WO2022099895A1

WO2022099895A1 - Desktop robotic arm joint assembly, desktop robotic arm and robot

Info

Publication number: WO2022099895A1
Application number: PCT/CN2020/141010
Authority: WO
Inventors: 叶伟智; 李叶鹏; 王重彬; 刘培超; 刘主福; 王伦; 郎需林
Original assignee: 深圳市越疆科技有限公司
Priority date: 2020-11-11
Filing date: 2020-12-29
Publication date: 2022-05-19
Also published as: CN112454417A; CN112454417B

Abstract

A desktop robotic arm joint assembly (100), comprising a big arm (110), a small arm (120) and connectors (130) arranged between the big arm and the small arm, wherein the big arm comprises a big arm primary rod (111) and a big arm secondary rod (112), which are arranged opposite each other; the small arm comprises a small arm primary rod (121) and a small arm secondary rod (122), which are arranged opposite each other; a first end of the big arm primary rod is provided with two first hinge portions (111a), which are arranged opposite each other left and right at an interval; two connectors are arranged left and right in parallel and are located between the two first hinge portions; a second hinge portion (121a) is arranged at a first end of the small arm primary rod and is located between the two connectors; the two first hinge portions, the two connectors and the second hinge portion are connected by means of a first hinge shaft (10); and a first end of the big arm secondary rod and a first end of the small arm secondary rod are respectively hinged to two opposite sides of the two connectors. According to the desktop robotic arm joint assembly, the connection strength is enhanced, the matching stability and the driving effect are improved, the support strength is enhanced, and the safety is improved. The present application further relates to a desktop robotic arm comprising the desktop robotic arm joint assembly, and a robot.

Description

Desktop robotic arm joint components, desktop robotic arms and robots

technical field

The present application relates to the technical field of desktop robotic arms, in particular to a desktop robotic arm joint assembly, a desktop robotic arm and a robot.

Background technique

As a sub-category of the robotic arm, the desktop robotic arm consists of a base, a turntable, a large arm, a small arm, an end, and a turntable drive motor, a large arm drive motor, and a small arm drive motor. The turntable and the base are rotatably connected. It is connected with the turntable and the forearm respectively, the forearm is connected with the end, the end is used to set the actuator, the turntable drive motor is used to drive the turntable to rotate relative to the base, the big arm drive motor is used to drive the movement of the big arm, and the small arm drive motor is used to To drive the movement of the forearm, the big arm and the forearm use the principle of parallelogram to drive the end to move in the working space. For example, the robotic arm and robot disclosed in the Chinese patent application number CN201620105515.2.

At present, the desktop manipulator is usually an educational desktop manipulator. The object grasped by the end of the manipulator is light in weight and has a small load. Therefore, there are no strict requirements on the structural design of the connection and cooperation between the joints of the big and small arms. For example, the application number is CN201910723747.2 disclosed "a compact belt-driven enclosed small four-axis robot" and "a compact belt-driven small four-axis robot" disclosed in the Chinese patent application number CN2018109211573.6, The drive rod of the forearm and the main rod of the forearm are connected by a single triangular connection to realize the transmission, and the big arm is a single rod structure design; however, with the improvement of the industrial level, in order to meet the market demand , the desktop robotic arm is gradually developing towards industrial-grade applications, such as visual sorting, assembly line handling and other fields, it is required to grab heavier objects, resulting in a larger load.

Obviously, the transmission of the small arm of the existing desktop manipulator only relies on a single triangular connecting piece, the connection strength between the arm structures is low, the coordination stability and the driving effect are poor, and the large arm is used as the joint structure of the arm body. The foundation, which is only a single rod body, has low support strength and low safety, and is not suitable for industrial application requirements.

technical problem

The main purpose of this application is to propose a desktop manipulator joint assembly, which aims to solve the technical problems of low connection strength, poor fit stability and driving effect, low support strength and low safety of desktop manipulators in the above-mentioned background art.

technical solutions

In order to achieve the above purpose, the present application proposes a desktop mechanical arm joint assembly, the desktop mechanical arm joint assembly includes a large arm, a small arm and a connecting piece arranged between the large arm and the small arm, and the large arm includes a relative The boom main rod and the boom auxiliary rod are arranged, the small arm includes the small arm main rod and the small boom auxiliary rod, and the first end of the boom main rod is provided with two left and right oppositely arranged first rods. A hinge part, the connecting parts are two left and right side by side and are located between the two first hinge parts, the first end of the forearm main rod is provided with a second hinge part, the second hinge part Located between the two connecting parts, the two first hinge parts, the two connecting parts and the second hinge part are connected by a first hinge shaft, and the first end of the auxiliary arm of the big arm and the first end of the auxiliary arm of the small arm are connected. The ends are respectively hinged with opposite sides of the two connecting pieces.

