WO2021077887A1

WO2021077887A1 - Rotating arm mechanism and robot

Info

Publication number: WO2021077887A1
Application number: PCT/CN2020/110874
Authority: WO
Inventors: 凌健杨; 钟文涛; 冯晶晶
Original assignee: 珠海格力智能装备有限公司; 珠海格力电器股份有限公司
Priority date: 2019-10-23
Filing date: 2020-08-24
Publication date: 2021-04-29
Also published as: CN110625598A

Abstract

Provided by the present application are a rotating arm mechanism and a robot. The rotating arm mechanism comprises a rotating arm body. The rotating arm body is a cylindrical structure. The rotating arm body has an accommodating cavity that extends to both ends of the rotating arm body. The rotating arm body is a hollowed-out structure. By means of setting the rotating arm body as a hollowed-out structure, the hollowed-out rotating arm body structure not only makes the space of the accommodating cavity larger, but also reduces the weight of the rotating arm body itself, which helps to reduce the overall size and overall weight of the rotating arm mechanism, enhance the structural compactness of the rotating arm mechanism and lighten the weight of the rotating arm mechanism. Since the rotating arm mechanism is applied to the robot, the problem in which robots in the prior art have a large overall size and heavy weight is solved.

Description

Rotating arm mechanism and robot

This application claims the priority of the patent application filed to the State Intellectual Property Office of China on October 23, 2019 with the application number 201911013388.8 and the invention title "Rotating Arm Mechanism and Robot".

Technical field

This application relates to the field of robots, and specifically to a rotating arm mechanism and a robot.

Background technique

Robots are mechanical devices that automatically perform tasks. At present, robots have been able to assist or replace parts of the production industry, construction industry, or dangerous jobs.

In the field of robotics in the prior art, a robot usually has a plurality of rotating arms, which are rotatably connected between two adjacent rotating arms. The joints of the robot are formed between the two adjacent rotating arms. Electrical components are installed everywhere, and the motion of each joint of the robot is driven by these electrical components.

Under normal circumstances, these electrical components are installed in the internal space of each rotating arm of the robot. However, the rotating arm of the existing robot is mostly made of a mechanical shell. This kind of rotating arm structure not only makes the internal space Smaller and heavier, which is not conducive to the compactness and lightweight of the robot as a whole.

Summary of the invention

The main purpose of this application is to provide a rotating arm mechanism and a robot to solve the problem of large overall size and heavy weight of the robot in the prior art.

In order to achieve the above objective, according to one aspect of the present application, a rotating arm mechanism is provided, which is applied to a robot. The rotating arm mechanism includes a rotating arm body. The rotating arm body has a cylindrical structure. The rotating arm body has a receiving cavity. Extending to both ends of the rotating arm body, the rotating arm body has a hollow structure.

Further, the rotating arm body includes a plurality of arm segments, which are arranged in sequence along the extension direction of the rotating arm body, and two adjacent arm segments are connected by a support ring; wherein each arm segment has a plurality of hollow holes .

Further, each arm segment includes a plurality of first support bars and a plurality of second support bars, the plurality of first support bars are arranged around the accommodating cavity, and the plurality of second support bars are arranged around the accommodating cavity; a plurality of first support bars And a plurality of second support bars are arranged crosswise, so that a plurality of hollow holes are formed on the corresponding arm sections.

Further, the plurality of first support bars are evenly arranged along the circumference of the corresponding arm section, and the plurality of second support bars are evenly arranged along the circumference of the corresponding arm section.

Further, along the extension direction of the rotating arm body, the rotating arm body has a first end surface and a second end surface; along the direction from the first end surface to the second end surface, the cross-sectional area of the plurality of arm segments gradually decreases; wherein, each arm The cross-sectional area of the segment is the area of the cross section of the corresponding arm segment perpendicular to the extending direction of the arm segment.

Further, along the direction from the first end surface to the second end surface, the length of the plurality of arm segments gradually decreases.

