WO2023202463A1 - 一种设备及活动装置 - Google Patents

一种设备及活动装置 Download PDF

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Publication number
WO2023202463A1
WO2023202463A1 PCT/CN2023/088076 CN2023088076W WO2023202463A1 WO 2023202463 A1 WO2023202463 A1 WO 2023202463A1 CN 2023088076 W CN2023088076 W CN 2023088076W WO 2023202463 A1 WO2023202463 A1 WO 2023202463A1
Authority
WO
WIPO (PCT)
Prior art keywords
bracket
driving component
movable device
cover
transmission member
Prior art date
Application number
PCT/CN2023/088076
Other languages
English (en)
French (fr)
Inventor
沈皇
杜红伟
贺皓
胡兴国
张亚青
Original Assignee
华为技术有限公司
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
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2023202463A1 publication Critical patent/WO2023202463A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

Definitions

  • Embodiments of the present application relate to the field of machinery and equipment, and in particular, to equipment and movable devices.
  • robots are increasingly used in education, entertainment, medical, home and other fields, and with technological advancement, products are constantly being updated.
  • humanoid robots generally consist of arms, main bodies, heads and chassis. With their unique appearance and good human-computer interaction, they are widely used and paid attention to in fields such as education and entertainment.
  • Embodiments of the present application provide equipment and movable devices that can effectively balance maintenance operability and disassembly and assembly efficiency, and can reduce the risk of vulnerability during product maintenance to adapt to the configuration of different application scenarios.
  • the first aspect of the embodiment of the present application provides a movable device, including a structural body, a first driving component and a structural bracket.
  • the structural bracket has a mounting cavity and a mounting part, where the mounting part is located on the outer periphery of the structural bracket for the activity.
  • the device is installed on the equipment body; the structural body is inserted into one end of the installation cavity, the first driving component is fixed on the other end of the installation cavity, and the first driving component is transmission connected with the structural body to drive the structural body to rotate.
  • the movable device as an arm of a robot as an example
  • the function of the shoulder joint can be realized based on the driving of the first driving component.
  • This solution uses a structural bracket as the basis for assembly.
  • the structural body and the first driving component can be pre-assembled with the structural bracket.
  • the pre-assembled movable device can be inserted into the main body of the equipment. In this way, rapid assembly of the movable device can be achieved and assembly efficiency can be improved.
  • the movable device When maintenance and inspection are required, the movable device can be disassembled from the outside of the equipment body, and the inspection and maintenance of the first driving component can be performed without dismantling the internal bracket and other structures of the equipment body, thus saving maintenance costs and time. At the same time, based on the structural characteristics that maintenance operations do not require disassembly of the main body of the equipment, the risk of vulnerability can be further effectively avoided.
  • the structural bracket includes a first bracket and a second bracket that are connected;
  • the installation cavity includes a first bracket and a second bracket. Bracket The second installation cavity; wherein, the first installation cavity is used to insert and fix the first driving component, and the second installation cavity is used to insert the structural body.
  • the structure is convenient for assembly and operation and has good reliability.
  • one of the first bracket and the second bracket is provided with a positioning protrusion, and the other is provided with a positioning recess, and the positioning protrusion and the positioning recess are plug-fitted so that the first bracket and the third The two brackets are positioned relative to each other.
  • Such an arrangement can further improve assembly efficiency and facilitate inspection and maintenance operations.
  • the embodiment of the present application also provides a second implementation of the first aspect: the first bracket and the second bracket are at least connected by their respective top surfaces and The bottom surface cooperates with the inner wall surface of the insertion opening of the equipment body to limit the position.
  • the entire circumferential surface of the structural bracket can also be used to cooperate with the inner wall surface of the insertion opening to limit the position. It can be understood that on the basis of meeting the basic positioning requirements, a matching method with a relatively small offset adaptation area is used. Processing costs are lower.
  • the structural body includes a transmission member, The transmission member is placed in the second installation cavity of the second bracket, and the transmission member is transmission connected with the output end of the first driving component.
  • the structure is convenient for assembly and operation and has good reliability.
  • embodiments of the present application also provide a third implementation mode of the first aspect.
  • a first circumferential limiting pair is disposed between the transmission member and the structural bracket to position the rotation angle of the structural body when the first driving component drives the structural body to rotate.
  • the embodiment of the present application also provides a fifth implementation mode of the first aspect: the transmission member includes a connecting fixed part and an outer shaft ring, and the outer shaft ring is arranged on the outer periphery of the connecting fixed part. , and has an axially extending transmission member limiting convex portion.
  • the inner wall of the second installation cavity of the second bracket has an axially extending bracket limiting convex portion; the transmission member limiting convex portion and the bracket limiting convex portion are The parts can be circumferentially contacted to form a first circumferential limiting pair when the transmission member rotates. Such an arrangement makes full use of the internal space to achieve the limit function, and the structure is simple and reliable.
  • embodiments of the present application also provide a sixth implementation manner of the first aspect:
  • the output end of the first driving component is a prismatic output disk
  • the connection and fixing part of the transmission member has a recessed part that matches the output disk.
  • the output disk and the recessed part are inserted and fitted, and the two are self-connected.
  • Fasteners operating on one side of the fixed part secure the connection. In this way, the assembly efficiency can be further improved, and the structure can be simple and reliable. A variety of different assembly relationships can be formed during actual assembly, and the assembly has good adaptability.
