紧凑美观。
本实施方式中，转向轴承40a设置于手臂构件20a内。如此，连接结构简单稳定。
具体地，本实施方式中，手臂构件20a开设有收容孔22a。转向轴承40a设置在收容孔22a中。因此，这样可使机械手臂100a的结构更加紧凑。
本实施方式中，转轴10a收容在手臂构件20a中。
具体地，在图12所示的示例中，机械手臂100a包括上手臂构件20aa和下手臂构件20ab。转轴10a收容于下手臂构件20ab内。如此，结构简单，节约空间。
本实施方式中，转轴10a开设有绕线槽14a。拉丝30a收容在绕线槽14a中。
如此，拉丝30a能够稳定地固定于转轴10a。
具体地，在图12所示的示例中，拉丝30a穿设第二连接孔13a并收容在绕线槽14a中，并且拉丝30a的拉动端32a穿过下手臂构件20ab的侧壁而伸出。因此，绕线槽14a的设置可使拉丝30a的运动更顺畅，提高了机械手臂100a的运行稳定性。
请参阅图13，本发明实施方式的机械手臂700包括两个手臂构件710、枢座720及手臂拉丝740。枢座720通过转轴730分别与两个手臂构件710转动地连接。手臂拉丝740绕转轴730与至少其中一个手臂构件710固定连接。
本发明实施方式的机械手臂700可以通过拉动手臂拉丝740使得与手臂拉丝740连接的手臂构件710转动，在此情况下，拉动手臂拉丝740的驱动装置可以不限于设置在两个手臂构件710的转动连接处，而是设置在机械手臂700外，从而减轻机械手臂700的自重，简化机械手臂700的结构。
本实施方式中，手臂构件710呈中空且两端开放的结构。
如此，可以减轻手臂构件710的自重，从而进一步减轻机械手臂700的自重。
具体地，本实施方式中，手臂构件710为圆管状。
本实施方式中，枢座720基本呈正方体状。在其他实施方式中，枢座720可以呈长方体状等合适的形状，因此，并不仅仅限于本实施方式中的正方体状。
进一步，本实施方式中，枢座720为两端开口的结构。如此，可以减轻枢座720的自重，从而进一步减轻机械手臂700的自重。
当然，可以理解，枢座720并不限于上面讨论的实施方式的结构，而可以在其他实施方式中，根据实际需要采用其他合适的结构。
本实施方式中，转轴730基本垂直于手臂构件710的长度方向(如13所示的双箭头方向)。
如此，在手臂拉丝740的拉力作用下，手臂构件710可以绕枢座720摆动，从而实现摆动控制。例如，在图14所示的示例中，两个手臂构件710分别为上手臂构件710a和下手臂构件710b，上手臂构件710a及下手臂构件710b均转动连接枢座720。手臂拉丝740固定连接上手臂构件710a。在手臂拉丝740的拉力作用下，手臂拉丝740带动上手臂构件710a相对于枢座720转动。
本实施方式中，机械手臂700还包括枢座拉丝750(见图13)。枢座拉丝750绕转轴730与枢座720固定连接。
如此，在枢座拉丝750的作用力下，枢座710绕转轴730转动，从而带动枢座710相对于手臂构件710转动，例如，在图21所示的示例中，相对于下手臂构件710b转动。
具体地，本实施方式中，转轴730包括第一转轴731和第二转轴732。第一转轴731与第二转轴732相互垂直。手臂拉丝740绕第一转轴731。枢座拉丝750绕第二转轴732。第一转轴731的轴线与第二转轴732的轴线交汇于一点。
如此，在上手臂构件710a在手臂拉丝740的作用力下绕枢座720转动时，不会影响下手臂构件710b，同时，枢座720在枢座拉丝750的作用力下相对于下手臂构件710b转动时，不会影响上手臂构件710a。第一转轴731与第二转轴732相互垂直从而能够 构成万向关节，从而能够使得机械手臂700的手臂构件710相对于枢座720进行转动，并且两个手臂构件710之间的夹角能够随着两个手臂构件710相对于枢座20转动而变化。