The first hinge part on the left is provided with a first through hole and a first bearing located in the first through hole, and the first hinge part on the right is provided with a second through hole and a bearing located in the first through hole. The second bearing in the second through hole, the connecting piece on the left is provided with a third through hole and a third bearing located in the third through hole, and the connecting piece on the right is provided with a third through hole and a third bearing located in the third through hole. A fourth through hole and a fourth bearing located in the fourth through hole, a fifth through hole and a fifth bearing and a sixth bearing located in the fifth through hole are arranged on the second hinge part, so The inner rings of the first bearing, the second bearing, the third bearing, the fourth bearing, the fifth bearing and the sixth bearing are respectively interference fit with the first hinge shaft.

Wherein, the first hinge shaft is provided with a shaft sleeve group, and the shaft sleeve set includes a first shaft sleeve, a second shaft sleeve, a third shaft sleeve and a first shaft sleeve arranged in sequence along the axial direction of the first hinge shaft Four bushings, the first bushing is located between the first hinge part on the left side and the connecting piece on the left side, and the second bushing is located between the connecting piece on the left side and the second bushing on the left side Between the hinge parts, the third shaft sleeve is located between the second hinge part and the connecting piece on the right side, and the fourth bushing is located between the connecting piece on the right side and the first connecting piece on the right side. between a hinge.

Wherein, the first end of the boom auxiliary rod is provided with two left and right third hinge parts arranged at opposite intervals, and the two connecting pieces are located between the two third hinge parts and are respectively connected with the two third hinge parts hinged;

The first end of the forearm auxiliary rod is provided with two left and right oppositely spaced fourth hinge parts, and the two connecting pieces are located between the two fourth hinge parts and are respectively hinged with the two fourth hinge parts.

Wherein, the second end of the boom main rod is provided with two left and right oppositely spaced fifth hinge parts, and the second end of the boom auxiliary rod is provided with two left and right opposite sixth hinge parts.

Wherein, at least one of the two fifth hinge parts is provided with a stop part which defines the rotation position of the boom main rod.

Wherein, the desktop manipulator joint assembly further includes a carrier connected with the forearm and used for installing the end effector.

Wherein, the carrying frame includes two left and right oppositely spaced seventh hinge parts, the second end of the forearm main rod is provided with an eighth hinge part, and the eighth hinge part is located between the two seventh hinge parts and is connected with the two seventh hinge parts through the second hinge shaft;

The carrying frame further includes two left and right ninth hinge parts arranged at opposite intervals, the second end of the forearm auxiliary rod is provided with two left and right oppositely spaced tenth hinge parts, and the two tenth hinge parts are located in two places. The ninth hinge parts are connected with the two ninth hinge parts through a third hinge shaft.

Wherein, the bearing frame includes a motor fixing plate, the motor fixing plate is provided with a shaft hole and a plurality of fixing holes, and the plurality of fixing holes are arranged around the shaft hole.

Wherein, the connecting piece is a fan-shaped plate, and the fan-shaped plate includes an outer convex part at its upper end and an inner concave part at its lower end.

Wherein, the forearm further includes a forearm driving rod located between the main boom of the boom and the auxiliary rod of the boom. The first end of the forearm driving rod is hinged with the connecting part.

Wherein, the forearm further includes a forearm transmission rod, and the forearm transmission rod is hinged with the second end of the forearm driving rod.

Wherein, the big arm and/or the forearm is provided with a wire groove, the forearm is provided with a trachea joint, a data joint and a button, and the gas pipe joint, data joint and button are located on the forearm sub-rod or forearm on the main pole.

The present application also proposes a desktop robotic arm, the desktop robotic arm includes a base, a turntable and the aforementioned desktop robotic arm joint assembly, the turntable is arranged on the base, and the desktop robotic arm joint assembly is arranged on the On the turntable, the desktop robotic arm joint assembly includes a large arm, a small arm and a connecting piece arranged between the large arm and the small arm, and the large arm includes a main arm of the large arm and a sub-rod of the large arm arranged oppositely, The forearm includes a forearm main rod and a forearm sub-rod that are arranged oppositely, the first end of the big arm main rod is provided with two left and right oppositely spaced first hinge parts, and the connecting pieces are arranged side by side on the left and right. Two and both are located between the two first hinge parts, the first end of the forearm main rod is provided with a second hinge part, the second hinge part is located between the two connecting parts, the two hinge parts are The first hinge part, the two connecting parts and the second hinge part are connected by a first hinge shaft, and the first end of the large arm auxiliary rod and the first end of the small arm auxiliary rod are respectively connected with the opposite sides of the two connecting parts Hinged.