Further, the rotating arm body includes a first arm segment, a second arm segment, and a third arm segment. The second arm segment is disposed between the first arm segment and the third arm segment; the first arm segment, the second arm segment, and Each of the third arm segments has a plurality of hollow holes, the first arm segment has a first cavity segment, the second arm segment has a second cavity segment, the third arm segment has a third cavity segment, the first cavity segment and the second cavity segment It communicates with the third cavity section to form an accommodating cavity; wherein, the first arm section and the second arm section are connected by a first support ring, and the second arm section and the third arm section are connected by a second support ring.

Further, the rotating arm body further includes a first fixed ring, one end of the first arm section is connected with the first fixed ring, and the other end of the first arm section is connected with the first support ring; the first fixed ring is used for the transmission of the robot The components are connected so that the transmission component drives the rotating arm body to move.

Further, the rotating arm body further includes a second fixed ring, one end of the third arm section is connected with the second support ring, and the other end of the third arm section is connected with the second fixed ring; the second fixed ring is used for connection with the robot The connecting piece is connected so that the rotating arm body drives the connecting piece to move.

According to another aspect of the present application, a robot is provided, which includes a plurality of rotating arm mechanisms, and at least one of the plurality of rotating arm mechanisms is the above-mentioned rotating arm mechanism.

Applying the technical solution of the application, the rotating arm mechanism includes a rotating arm body, the rotating arm body is a columnar structure, the rotating arm body has an accommodating cavity, the accommodating cavity extends to both ends of the rotating arm body, and the rotating arm body is a hollow structure. By setting the rotating arm body as a hollow structure, this hollow rotating arm body structure not only makes the space of the accommodating cavity larger, but also reduces the weight of the rotating arm body, thereby helping to reduce the overall size and shape of the rotating arm mechanism. The overall weight enhances the structural compactness of the rotating arm mechanism and realizes the lightweight of the rotating arm mechanism; since the rotating arm mechanism is applied to the robot, the problem of large overall size and heavy weight of the robot in the prior art is solved.

Description of the drawings

The drawings of the specification forming a part of the application are used to provide a further understanding of the application, and the exemplary embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application. In the attached picture:

Fig. 1 shows a schematic structural diagram of a robot according to an embodiment of the robot of the present application; and

Fig. 2 shows an enlarged schematic diagram of the robot in Fig. 1 at A.

Among them, the above drawings include the following reference signs:

10. Rotating arm mechanism; 11. Rotating arm body; 111, first arm section; 112, second arm section; 113, third arm section; 114, first fixed ring; 115, first support ring; 116, first Two support ring; 117, the first support bar; 118, the second support bar; 119, the hollow hole; 20, the robot; 21, the third rotating arm; 22, the connector; 23, the third joint; 24, the fourth joint ; 25, the fifth joint; 26, the sixth joint; 27, the driving part; 28, the transmission part.

Detailed ways

It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other if there is no conflict. Hereinafter, the application will be described in detail with reference to the drawings and in conjunction with the embodiments.

For ease of description, spatially relative terms can be used here, such as "above", "above", "above the surface", "above", etc., to describe as shown in the figure Shows the spatial positional relationship between one device or feature and other devices or features. It should be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation of the device described in the figure. For example, if the device in the drawing is turned upside down, then a device described as "above other devices or structures" or "above other devices or structures" will then be positioned as "below the other devices or structures" or "on Under other devices or structures". Thus, the exemplary term "above" can include both orientations "above" and "below". The device can also be positioned in other different ways (rotated by 90 degrees or in other orientations), and the relative description of the space used here will be explained accordingly.

This application provides a rotating arm mechanism 10, which is applied to a robot 20. Please refer to FIGS. 1 and 2. The rotating arm mechanism 10 includes a rotating arm body 11, which has a cylindrical structure. The main body 11 has an accommodating cavity, which extends to both ends of the rotating arm body 11, and the rotating arm body 11 has a hollow structure.