例如，上手臂构件710a通过第一转轴731绕枢座720进行转动，下手臂构件710b通过第二转轴732绕枢座720进行转动，进而实现了两个手臂构件10之间的夹角变化。
在图14中，上手臂构件710a处于A位置，此时，上手臂构件710a的轴线及下手臂构件710b的轴线基本处于同一轴线上，两个手臂构件710之间的夹角接近0度。当上手臂构件710a转动时，可将下手臂构件710b固定，上手臂构件710a受到手臂拉丝740的作用力时，上手臂构件710a通过第一转轴731绕着枢座720进行转动。转动结果如图15所示，在手臂拉丝740的作用力下，上手臂构件710a绕着枢座720进行转动至B位置。此时，上手臂构件710a的轴线与下手臂构件710b的轴线基本垂直，两个手臂构件710之间的夹角接近90度，当然，可进一步拉动手臂拉丝740使两个手臂构件710之间的夹角在100～120度之间。
可以理解，在其他实施方式中，在手臂拉丝740的作用力下，上手臂构件710a及下手臂构件710b之间的夹角可以随着上手臂构件710a绕枢座720转动而变化。因此，需要说明的是，本示例仅仅用于说明两个手臂构件710可以分别绕枢座720进行转动且相互不受影响，而不能作为对本发明实施方式的限制。
本实施方式中，手臂构件710的一端沿手臂构件710的长度方向延伸有转轴支撑架711。
具体地，请参阅图16及图17，在图示的示例中，上手臂构件710a的一端沿上手臂构件710a的长度方向延伸有转轴支撑架711a。转轴支撑架711a开设有第一轴孔7111a。枢座720开设有第二轴孔721a。第一转轴731转动穿设第一轴孔7111a及第二轴孔721a。
具体地，请参阅图21及图23，在图示的示例中，下手臂构件710b的一端沿下手臂构件710b的长度方向延伸有转轴支撑架711b。转轴支撑架711b开设有第三轴孔7111b。枢座720开设有第四轴孔721b。第二转轴732转动地穿设第三轴孔7111b及第四轴孔721b。
如此，转动连接结构简单，方便设计及制造。
本实施方式中，第一转轴731和第二转轴732可以是圆柱销。
当然，在其他实施方式中，手臂构件710与枢座720之间的转动连接结构可以不限于上面讨论的实施方式的结构，可以视具体需求而改变。
本实施方式中，转轴支撑架711包括间隔设置的两个支撑架712。第一轴孔7111开设在支撑架712上。枢座720位于两个支撑架712之间。
如此，转轴支撑架711的两个支撑架712之间形成有收容空间，枢座720收容于两个支撑架712之间所形成的收容空间内，结构紧凑。同时，所述收容空间可以设置其他元件或其他设计结构，因此提高了机械手臂700的关节处的设计自由度。
在图16所示的示例中，上手臂构件710a的转轴支撑架711a包括间隔设置的两个支撑架712a。第一轴孔7111a开设在支撑架712a上。枢座720位于两个支撑架712a之间。
本实施方式中，手臂拉丝740的数量为两根，其中每根手臂拉丝740能够单独拉动手臂构件710绕枢座720摆动。
例如，在图19所示的示例中，与上手臂构件710a连接的手臂拉丝740的数量为两根，其中每根手臂拉丝740能够单独拉动上手臂构件710a绕枢座720摆动。
本实施方式中，手臂拉丝740的一端固定在支撑架712上。
如此，在手臂拉丝740的作用力下，手臂构件710由于受到作用于支撑架712上的作用力而通过转轴730绕着枢座720进行转动。
例如，在图19所示的示例中，手臂拉丝740的一端固定在支撑架712a。在手臂拉丝740的作用力下，上手臂构件710a由于受到作用于支撑架712a上的作用力而通过第一转轴731绕着枢座720进行转动。
本实施方式中，支撑架712包括面向枢座720的第一支撑架表面7121。第一支撑架表面7121上设置有第一拉丝圆盘7122。手臂拉丝740绕在第一拉丝圆盘7122上。