The present application also proposes a robot, which includes the above-mentioned desktop robotic arm, the desktop robotic arm includes a base, a turntable and a desktop robotic arm joint assembly, the turntable is arranged on the base, and the desktop robotic arm joints The assembly is arranged on the turntable, and the joint assembly of the desktop robotic arm includes a large arm, a small arm and a connecting piece arranged between the large arm and the small arm, and the large arm includes the oppositely arranged main rod and The boom sub-rod, the small arm includes the forearm main rod and the forearm sub-rod arranged oppositely, the first end of the large boom main rod is provided with two left and right oppositely spaced first hinge parts, the connecting piece The two are arranged side by side on the left and right and both are located between the two first hinge parts, the first end of the forearm main rod is provided with a second hinge part, and the second hinge part is located between the two connecting pieces. During the time, the two first hinge parts, the two connecting pieces and the second hinge parts are connected by a first hinge shaft, and the first end of the boom auxiliary rod and the first end of the small arm auxiliary rod are respectively connected with the two said hinge parts. Opposite sides of the piece are hinged.

beneficial effect

Compared with the prior art, the beneficial technical effects of the embodiments of the present application are:

In this desktop manipulator joint assembly, the boom is used as the basis for the joint structure of the arm body. It adopts the structure design of the double-rod body of the boom main rod and the boom sub-rod to realize the joint support of the double rods, which is different from that used in the current boom. Compared with the structure design of the single rod body, it strengthens the support strength and improves the safety; and the structure design of the hinged connection between the boom auxiliary rod of the big arm and the small arm auxiliary rod of the forearm adopts double connectors, Compared with the single triangular connecting piece currently used, it strengthens the connection strength between the arm structures, improves the coordination stability and the driving effect; The coaxial multi-point hinge arrangement is used to further strengthen the connection strength between the arm structures. The above-mentioned structure design of the desktop robotic arm joint assembly enables the desktop robotic arm to meet industrial-grade application requirements.

Description of drawings

Fig. 1 is the structural representation of a desktop manipulator in the prior art;

Fig. 2 is the structural representation of another desktop manipulator in the prior art;

3 is a schematic structural diagram of another desktop robotic arm in the prior art;

4 is a schematic structural diagram of a desktop robotic arm in an embodiment of the application;

FIG. 5 is a schematic structural diagram of the desktop manipulator joint assembly of the desktop manipulator in FIG. 4;

FIG. 6 is an exploded view 1 of the joint assembly of the desktop manipulator in FIG. 5;

Fig. 7 is an exploded view 2 of the joint assembly of the desktop manipulator in Fig. 5;

Fig. 8 is an exploded view 3 of the joint assembly of the desktop manipulator in Fig. 5;

Fig. 9 is the structural representation of the connector of the joint assembly of the desktop manipulator in Fig. 5;

FIG. 10 is a partial structural schematic diagram of the joint assembly of the desktop robotic arm in FIG. 5 .

Embodiments of the present application

The solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

As a sub-category of the robotic arm, the desktop robotic arm consists of a base, a turntable, a large arm, a small arm, an end, and a turntable drive motor, a large arm drive motor, and a small arm drive motor. The turntable and the base are rotatably connected. It is connected with the turntable and the forearm respectively, the forearm is connected with the end, the end is used to set the actuator, the turntable drive motor is used to drive the turntable to rotate relative to the base, the big arm drive motor is used to drive the movement of the big arm, and the small arm drive motor is used to To drive the movement of the forearm, the big arm and the forearm use the principle of parallelogram to drive the end to move in the working space. For example, the robotic arm and robot disclosed in the Chinese patent application number CN201620105515.2, as shown in Figure 1, the robotic arm consists of a base, a turntable, a large arm, a small arm, an end, a turntable drive motor, a small arm drive motor and a small arm. Arm drive motor.

The desktop robotic arm is a sub-category of the robotic arm. At present, the desktop robotic arm is usually an educational desktop robotic arm. The objects grasped at the end are lighter in weight and smaller in load. Structural design is not strictly required, for example, as shown in Figure 2, "a compact belt-driven enclosed small four-axis robot" disclosed in the Chinese patent application number CN201910723747.2 and the application number shown in Figure 3 It is "a compact belt-driven small four-axis robot" disclosed in the Chinese patent of CN2018109211573.6. The drive rod of the forearm and the main rod of the forearm are connected by the hinge of a single triangular connecting piece to realize the transmission, And the big arm is a single-rod structure design; however, with the improvement of the industrial level, in order to meet the market demand, the desktop robot arm is gradually developing towards industrial-grade applications, such as applications in visual sorting, assembly line handling and other fields, it is required. Grab heavier objects, resulting in a larger load.

In order to solve the above technical problems, the present application proposes a desktop manipulator joint assembly 100. Referring to FIG. 4 to FIG. 6 , the desktop manipulator joint assembly 100 includes a large arm 110, a small arm 120, and a large arm 110 and a small arm 120. The connecting piece 130 between them, the boom 110 includes the main boom 111 and the auxiliary boom 112 arranged oppositely, the small arm 120 includes the main boom 121 and the auxiliary boom 122 arranged oppositely, and the main boom 111 The first end of the forearm is provided with two first hinge parts 111a that are arranged at opposite intervals on the left and right, the connecting pieces 130 are two left and right side by side and both are located between the two first hinge parts 111a, the first end of the forearm main rod 121 is provided with There is a second hinge part 121a, the second hinge part 121a is located between the two connecting parts 130, the two first hinge parts 111a, the two connecting parts 130 and the second hinge part 121a are connected by the first hinge shaft 10, the boom auxiliary rod 112 The first end of the forearm sub-rod 122 and the first end of the forearm sub-rod 122 are hinged with the opposite sides of the two connecting pieces 130 respectively.