In the rotating arm mechanism 10 of the present application, by setting the rotating arm body 11 as a hollow structure, this hollowed-out rotating arm body 11 structure not only makes the space of the accommodating cavity larger, but also reduces the weight of the rotating arm body 11. Therefore, it is beneficial to reduce the overall size and weight of the rotating arm mechanism 10, enhance the compactness of the rotating arm mechanism 10, and realize the light weight of the rotating arm mechanism 10, thereby solving the problem of the large overall size and weight of the robot in the prior art. Emphasis on the issue.

It should be noted that the above-mentioned accommodating cavity can be used to install electrical components, and the electrical components are mainly used to drive various joints of the robot 20 to move; for example, the electrical components include a motor, a reducer, and the like.

Specifically, the rotating arm body 11 includes a plurality of arm segments, which are arranged in sequence along the extension direction of the rotating arm body 11, and two adjacent arm segments are connected by a support ring; wherein, each arm segment has a hollow hole. 119. By setting each arm segment as a hollow structure, the entire rotating arm body 11 is a hollow structure.

In this embodiment, the rotating arm body 11 includes three arm segments. As shown in FIG. 2, the three arm segments are a first arm segment 111, a second arm segment 112, and a third arm segment 113. The second arm segment 112 is arranged between the first arm section 111 and the third arm section 113; the first arm section 111, the second arm section 112 and the third arm section 113 all have hollow holes 119, and the first arm section 111 has a first cavity section , The second arm section 112 has a second cavity section, and the third arm section 113 has a third cavity section. The first cavity section, the second cavity section and the third cavity section are communicated to form a containing cavity; wherein, the first arm section 111 It is connected to the second arm segment 112 by a first support ring 115, and the second arm segment 112 and the third arm segment 113 are connected by a second support ring 116; one end of the second arm segment 112 is connected to the first support ring 115 Connected, the other end of the second arm segment 112 is connected to the second support ring 116.

In order to realize that each arm segment is a hollow structure, each arm segment includes a plurality of first support bars 117 and a plurality of second support bars 118, the plurality of first support bars 117 are arranged around the accommodating cavity, and the plurality of second support bars 118 It is arranged around the containing cavity; a plurality of first support bars 117 and a plurality of second support bars 118 are arranged crosswise, so that a plurality of hollow holes 119 are formed on the corresponding arm sections, and a plurality of hollow holes 119 are formed on each arm section To make each arm section have a hollow structure. Optionally, most of the hollow holes 119 are any one of triangular holes and quadrilateral holes.

Specifically, the plurality of first supporting bars 117 and the plurality of second supporting bars 118 are all arranged around the accommodating cavity, and each of the first supporting bars 117 crosses at least part of the first supporting bars 117 of the plurality of second supporting bars 118 It is arranged so that each of the first supporting bars 117 is used to form a hollow hole. Preferably, the first support bar 117 and the second support bar 118 are both rod bodies.

In the specific implementation process, the multiple first support bars 117 are evenly arranged along the circumference of the corresponding arm section, and similarly, the multiple second support bars 118 are evenly arranged along the circumference of the corresponding arm section; this not only enables The overall structure of each arm segment is more stable, and the appearance of the rotating arm mechanism 10 can be improved.

In the specific implementation process, in order to make the overall structure of the rotating arm mechanism 10 more compatible with the transmission member 28 and the connecting member 22 of the robot 20, along the extension direction of the rotating arm body 11, the rotating arm body 11 has a first end surface and a second end surface; Along the direction from the first end surface to the second end surface, the cross-sectional area of the plurality of arm segments gradually decreases; wherein the cross-sectional area of each arm segment is the area of the cross section of the corresponding arm segment perpendicular to the extending direction of the arm segment. Further, along the direction from the first end surface to the second end surface, the length of the plurality of arm segments gradually decreases.