如此，手臂拉丝740绕第一拉丝圆盘7122而设置，方便手臂拉丝740的固定。
例如，在图16所示的示例中，上手臂构件710a的支撑架712a包括面向枢座720的第一支撑架表面7121a。第一支撑架表面7121a上设置有第一拉丝圆盘7122。手臂拉丝740绕在第一拉丝圆盘7122上。
具体地，第一拉丝圆盘7122为在第一支撑架表面7121a上向上手臂构件710a内侧凸设而形成。第一拉丝圆盘7122与第一转轴731同轴设置。
本实施方式中，第一拉丝圆盘7122的尺寸大于第一转轴731的尺寸。
如此，第一拉丝圆盘7122可以增加手臂拉丝740拉动上手臂构件710a的转动力臂使得手臂拉丝740拉动上手臂构件710a更加省力。从而，可以采用较小功率的驱动装置来拉动拉丝。
本实施方式中，第一轴孔7111沿第一拉丝圆盘7122的轴向贯穿第一拉丝圆盘7122。
如此，保证了第一拉丝圆盘7122与第一转轴731同轴设置，并且使得手臂拉丝740绕第一拉丝圆盘7122能够有效构成更加省力的转动力臂。
例如，在图16所示的示例中，上手臂构件710a的第一轴孔7111a沿第一拉丝圆盘7122的轴向贯穿第一拉丝圆盘7122。
本实施方式中，上手臂构件710a的第一支撑架表面7121a上的第一拉丝圆盘7122的尺寸可以根据具体情况进行设置。
本实施方式中，支撑架712包括与第一支撑架表面7121相背的第二支撑架表面7123。支撑架712开设有贯穿第一支撑架表面7121及第二支撑架表面7123的第一固定孔7124。手臂拉丝740包括连接端741及拉动端742(见图18)。连接端741形成有凸头741a。拉动端742从第二支撑架表面7123一侧穿过第一固定孔7124后绕第一拉丝圆盘7122拉动直至连接端741的凸头741a卡设在第一固定孔7124内从而将手臂拉丝740固定在支撑架712上。
如此，手臂拉丝740的拉动端742从第二支撑架表面7123一侧穿过第一固定孔7124后绕第一拉丝圆盘7122拉动直至连接端741的凸头741a卡设在第一固定孔7124即可将手臂拉丝740固定在支撑架712上。
本实施方式中，手臂拉丝740的数量为两根，两根手臂拉丝740分别设置在手臂构件710的两个第一支撑架表面7121上，且绕向相反，如此，可以拉动手臂构件710沿两个相反方向转动。
结合每根手臂拉丝740可以拉动手臂构件710转动的结构，可以得到两个手臂构件710可以相互转动的角度。例如，一根手臂拉丝740可以拉动手臂构件710转动90度，而另一根手臂拉丝740可以拉动手臂构件710转动-90度，从而两根手臂拉丝740可以拉动手臂构件710转动在-90度到90度之间转动。
可以理解，两根手臂拉丝740的绕向相反可以扩大手臂构件710的相互转动范围。
当然，手臂拉丝740的具体设置可以不限于上面讨论的实施方式，而可以在其他实施方式中视需求设置。
具体地，请参阅图19及图20，在图示所示的示例中，支撑架712a包括与第一支撑架表面7121a(见图16)相背的第二支撑架表面7123a。手臂拉丝740的拉动端742从第二支撑架表面7123a一侧穿过第一固定孔7124a后绕第一拉丝圆盘7122拉动直至连接端741的凸头741a卡设在第一固定孔7124a内从而将手臂拉丝740固定在上手臂 构件710a的支撑架712上。
如此，在手臂拉丝740的作用力下，上手臂构件710a通过第一转轴731绕枢座720进行转动。
例如，在初始位置时，上手臂构件710a处于C位置；当上手臂构件710a受手臂拉丝40的作用力时，上手臂构件710a通过第一转轴731绕枢座720从C位置转动至D位置。
本实施方式中，手臂构件710为中空且两端开放的结构。手臂拉丝740穿设手臂构件710。拉动端742伸出手臂构件710。
如此，手臂拉丝740沿手臂构件710内部伸出手臂构件710，利于保护手臂拉丝740，且结构美观紧凑。