4 , the desktop manipulator joint assembly 100 involved in this embodiment, the turntable 200 and the base 300 of the desktop manipulator are respectively components of the desktop manipulator, and the desktop manipulator joint assembly is disposed on the turntable. The desktop robotic arm joint assembly 100 is mainly composed of a large arm 110, a small arm 120 and a connecting member 130. Specifically, referring to FIG. 5 and FIG. The arm main rod 121 and the forearm sub-rod 122 have two connecting pieces 130 . The boom main rod 111 and the boom auxiliary rod 112 are opposed to each other front and rear, the forearm auxiliary rod 122 and the forearm main rod 121 are opposed up and down, and the two connecting members 130 are located between the boom auxiliary rod 112 and the forearm auxiliary rod 122 Arranged side by side in the left and right directions. The first end of the boom main rod 111 , the two connecting pieces 130 and the first end of the forearm main rod 121 are hinged to each other, specifically through the two first hinge parts 111 a of the boom main rod 111 , the two connecting pieces 130 and the forearm main rod 111 . The second hinge part 121a of the rod 121 is rotated and cooperated with the first hinge shaft 10 respectively to realize the realization; For the hinge, the hinge forms can be various, such as the above-mentioned coaxial hinge. The specific hinge form will be described in the subsequent embodiments, and will not be elaborated here.

The connection member 130 involved may have various structural forms, such as a plate body, a frame body, etc., and the appearance shape may be a triangle, a fan shape, etc., including but not limited to this, which can be selected and set according to actual conditions. However, no matter what structure or shape it is, it forms a triangular hinge with the boom sub-rod 112 , the forearm main rod 121 , the boom main rod 111 and the forearm main rod 121 .

In this desktop manipulator joint assembly, the boom 110 is used as the basis for the joint structure of the arm body. It adopts the structure design of the double-rod body of the boom main rod 111 and the boom auxiliary rod 112 to realize the joint support of the two rods, which is different from the current large-scale joint support. Compared with the structure design of the single-rod body adopted by the arm, it strengthens the support strength and improves the safety; moreover, a double connecting piece is used between the boom sub-rod 112 of the boom 100 and the small arm sub-rod 122 of the forearm Compared with the current single triangular connecting piece, the structural design of 130 hinged connection strengthens the connection strength between the arm structures, improves the coordination stability and the driving effect; The arm main rod 121 and the double connecting member 130 are coaxially and multi-point hinged to further strengthen the connection strength between the arm structures. Through the structural design of the above-mentioned desktop manipulator joint assembly 100, the desktop manipulator can be adapted to industrial applications. need.

Referring to FIG. 7 , a first through hole and a first bearing 1 located in the first through hole are provided on the first hinge portion 111a on the left side, and the first hinge portion 111a on the right side is provided with a first through hole. The second through hole and the second bearing 2 located in the second through hole, the left connecting member 130 is provided with a third through hole and the third bearing 3 located in the third through hole, and the right connecting member 130 is provided with a third through hole and a third bearing 3 located in the third through hole. A fourth through hole and a fourth bearing 4 located in the fourth through hole are provided. The second hinge portion 121a is provided with a fifth through hole, a fifth bearing 5 and a sixth bearing 6 located in the fifth through hole. The inner rings of the first bearing 1 , the second bearing 2 , the third bearing 3 , the fourth bearing 4 , the fifth bearing 5 and the sixth bearing 6 are respectively in interference fit with the first hinge shaft 10 . That is, the first hinge part 111a of the boom main rod 111, the second hinge part 121a of the forearm main rod 121, and the connecting piece 130 respectively use bearings to form a rotating fit with the first hinge shaft 10, and the connection is stable, and each is on the first hinge shaft. The connection position on 10 will not be offset, the rotation action is accurate and the position is accurate, which can ensure the running accuracy.

Referring to FIG. 7 , the first hinge shaft 10 proposed in the embodiment of the present application is provided with a shaft sleeve set, and the shaft sleeve set includes a first shaft sleeve 10a, a second shaft sleeve 10b, a first shaft sleeve 10a, a second shaft sleeve 10b, The third bushing 10c and the fourth bushing 10d, the first bushing 10a is located between the first hinge portion 111a on the left side and the connecting piece 130 on the left side, and the second bushing 10b is located between the connecting piece 130 on the left side and the connecting piece 130 on the left side. Between the two hinge parts 121a, the third sleeve 10c is located between the second hinge part 121a and the right connecting member 130, and the fourth sleeve 10d is located between the right connecting member 130 and the right first hinge part 111a between.