In order to realize the assembly between the rotating arm mechanism 10 and the transmission member 28 of the robot 20, the rotating arm body 11 further includes a first fixed ring 114, one end of the first arm section 111 is connected to the first fixed ring 114, and the first arm section 111 The other end is connected with the first support ring 115; the first fixed ring 114 is used to connect with the transmission member 28 of the robot, so that the transmission member 28 drives the rotating arm body 11 to move.

During specific implementation, both ends of each first support bar 117 of the first arm section 111 are respectively connected to the first fixing ring 114 and the first support ring 115. Similarly, each second support bar of the first arm section 111 Both ends of 118 are respectively connected to the first fixing ring 114 and the first support ring 115; both ends of each first support bar 117 of the second arm segment 112 are respectively connected to the first support ring 115 and the second support ring 116 ; Similarly, both ends of each second support bar 118 of the second arm segment 112 are respectively connected to the first support ring 115 and the second support ring 116.

In order to realize the assembly between the rotating arm mechanism 10 and the connecting member 22 of the robot 20, the rotating arm body 11 also includes a second fixing ring. One end of the third arm section 113 is connected to the second support ring 116. The other end is connected with the second fixed ring; the second fixed ring is used to connect with the connecting piece 22 of the robot, so that the rotating arm body 11 drives the connecting piece 22 to move.

In the specific implementation process, both ends of each first support bar 117 of the third arm section 113 are respectively connected to the second support ring 116 and the second fixing ring; similarly, each second support bar 118 of the third arm section 113 Both ends of are respectively connected to the second supporting ring 116 and the second fixing ring.

The present application also provides a robot 20. The robot 20 includes a plurality of rotating arm mechanisms, and at least one of the plurality of rotating arm mechanisms is the above-mentioned rotating arm mechanism 10.

In the specific implementation process, as shown in FIG. 1, the robot 20 includes a second rotating arm, a third rotating arm 21, a fourth rotating arm, a fifth rotating arm, and a sixth rotating arm. The fourth rotating arm is the above-mentioned rotating arm.臂机构10。 Arm mechanism 10. The third rotating arm 21 and the fourth rotating arm are rotatably connected. The fourth joint 24 of the robot 20 is formed between the third rotating arm 21 and the fourth rotating arm. The transmission member 28 is located at the fourth joint 24, and the transmission member 28 can The fourth rotating arm is driven to rotate relative to the third rotating arm 21. The fifth rotating arm is rotatably connected with the fourth rotating arm, and the fifth joint 25 of the robot 20 is formed between the fifth rotating arm and the fourth rotating arm; the sixth rotating arm is rotatably connected with the fourth rotating arm, and the sixth rotating arm is rotatably connected with the fourth rotating arm. The sixth joint 26 of the robot 20 is formed between the rotating arm and the fourth rotating arm; the fifth joint 25 is adjacent to the sixth joint 26, and the connecting piece 22 is located adjacent to the fifth joint 25 and the sixth joint 26. The rotating arm can drive the fifth rotating arm and the sixth rotating arm to move through the connecting member 22. The second rotating arm and the third rotating arm 21 are rotatably connected, and a third joint 23 of the robot 20 is formed between the second rotating arm and the third rotating arm 21. Optionally, the fifth joint 25 is provided with a driving part 27 that drives the fifth rotating arm to move, and the driving part 27 includes a motor, a reducer, and the like.

From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

In the rotating arm mechanism 10 of the present application, the rotating arm mechanism 10 includes a rotating arm body 11, the rotating arm body 11 has a cylindrical structure, and the rotating arm body 11 has an accommodating cavity that extends to both ends of the rotating arm body 11. The main body 11 has a hollow structure. By setting the rotating arm body 11 as a hollow structure, this hollowed-out rotating arm body 11 structure not only makes the space of the accommodating cavity larger, but also reduces the weight of the rotating arm body 11, which is beneficial to reduce the rotating arm mechanism 10. The overall size and overall weight of the rotating arm mechanism 10 is enhanced and the weight of the rotating arm mechanism 10 is reduced; since the rotating arm mechanism 10 is applied to the robot 20, the overall size of the robot in the prior art is solved. The problem of large and heavy weight.