本实施方式中，手臂拉丝740的拉动端742可以由手臂构件710伸出。如此，由手臂构件710伸出的手臂拉丝740的拉动端742可以直接与驱动装置连接。
本实施方式中，机械手臂700包括可转动地设置在枢座720上的转向轴承760(见图20)。手臂拉丝740通过转向轴承760改变手臂拉丝740的拉动方向。
如此，并可以根据具体情况进行设置手臂拉丝740的拉动方向，便于机械手臂700的驱动，并提升了机械手臂700运行的稳定性，同时使外观紧凑美观。
例如，在图14所示的示例中，与上手臂构件710a固定连接的手臂拉丝740通过转向轴承760改变手臂拉丝740的拉动方向。
本实施方式中，枢座720形成有凹槽725(见图17)。转向轴承760可转动地设置于凹槽725中。
如此，可使机械手臂700的结构更紧凑及更稳定。
本实施方式中，枢座拉丝750的结构与手臂拉丝740的结构基本相同。枢座拉丝750与手臂拉丝740可以是柔性的不锈钢丝或者其他材质的强度符合要求的拉丝。
本实施方式中，枢座720通过枢座拉丝750驱动。枢座720通过枢座拉丝750绕第二转轴732与手臂构件710可转动地连接。例如，枢座720通过枢座拉丝750绕第二转轴732与下手臂构件710b可转动地连接。
本实施方式中，枢座720包括面向手臂构件710的第一枢座表面722。第一枢座表面722上设置有第二拉丝圆盘7122b(见图17)。枢座拉丝750绕在第二拉丝圆盘7122b上。
如此，枢座拉丝750绕第二拉丝圆盘7122b而设置，方便枢座拉丝750的固定。
本实施方式中，第二拉丝圆盘7122b为在第一枢座表面722上向枢座720外侧凸设而形成。第二拉丝圆盘7122b与第二转轴732同轴设置。
如此，枢座拉丝750绕第二拉丝圆盘7122b即是绕第二转轴732设置，利于驱动。
本实施方式中，第二拉丝圆盘7122b的尺寸大于第二转轴732的尺寸。
如此，第二拉丝圆盘7122b可以增加枢座拉丝50拉动枢座720的转动力臂使得枢座拉丝750拉动枢座720更加省力。从而，可以采用较小功率的驱动装置来拉动枢座拉丝750。例如，在图21所示的示例中，第二拉丝圆盘7122b可以增加枢座拉丝750拉动枢座720的转动力臂使得枢座拉丝750拉动枢座720时更加省力。
本实施方式中，枢座720包括与第一枢座表面722相背的第二枢座表面723(见图21)。枢座720开设有贯穿第一枢座表面722及第二枢座表面723的第二固定孔724(见图21)。枢座拉丝750包括连接端751及拉动端752(见图22)。连接端751形成有凸头751a。拉动端752从枢座720的第二枢座表面723一侧穿过第二固定孔724后绕第二拉丝圆盘7122b拉动直至连接端751的凸头751a卡设在第二固定孔724内从而将枢座拉丝750固定在枢座720上。
如此，枢座拉丝750的拉动端752从第二枢座表面723一侧穿过第二固定孔724后绕第二拉丝圆盘7122b拉动直至连接端751的凸头751a卡设在第二固定孔724即可 将枢座拉丝750固定在枢座720上。
本实施方式中，转轴支撑架711b开设有穿孔713(见图23)。枢座拉丝750穿设穿孔713并伸出下手臂构件710b。第二转轴732转动地穿设转轴支撑架711b。
如此，下手臂构件710b与枢座720通过第二转轴732转动地连接，枢座拉丝750沿下手臂构件710b内部伸出下手臂构件710b，利于保护枢座拉丝50，且结构美观紧凑。
本实施方式中，第四轴孔721b沿第二拉丝圆盘7122b的轴向贯穿第二拉丝圆盘7122b。
如此，保证了第二拉丝圆盘7122b与第二转轴732同轴设置，并且使得枢座拉丝750绕第二拉丝圆盘7122b能够有效构成更加省力的转动力臂。