Specifically, the function of the first bushing 10a is to separate the first hinge part 111a on the left side from the connecting piece 130 on the left side, and the function of the second bushing 10b is to separate the connecting piece 130 on the left side from the second hinge part on the left side 121a, the function of the third bushing 10c is to space the second hinge part 121a and the right connecting piece 130, and the function of the fourth bushing 10d is to space the right connecting piece 130 and the right first hinge part 111a . That is, by arranging a plurality of bushings on the first hinge shaft 10 to further limit the position of the second hinge part 121a, the connecting piece 130 and the first hinge part 111a, the adjacent parts can be connected to each other when rotating along the first hinge shaft 10. It does not interfere, thereby ensuring the smoothness of the movement of the joint assembly and improving the stability. Among them, the size of the shaft sleeve can be consistent with the size of the inner ring of the bearing arranged on both sides thereof, so as to avoid interference with the normal rotation of the components. In addition, in order to realize the friendly contact between the shaft sleeve and the bearing inner ring, the shaft sleeve is preferably made of colloidal material, which can be hard glue or soft glue, which is selected according to the actual situation.

Referring to FIG. 6 , the first end of the boom sub-rod 112 proposed in the embodiment of the present application is provided with two left and right third hinge parts 112a arranged at opposite intervals, and the two connecting members 130 are located between the two third hinge parts 112a and are respectively connected with the third hinge parts 112a. The two third hinge parts 112a are hinged;

The first end of the forearm auxiliary rod 122 is provided with two left and right oppositely spaced fourth hinge portions 122a, and the two connecting members 130 are located between the two fourth hinge portions 122a and are hinged with the two fourth hinge portions 122a respectively.

Specifically, the two third hinge parts 112a and the two connecting members 130 are respectively hinged correspondingly through two hinge shafts, and of course, they can also be hinged uniformly through the same hinge shaft. As a preferred arrangement, bearings are provided between the third hinge portion 122a and the connecting member 130 and the hinge shaft respectively to realize the connection. Correspondingly, the two fourth hinge portions 122a and the two connecting members 130 are respectively hinged correspondingly through the two hinge shafts, and of course, the same hinge shaft can also be used for unified hinge hinge. As a preferred arrangement, bearings are provided between the fourth hinge portion 122a and the connecting member 130 and the hinge shaft respectively to realize connection. Among them, it is easy to understand that the boom auxiliary rod 112 and the forearm auxiliary rod 122 are respectively provided with two hinge parts for hinged connection corresponding to the two connecting members 130 to increase the connection relationship, realize multiple connections, and further strengthen the connection strength. In addition, the two connecting pieces 130 are provided inside the hinged portion of the boom sub-rod 112 and the small arm sub-rod 122 to be hinged therewith, which can improve the compactness of the structure.

6 , the second end of the boom main rod 111 proposed in the embodiment of the present application is provided with two left and right oppositely spaced fifth hinge parts 111b, and the second end of the boom auxiliary rod 112 is provided with two left and right oppositely spaced apart The sixth hinge portion 112b. When the desktop manipulator joint assembly 100 is installed on the turntable 200 of the desktop manipulator, the two fifth hinge parts 111b located at the second end of the main arm 111 are respectively hinged with the turntable 200, and the two sixth hinges 111b located at the second end of the main arm 121 of the forearm. The hinge parts 112b are hinged with the turntables, respectively. In addition, the hinged structure of the hinged shaft and the bearing can be selected when setting. The boom main rod 111 and the boom auxiliary rod 112 are respectively connected with the turntable 200 through two hinged parts provided thereon, which can ensure the connection strength and increase the coordination stability between the structures.

It should be noted that, during the specific setting, one of the two fifth hinge parts 111b of the boom main rod 111 is drive-connected to the boom drive motor, that is, the boom main rod 111 can be driven on the turntable by the boom drive motor. 200 turns on.

Referring to FIG. 6 , at least one of the two fifth hinge parts 111 b proposed in the embodiment of the present application is provided with a stop part 111 c that defines the rotation position of the boom main rod 111 . That is, the fifth hinge portion 111b located on the left side or the fifth hinge portion 111b located on the right side or the two fifth hinge portions 111b is provided with a stopper portion 111c, wherein when the two fifth hinge portions 111b are respectively provided with stoppers When the two stopper parts 111c are installed, the positions of the two stopper parts 111c can be corresponding to each other. In addition, the stopper portion 111c may be integrally formed with the fifth hinge portion 111b or detachably provided on the fifth hinge portion 111b.