The robot 20 of the present application includes at least one rotating arm mechanism 10, and therefore has at least the same technical effect as the rotating arm mechanism 10, and will not be repeated here.

It should be noted that the terms used here are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and/or "including" are used in this specification, they indicate There are features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first" and "second" in the specification and claims of the application and the above-mentioned drawings are used to distinguish similar objects, and not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those clearly listed. Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

A rotating arm mechanism applied to a robot, characterized in that the rotating arm mechanism includes:

The rotating arm body (11), the rotating arm body (11) has a columnar structure, the rotating arm body (11) has an accommodating cavity, and the accommodating cavity extends to both ends of the rotating arm body (11), so The rotating arm body (11) is a hollow structure.
The rotating arm mechanism according to claim 1, wherein the rotating arm body (11) comprises a plurality of arm segments, and the plurality of arm segments are arranged in sequence along the extension direction of the rotating arm body (11), Two adjacent arm segments are connected by a support ring; wherein each arm segment has a plurality of hollow holes (119).
The rotating arm mechanism according to claim 2, wherein each of the arm segments includes a plurality of first support bars (117) and a plurality of second support bars (118), and the plurality of first support bars (117) are arranged around the accommodating cavity, the plurality of second support bars (118) are arranged around the accommodating cavity; the plurality of first support bars (117) and the plurality of second support bars (118) ) Are arranged crosswise, so that a plurality of hollow holes (119) are formed on the corresponding arm segments.
The rotating arm mechanism according to claim 3, wherein the plurality of first support bars (117) are evenly arranged along the circumference of the corresponding arm section, and the plurality of second support bars (118) They are evenly arranged along the circumferential direction of the corresponding arm segments.
The rotating arm mechanism according to claim 2, characterized in that, along the extension direction of the rotating arm body (11), the rotating arm body (11) has a first end surface and a second end surface; From the end surface to the second end surface, the cross-sectional area of the plurality of arm segments gradually decreases; wherein the cross-sectional area of each arm segment is the corresponding arm segment perpendicular to the arm segment The area of the cross section in the extension direction.
The rotating arm mechanism according to claim 5, wherein the length of the plurality of arm segments gradually decreases along the direction from the first end surface to the second end surface.
The rotating arm mechanism according to claim 1, wherein the rotating arm body (11) comprises a first arm segment (111), a second arm segment (112), and a third arm segment (113). The second arm section (112) is arranged between the first arm section (111) and the third arm section (113);

The first arm section (111), the second arm section (112), and the third arm section (113) all have a plurality of hollow holes (119), and the first arm section (111) has a first arm section (111). A cavity section, the second arm section (112) has a second cavity section, the third arm section (113) has a third cavity section, the first cavity section, the second cavity section and the The third cavity section communicates to form the accommodating cavity;

Wherein, the first arm segment (111) and the second arm segment (112) are connected by a first support ring (115), and the second arm segment (112) and the third arm segment ( 113) are connected by a second support ring (116).
The rotating arm mechanism according to claim 7, wherein the rotating arm body (11) further comprises a first fixing ring (114), and one end of the first arm segment (111) is connected to the first fixing ring (114). The ring (114) is connected, and the other end of the first arm section (111) is connected with the first support ring (115); the first fixed ring (114) is used to connect with the transmission member (28) of the robot ) Connection, so that the transmission member (28) drives the rotation arm body (11) to move.
The rotating arm mechanism according to claim 7, wherein the rotating arm body (11) further comprises a second fixing ring, and one end of the third arm section (113) is connected to the second supporting ring (116). ) Connection, the other end of the third arm segment (113) is connected to the second fixed ring; the second fixed ring is used to connect with the connecting piece (22) of the robot, so that the rotating arm The main body (11) drives the connecting piece (22) to move.
A robot comprising a plurality of rotating arm mechanisms, wherein at least one of the plurality of rotating arm mechanisms is the rotating arm mechanism according to any one of claims 1 to 9.