请参阅图24，并结合图1、图9及图13，本实施方式的机械手臂200包括机械手臂100、机械手臂100a及机械手臂700。在图示所示的示例中，机械手臂100的数量为两个，两个机械手臂100相互连接。机械手臂100a的数量为两个。其中一个机械手臂100转动连接其中一个机械手臂100a，另外一个机械手臂100转动连接另一个机械手臂100a，该另一个机械手臂100a转动连接机械手臂700。在图示所示的示例中，机械手臂200可为万向关节六轴机械手臂。
从机械手臂200末端到前端，依次设置有由其中一个机械手臂100a形成的转动关节201、由其中一个机械手臂100形成的摆动关节202、由另外一个机械手臂100形成的摆动关节203、由另外一个机械手臂100a形成的转动关节204、由机械手臂700形成的万向摆动关节205。并且，所有的关节均采用拉丝206驱动。例如，拉丝206可包括拉丝30、30a、手臂拉丝740及枢座拉丝750。
本实施方式的机械手臂200中，拉动拉丝206的驱动装置210a可以设置在机械手臂200外，从而减轻机械手臂200的自重，简化机械手臂200的结构。
本实施方式中，拉丝206外套有弹簧管220。拉丝206的一端固定于机械手臂200上，其另一端穿过机械手臂200内形成的空腔而与驱动装置210a连接。
如此，结构简单，并减轻了机械手臂200的自重，提高了负载效率。
具体地，机械手臂200包括枢座207a及多个手臂构件。多个手臂构件包括第一手臂构件200a、第二手臂构件200b、第三手臂构件200c及第四手臂构件200d。第二手臂构件200b通过第一转轴207与第一手臂构件200a转动地连接。第一转轴207基本垂直于第一手臂构件200a及第二手臂构件200b的长度方向。
第三手臂构件200c通过第二转轴(可结合图12)与第二手臂构件200b转动地连接，第二转轴基本平行于第二手臂构件200b及第三手臂构件200c的长度方向。
枢座207a转动连接第三手臂构件200c及第四手臂构件200d。
拉丝206与第一手臂构件200a、第二手臂构件200b、第三手臂构件200c及第四手臂拉丝200d中的至少一个手臂构件固定连接。具体地，在某些实施方式中，例如，拉丝206可包括拉丝30、拉丝30a、手臂拉丝740及枢座拉丝750，拉丝30(可理解为第一手臂拉丝)与第二手臂构件200b固定连接以带动第二手臂构件200b绕第一转轴207转动。
拉丝30a(可理解为第二手臂拉丝)与第三手臂构件200c固定连接以带动第三手臂构件200c绕第二转轴转动。
枢座拉丝750与枢座207a固定连接以带动枢座207a绕第三转轴208转动。
手臂拉丝740(可理解为第三手臂拉丝)与第四手臂构件200d固定连接以带动第四手臂构件200d绕第四转轴209转动。
本实施方式中，第一转轴207与第一手臂构件200a及第二手臂构件200b的具体结构及三者的连接方式可参以上实施方式的机械手臂100的说明，第二转轴与第三手臂构件200c的具体结构及两者的连接方式可参以上实施方式的机械手臂100a的说明， 第三转轴208与第三手臂构件200c及枢座207a的具体结构及三者的连接方式，及第四转轴209与第四手臂构件200d及枢座207a的具体结构及三者的连接方式可参以上实施方式的机械手臂700的说明，在此，不再详细说明。也就是说，上述对机械手臂100、100a及700的实施方式的解释说明也适应于本实施方式的机械手臂200。
本实施方式中，第二手臂构件200b通过第一转轴207与第一手臂构件200a转动地连接并形成摆动关节。第三手臂构件200c通过第二转轴与第二手臂构件200b转动地连接并形成转动关节。
本实施方式中，枢座207a通过第三转轴208转动连接第三手臂构件200c，及通过第四转轴209转动连接第四手臂构件200d形成万向摆动关节。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (12)