Corresponding to the stopper portion 111c, a stopper is provided on the turntable 200 of the desktop robotic arm, and the stopper is located on the rotation path of the stopper portion 111c for blocking the rotation thereof. Wherein, the structural form of the limiting member can be columnar, block or other, and can be selected and set according to the actual situation. That is, when the boom driving motor is powered off and the boom main rod 111 falls automatically due to gravity, the boom main rod 111 is mechanically mechanically operated through the contact, abutment and cooperation of the stopper and the stopper 111c. Limiting, so that the boom main rod 111 no longer rotates, maintains a safe height, and improves safety.

Referring to FIG. 5 and FIG. 6 , the joint assembly of the desktop manipulator proposed in the embodiment of the present application further includes a carrier 140 connected to the forearm 120 and used for installing the end effector. The carrying frame 140 can have various structural forms, such as a frame body, a frame body, etc., which can be set accordingly according to the end effector to be installed. The end effector can be various types of clamps, such as pneumatic or electric grippers; in addition, referring to FIG. 4 , the end effector can include a driving motor, and various types of actuators can be installed on the output shaft of the driving motor, such as suction Mouth, etc., including but not limited to.

Further, referring to FIG. 6 and FIG. 8 , the carrier 140 includes two left and right oppositely spaced seventh hinge parts 140a, the second end of the forearm main rod 121 is provided with an eighth hinge part 121b, and the eighth hinge part 121b is located at two The seventh hinge parts 140a are connected with the two seventh hinge parts 140a through the second hinge shaft 20;

The carrier frame further includes two left and right ninth hinge parts 140b arranged at opposite intervals, the second end of the forearm auxiliary rod 122 is provided with two left and right oppositely spaced tenth hinge parts 122b, and the two tenth hinge parts 122b are located at the two ninth hinges. The parts 140b are connected to the two ninth hinge parts 140b through the third hinge shaft 30 .

Wherein, the two seventh hinge parts 140a are located at the diagonally lower positions of the two ninth hinge parts 140b, the forearm main rod 121 and the forearm auxiliary rod 122 are respectively provided with hinge parts, and the carrier frame 140 corresponds to the boom main rod 111 A plurality of hinge parts are provided with the main arm 121 of the forearm to be connected to the corresponding hinge, and the connection form of the hinge shaft is used to increase the connection relationship and realize multiple connections, thereby further strengthening the connection strength. At the same time of transmission, the compactness of the arm body structure is ensured.

Referring to FIG. 6 , the carrier 140 proposed in the embodiment of the present application includes a motor fixing plate 141 . The motor fixing plate 141 is provided with a shaft hole 141 a and a plurality of fixing holes 141 b , and the plurality of fixing holes 141 b are arranged around the shaft hole 141 a.

That is, when the drive motor is installed on the carrier 140, the drive motor is installed on the motor fixing plate 141, and the output shaft of the drive motor passes through the shaft hole 141a to be exposed on the lower side of the motor fixing plate 141, and its body corresponds to the plurality of fixing holes 141b. The screws are respectively passed through to lock, the installation is stable, and the disassembly and assembly are convenient. Wherein, the fixing holes 141b may be four or other numbers, which are not limited herein. Based on this, the fixing hole 141b is preferably a waist-shaped hole to achieve further optimization, so that the installation position of the drive motor on the motor fixing plate 141 can be adjusted, thereby improving the installation accuracy.

6 and 9 , the connector 130 proposed in the embodiment of the present application is a fan-shaped plate, and the fan-shaped plate includes an outer convex portion 131 at its upper end and an inner concave portion 132 at its lower end. That is, the connecting member 130 is preferably set as a fan-shaped plate, and the boom auxiliary rod 112 , the forearm auxiliary rod 122 , the boom main rod 111 and the forearm main rod 121 are respectively hinged at the three vertex positions of the fan-shaped plate. The hinge positions of the sub-rod 112 and the forearm sub-rod 122 on the fan-shaped plate are located on opposite sides of the outer convex portion 131 respectively, and the hinged positions of the main boom 111 and the forearm main rod 121 on the fan-shaped plate are located on the inner concave portion. At the bottom end of 132 , the avoidance space formed by the concave portion 132 provides a fitting position for the first hinge portion 111 a of the boom main rod 111 , thereby further improving the compactness of the structure.

Referring to FIG. 6 , the forearm 120 proposed in the embodiment of the present application further includes a forearm driving rod 123 located between the main boom 111 and the sub-rod 112 of the forearm, and the first end of the main rod 121 of the forearm is along the direction of its rod body The extension structure is provided with a connecting portion 121c, and the first end of the forearm driving rod 123 is hinged with the connecting portion 121c. The connecting portion 121c is integrally formed with the second hinge portion 121a of the forearm main rod 121, the forearm main rod 121 is like a lever, and the first hinge shaft 10 serves as its pivot point. The connecting portion 121c of the forearm main rod 121 is pulled by the forearm driving rod 123 to drive the forearm main rod 121 to rotate around the first hinge shaft 10 , thereby realizing the rotation of the forearm 120 .

Further, referring to FIG. 6 , the forearm 120 further includes a forearm transmission rod 124 , and the forearm transmission rod 124 is hinged with the second end of the forearm driving rod 123 . Specifically, when the desktop manipulator joint assembly 100 is installed on the turntable 200 of the desktop manipulator, the forearm drive rod 124 also adopts a deceleration assembly (such as a two-stage synchronization) on the other end of the forearm drive rod 124 relative to the end connected with the forearm drive rod 123 . (with deceleration component) to be connected with the output shaft of the forearm driving motor, that is, the forearm driving motor rotates by driving the forearm driving rod 124 to realize the driving of the forearm driving rod 123, thereby further driving the forearm main rod 121 and The small arm 120 has a compact structure and stable driving fit.

The large arm 110 and/or the small arm 120 proposed in the embodiment of the present application is provided with a wire groove 40, and the small arm 120 is provided with a gas pipe joint 50, a data joint 60 and a button 70, and the gas pipe joint 50, the data joint 60 and the button 70 are located at on the forearm secondary rod 122 or the forearm main rod 121 .

Among them, the wire groove 40 is arranged on the big arm 110 or on the small arm 120 or on the big arm 110 and the small arm 120. Referring to FIG. 7, the wire groove 40 can be arranged along the direction of the arm body. The function of the wire groove 40 is to unify the cables Accommodate, such as motor power cables, signal cables, etc., so that the cables are routed neatly and orderly to ensure stable signal transmission. When the cable is accommodated in the wire groove 40, it can be fixed by tape or other structures.

10 , the forearm sub-rod 122 or the forearm main rod 121 of the forearm 120 is provided with a gas pipe joint 50, a data joint 60 and a button 70, the gas pipe joint 50 is used as a backup, when the mechanical arm is provided with an air control element , such as suction nozzles, air cylinders, etc., to connect the air source through the air pipe joint 50 to realize the air supply to the air control element; the data joint 60 can be various types of data interfaces, which can be set according to requirements, and can be used for various Type data transmission, for example, the data connector 60 can be an I/O connector to connect with the I/O board through a data line for data interaction; the function of the button 70 can be set according to the actual situation, for example, it can be used for power failure prevention. Brake button, that is, when the desktop manipulator is in a power-off state, the driving motor of the big arm and the driving motor of the forearm are mechanically locked by the holding brake, and the big arm 110 and the forearm 120 cannot be rotated, press the button 70 to remove the brake. The locking of the holding brake is released, so that the big arm 110 and the small arm 120 can be rotated, which is convenient for control. As a preferred arrangement, referring to FIG. 10 , the trachea connector 50 , the data connector 60 and the button 70 are arranged on the forearm sub-rod 122 and are exposed one by one on the outer side thereof.

The working principle of the desktop manipulator joint assembly 100 proposed in the above-mentioned embodiment is as follows: the boom drive motor drives the boom main rod 111 to rotate. (eg forearm main rod 121, forearm sub-rod 122, forearm sub-rod 112, etc.) will also move accordingly, so as to realize the rotation of the boom 110; and the forearm drive motor rotates by driving the forearm transmission rod 124 The forearm driving rod 123 is driven to drive the forearm main rod 121 , and the forearm sub-rod 122 is further driven to rotate due to the hinged connection with the carrier 140 , thereby realizing the rotation of the forearm 120 .

The present application also proposes a desktop manipulator. Referring to FIG. 4 , the desktop manipulator includes a base 300, a turntable 200, and the desktop manipulator joint assembly 100 described in the foregoing embodiments. The turntable 200 is arranged on the base 300, and the desktop manipulator joint The assembly 100 is arranged on the turntable 200. The specific structure of the joint assembly 100 of the desktop robot arm refers to the above-mentioned embodiments. Since the desktop robot arm adopts all the technical solutions of the above-mentioned embodiments, it has at least the technical solutions of the above-mentioned embodiments. All the technical effects obtained will not be repeated here.

The present application also proposes a robot, which includes the desktop robotic arm described in the foregoing embodiments. The specific structure of the desktop robotic arm refers to the foregoing embodiments. Since the robot adopts all the technical solutions of all the foregoing embodiments, it has at least All the technical effects brought about by the technical solutions of the above embodiments will not be repeated here.

The above descriptions are only part or preferred embodiments of the present application, and neither the text nor the drawings can limit the scope of protection of the present application. Equivalent structural transformations made, or direct/indirect applications in other related technical fields are all included within the scope of protection of the present application.