  1. 一种机械手臂，其特征在于，包括：
    第一手臂构件；
    第二手臂构件，所述第二手臂构件通过第一转轴与所述第一手臂构件转动地连接，所述第一转轴基本垂直于所述第一手臂构件及所述第二手臂构件的长度方向；
    第三手臂构件，所述第三手臂构件通过第二转轴与所述第二手臂构件转动地连接，所述第二转轴基本平行于所述第二手臂构件及所述第三手臂构件的长度方向；
    枢座；
    第四手臂构件，所述枢座转动连接所述第三手臂构件及所述第四手臂构件；
    拉丝，所述拉丝与所述第一手臂构件、所述第二手臂构件、所述第三手臂构件及第四手臂构件中的至少一个手臂构件固定连接。
  2. 如权利要求1所述的机械手臂，其特征在于，所述第一手臂构件及所述第二手臂构件中的每一个手臂构件沿所述手臂构件的长度方向延伸有手臂连接件，所述手臂连接件形成有轴孔，所述第一转轴转动穿设所述轴孔从而将所述第一手臂构件及所述第二手臂构件转动连接。
  3. 如权利要求2所述的机械手臂，其特征在于，所述手臂连接件包括间隔平行设置的两个转轴支撑架，所述轴孔开设在所述两个转轴支撑架上，其中一个所述手臂构件的所述两个转轴支撑架设置在另一个所述手臂构件的所述两个转轴支撑架之间。
  4. 如权利要求3所述的机械手臂，其特征在于，所述转轴支撑架包括第一表面及与所述第一表面相背的第二表面，所述手臂连接件包括沿所述第一表面向远离所述第二表面方向延伸的拉丝圆盘，所述拉丝圆盘的轴向与所述第一转轴同轴，所述拉丝圆盘的尺寸大于所述第一转轴的尺寸，所述拉丝包括第一手臂拉丝，所述第一手臂拉丝绕所述拉丝圆盘并与所述转轴支撑架固定连接。
  5. 如权利要求1所述的机械手臂，其特征在于，所述第二转轴固定在所述第三手臂构件的一端，所述第二转轴包括第一表面及与所述第一表面相背的第二表面，所述第二转轴开设有贯穿所述第一表面及所述第二表面的穿孔；
    所述拉丝包括第二手臂拉丝，所述第二手臂拉丝包括连接端及拉动端，所述连接端形成有凸头，所述拉动端从所述第二转轴的所述第二表面一侧穿过所述穿孔后绕所述第一表面拉动直至所述连接端的所述凸头卡设在所述穿孔内从而将所述第二手臂拉丝固定在所述第二转轴上。
  6. 如权利要求5所述的机械手臂，其特征在于，所述机械手臂包括转向轴承，所述第二手臂拉丝通过所述转向轴承改变所述第二手臂拉丝的拉动方向。
  7. 如权利要求1所述的机械手臂，其特征在于，所述拉丝包括第三手臂拉丝及枢座拉丝，所述第三手臂拉丝与所述第四手臂构件固定连接，所述枢座拉丝与所述枢座固定连接。
  8. 如权利要求7所述的机械手臂，其特征在于，所述枢座通过第三转轴与所述第三手臂构件转动连接，及通过第四转轴与所述第四手臂构件转动连接；
    所述第三转轴与所述第四转轴相互垂直，所述第三手臂拉丝绕所述第四转轴，所 述枢座拉丝绕所述第三转轴；
    所述第三转轴的轴线与所述第四转轴的轴线交汇于一点。
  9. 如权利要求8所述的机械手臂，其特征在于，所述第四手臂构件的一端沿所述第四手臂构件的长度方向延伸有转轴支撑架，所述转轴支撑架开设有第一轴孔，所述枢座开设有第二轴孔，所述第四转轴转动地穿设所述第一轴孔及所述第二轴孔，所述转轴支撑架包括间隔设置的两个支撑架，所述第一轴孔开设在所述支撑架上，所述枢座位于所述两个支撑架之间。
  10. 如权利要求9所述的机械手臂，其特征在于，所述支撑架包括面向所述枢座的第一支撑架表面，所述第一支撑架表面上设置有拉丝圆盘，所述第三手臂拉丝绕在所述拉丝圆盘上，所述拉丝圆盘与所述第四转轴同轴设置，所述拉丝圆盘的尺寸大于所述第四转轴的尺寸。
  11. 如权利要求8所述的机械手臂，其特征在于，远离所述第二手臂构件的所述第三手臂构件的一端沿所述第三手臂构件的长度方向延伸有转轴支撑架，所述转轴支撑架开设有第三轴孔，所述枢座开设有第四轴孔，所述第三转轴转动地穿设所述第三轴孔及所述第四轴孔。
  12. 如权利要求11所述的机械手臂，其特征在于，所述枢座包括面向所述第三手臂构件的第一枢座表面，所述第一枢座表面上设置有拉丝圆盘，所述枢座拉丝绕在所述拉丝圆盘上，所述拉丝圆盘与所述第三转轴同轴设置，所述拉丝圆盘的尺寸大于所述第三转轴的尺寸。
PCT/CN2016/082468 2016-02-06 2016-05-18 机械手臂 WO2017133131A1 (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201620118807.X 2016-02-06
CN201610083945.3A CN105563522A (zh) 2016-02-06 2016-02-06 机械手臂
CN201610083945.3 2016-02-06
CN201620118807.XU CN205521485U (zh) 2016-02-06 2016-02-06 机械手臂