Claims

A desktop mechanical arm joint assembly, characterized in that it includes a large arm, a small arm and a connecting piece arranged between the large arm and the small arm, and the large arm includes a main arm of the large arm and a subordinate arm of the large arm arranged oppositely. The arm includes a main arm of the arm and a sub-arm of the arm, which are arranged opposite to each other, the first end of the main arm of the big arm is provided with two left and right oppositely spaced first hinge parts, and the connecting pieces are juxtaposed on the left and right. The two are provided and both are located between the two first hinge parts, the first end of the forearm main rod is provided with a second hinge part, and the second hinge part is located between the two connecting parts, and the two The first hinge part, the two connecting parts and the second hinge part are connected by a first hinge shaft, and the first end of the boom auxiliary rod and the first end of the small arm auxiliary rod are respectively opposite to the two connecting parts. Hinged on both sides.
The desktop robotic arm joint assembly according to claim 1, wherein the first hinge part on the left is provided with a first through hole and a first bearing located in the first through hole, and the first hinge on the right is provided with a first through hole and a first bearing located in the first through hole The first hinge part is provided with a second through hole and a second bearing located in the second through hole, and the left connecting piece is provided with a third through hole and located in the third through hole The third bearing, the connecting piece on the right side is provided with a fourth through hole and a fourth bearing located in the fourth through hole, and the second hinge part is provided with a fifth through hole and a fourth bearing located in the fourth through hole. The fifth bearing and the sixth bearing in the fifth through hole, the inner rings of the first bearing, the second bearing, the third bearing, the fourth bearing, the fifth bearing and the sixth bearing are respectively connected with the first hinge shaft interference fit.
The desktop manipulator joint assembly according to claim 2, wherein a shaft sleeve set is provided on the first hinge shaft, and the shaft sleeve set comprises a first hinge shaft arranged in sequence along the axial direction of the first hinge shaft. A bushing, a second bushing, a third bushing and a fourth bushing, the first bushing is located between the first hinge part on the left side and the connecting piece on the left side, the second bushing The axle sleeve is located between the connecting piece on the left side and the second hinge part, the third axle sleeve is located between the second hinge part and the connecting piece on the right side, and the fourth axle sleeve between the connecting piece on the right side and the first hinge portion on the right side.
The desktop manipulator joint assembly according to claim 1, wherein the first end of the boom auxiliary rod is provided with two left and right third hinge parts arranged at opposite intervals, and the two connecting parts are located in the two second hinge parts. The three hinge parts are hinged between and respectively with the two third hinge parts;

The first end of the forearm auxiliary rod is provided with two left and right oppositely spaced fourth hinge parts, and the two connecting pieces are located between the two fourth hinge parts and are respectively hinged with the two fourth hinge parts.
The desktop robotic arm joint assembly according to claim 4, wherein the second end of the boom main rod is provided with two left and right oppositely spaced fifth hinge parts, and the second end of the boom auxiliary rod There are two left and right sixth hinge parts arranged at opposite intervals.
The desktop manipulator joint assembly according to claim 5, wherein at least one of the two fifth hinge parts is provided with a stop part that defines the rotation position of the boom main rod.
The joint assembly of a desktop manipulator according to claim 1, further comprising a carrier connected to the forearm and used for installing an end effector.
The desktop manipulator joint assembly according to claim 7, wherein the carrying frame comprises two left and right oppositely spaced seventh hinge parts, and the second end of the forearm main rod is provided with an eighth hinge part, the eighth hinge part is located between the two seventh hinge parts and is connected with the two seventh hinge parts through a second hinge shaft;

The carrying frame further includes two left and right ninth hinge parts arranged at opposite intervals, the second end of the forearm auxiliary rod is provided with two left and right oppositely spaced tenth hinge parts, and the two tenth hinge parts are located in two places. The ninth hinge parts are connected with the two ninth hinge parts through a third hinge shaft.
The joint assembly of a desktop manipulator according to claim 7, wherein the bearing frame comprises a motor fixing plate, the motor fixing plate is provided with a shaft hole and a plurality of fixing holes, and the plurality of fixing holes surround the Shaft hole setting.
The desktop robotic arm joint assembly according to claim 1, wherein the connecting member is a fan-shaped plate, and the fan-shaped plate includes an outer convex portion at its upper end and an inner concave portion at its lower end.
The joint assembly of the desktop manipulator according to claim 1, wherein the small arm further comprises a small arm driving rod located between the main boom of the large arm and the auxiliary rod of the large arm, the main arm of the small arm The first end of the rod is configured with a connecting portion extending along the direction of the rod body, and the first end of the forearm driving rod is hinged with the connecting portion.
The desktop robotic arm joint assembly according to claim 11, wherein the forearm further comprises a forearm transmission rod, and the forearm transmission rod is hinged with the second end of the forearm driving rod.
The desktop robotic arm joint assembly according to claim 1, wherein a wire groove is provided on the large arm and/or the small arm, and a tracheal joint, a data joint and a button are provided on the small arm, and the tracheal joint is provided with , data connectors and buttons are located on the forearm sub-rod or the forearm main rod.
A desktop robotic arm, characterized in that it comprises a base, a turntable and the desktop robotic arm joint assembly according to any one of claims 1-13, the turntable is arranged on the base, and the desktop robotic arm joint assembly set on the turntable.
A robot, characterized by comprising the desktop robotic arm as claimed in claim 14 .