Publications (1)

Publication Number Publication Date
WO2017133131A1 true WO2017133131A1 (zh) 2017-08-10

Family

ID=59499251

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/082468 WO2017133131A1 (zh) 2016-02-06 2016-05-18 机械手臂

Country Status (1)

Country Link
WO (1) WO2017133131A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107718043A (zh) * 2017-10-31 2018-02-23 东莞市太行机电科技有限公司 一种桌面型工业机器人
US10449677B1 (en) 2019-03-12 2019-10-22 United Arab Emirates University Robotic gripping assist
US10682250B1 (en) 2019-03-12 2020-06-16 United Arab Emirated University Robotic gripping assist

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4273335B2 (ja) * 2004-06-16 2009-06-03 独立行政法人産業技術総合研究所 ロボットアーム
JP2010000587A (ja) * 2008-06-23 2010-01-07 Nsk Ltd マニピュレータ用関節部
CN101919755A (zh) * 2010-07-25 2010-12-22 山东科技大学 一种关节牵拉式仿人形机器人手
CN203919083U (zh) * 2014-06-20 2014-11-05 贸巨企业股份有限公司 操作手臂的角度调整构造
CN104802160A (zh) * 2014-01-26 2015-07-29 上银科技股份有限公司 具调整结构的机器手臂
CN105563518A (zh) * 2016-02-06 2016-05-11 先驱智能机械（深圳）有限公司 机械手臂及机器人
CN105563524A (zh) * 2016-02-06 2016-05-11 先驱智能机械（深圳）有限公司 机械手臂及机器人
CN105563522A (zh) * 2016-02-06 2016-05-11 先驱智能机械（深圳）有限公司 机械手臂
CN105563517A (zh) * 2016-02-06 2016-05-11 先驱智能机械（深圳）有限公司 机械手臂

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4273335B2 (ja) * 2004-06-16 2009-06-03 独立行政法人産業技術総合研究所 ロボットアーム
JP2010000587A (ja) * 2008-06-23 2010-01-07 Nsk Ltd マニピュレータ用関節部
CN101919755A (zh) * 2010-07-25 2010-12-22 山东科技大学 一种关节牵拉式仿人形机器人手
CN104802160A (zh) * 2014-01-26 2015-07-29 上银科技股份有限公司 具调整结构的机器手臂
CN203919083U (zh) * 2014-06-20 2014-11-05 贸巨企业股份有限公司 操作手臂的角度调整构造
CN105563518A (zh) * 2016-02-06 2016-05-11 先驱智能机械（深圳）有限公司 机械手臂及机器人
CN105563524A (zh) * 2016-02-06 2016-05-11 先驱智能机械（深圳）有限公司 机械手臂及机器人
CN105563522A (zh) * 2016-02-06 2016-05-11 先驱智能机械（深圳）有限公司 机械手臂
CN105563517A (zh) * 2016-02-06 2016-05-11 先驱智能机械（深圳）有限公司 机械手臂

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107718043A (zh) * 2017-10-31 2018-02-23 东莞市太行机电科技有限公司 一种桌面型工业机器人
US10449677B1 (en) 2019-03-12 2019-10-22 United Arab Emirates University Robotic gripping assist
US10682250B1 (en) 2019-03-12 2020-06-16 United Arab Emirated University Robotic gripping assist

Similar Documents

Publication Publication Date Title
WO2017133131A1 (zh) 机械手臂
JP5581571B2 (ja) 天井扇風機
TWI490099B (zh) 機器人臂部件
WO2020056841A1 (zh) 省力帐篷支架
JP2013094920A (ja) 関節機構および作業アタッチメント
CN105563518A (zh) 机械手臂及机器人
CN105563524A (zh) 机械手臂及机器人
CN205521488U (zh) 机械手臂
CN205521484U (zh) 机械手臂及机器人
CN105563517A (zh) 机械手臂
CN205521485U (zh) 机械手臂
WO2019041993A1 (zh) 挠性关节与回转折臂
JP5248554B2 (ja) 蝶番
CN208498780U (zh) 无人机及其机架
CN209903230U (zh) 一种机器人头部旋转结构组件
CN205521486U (zh) 机械手臂及机器人
CN105563523A (zh) 机械手臂及机器人
CN205521489U (zh) 机械手臂及机器人
CN105563522A (zh) 机械手臂
CN205521487U (zh) 机械手臂及机器人
TWM595683U (zh) 合頁鉸鍊
CN208510494U (zh) 一种模特机器人的腰部结构
JP3119717U (ja) カーテンの上下引動装置
CN214368103U (zh) 一种排水管道用阀门装置
CN216221323U (zh) 一种防止毛发缠绕的机器人万向轮及机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16888953

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 17.01.2019)

122 Ep: pct application non-entry in european phase

Ref document number: 16888953

Country of ref document: EP

Kind code of ref document: A1