  • the structural body includes a rotating component and a housing.
  • One end of the shell covers the outside of the rotating assembly;
  • the rotating assembly includes a cover body and a second driving component placed inside the cover body;
  • the transmission component is connected to the cover body;
  • the second driving component is drivingly connected to one end of the housing.
  • the embodiments of the present application also provide an eighth embodiment of the first aspect: the cover body includes a first cover and a second cover that are divided up and down, and one end of the shell at least partially covers the first cover and the second cover. Cover seam line. That is to say, since the first cover and the second cover adopt an upper and lower split structure, after the first shell and the second shell are assembled on the rotating assembly, the joint line between the first cover and the second cover can be covered, and the external The continuous unstructured joint line of the curved surface can effectively improve the user experience.
  • embodiments of the present application also provide a ninth implementation manner of the first aspect: a second circumference is arranged between the housing and the rotating component. to the limiting pair to position the rotation angle of the housing when the second driving component drives the housing to rotate. Overall, the controllability of arm operations can be further improved.
  • the inner wall surface of the housing is provided with a housing limiting protrusion
  • the cover is provided with a cover limiting protrusion; the cover limiting protrusion and the housing limiting protrusion can circumferentially abut, so as to A second circumferential limiting pair is constructed when the housing rotates.
  • first bracket and the first driving component are fixedly connected through fasteners operated from both sides of the first bracket; the first bracket and the second bracket are fixedly connected through fasteners operated from one side of the first bracket.
  • the first bracket in a projection plane perpendicular to the installation direction of the movable device, includes a first outer profile, the first outer profile is inward relative to the outer profile of the transmission member, and the first outer contour on the transmission member The fastener is located outside the first outer profile.
  • the size of the transmission member can be reasonably controlled to a certain extent, and the fourth penetration hole on the transmission member can be rotated to the avoidance position in sequence, that is, Tightening operations can be performed one by one.
  • the application embodiment also provides a tenth implementation manner of the first aspect: a wiring shielding portion is provided on one side of the first bracket.
  • the outlet of the cable through the wiring opening of the transmission part can be restricted and extended to the main body of the equipment through the side of the shielding part. That is to say, based on the arrangement of the shielding part, the outlet wire through the wiring opening of the transmission member can only extend to the device body from the other side where the shielding part is not provided.
  • the second aspect of the embodiment of the present application provides an equipment, including an equipment main body and movable devices respectively located on the left and right sides of the equipment main body.
  • the movable device adopts the movable device as described in the previous item, and the equipment main body is provided with openings. There is an insertion opening opened along the first direction, and the structural bracket is installed in the insertion opening. It has high assembly efficiency and can reduce the risk of damage.
  • the device can be a robot, and the arm of the robot is implemented using the structure of the aforementioned movable device.
  • the robot can be an educational robot, a welcome service robot, a surgical robot, and can be widely used in education, entertainment, medical care, home furnishing and other fields.
  • Figure 1 is an overall schematic diagram of a robot provided by an embodiment of the present application.
  • Figure 2 is a schematic diagram of the assembly relationship formed by removing the main body cover of the robot shown in Figure 1;
  • Figure 3 is a schematic diagram of the assembly relationship between the robot arm and the robot body in the embodiment of the present application.
  • Figure 4 is a schematic diagram of the posture of the robot arm swinging forward according to the embodiment of the present application.
  • Figure 5 is a schematic diagram of the attitude of the robot arm swinging to the rear side according to the embodiment of the present application.
  • Figure 6 is a schematic diagram of the posture of the robot arm swinging forward according to the embodiment of the present application.
  • Figure 7 is a schematic diagram of the posture of the robot arm swinging to the rear side according to the embodiment of the present application.
  • Figure 8 is a schematic diagram of the assembly relationship between one side of the robot arm and the robot body in the embodiment of the present application.
  • Figure 9 is an assembly diagram of the robot arm shown in Figure 8.
  • Figure 10 is a schematic cross-sectional view of the robot arm and main body bracket shown in Figure 8;
  • Figure 11 is an exploded assembly view of the robot arm provided by the embodiment of the present application.
  • Figure 12 is a schematic diagram of the assembly relationship between the first bracket and the second bracket of the robot arm in the embodiment of the present application;
  • Figure 13 is a schematic diagram of the assembly relationship of the arm body shown in Figure 12;
  • Figure 14 is an exploded assembly view of the rotating assembly according to the embodiment of the present application.
  • Figure 15 is a schematic diagram of the first housing, the second housing and the rotating assembly according to the embodiment of the present application after assembly;
  • Figure 16 is a schematic diagram of the assembly relationship between the transmission member and the second bracket according to the embodiment of the present application.
  • Figures 17 and 18 respectively illustrate the structural relationship schematic diagrams of preventing wiring errors from two perspectives
  • FIGs 19, 20 and 21 respectively show schematic diagrams of the assembly process of the robot arm according to the embodiment of the present application.
  • the embodiment of the present application provides a movable device implementation solution that can effectively balance maintenance operability and disassembly and assembly efficiency, and can reduce the risk of vulnerability during product maintenance.
  • the movable device includes a structural body, a first driving component and a structural bracket.
  • the structural bracket has an installation cavity and an installation part. Wherein, the structural body is inserted into one end of the installation cavity, the first driving component is fixed on the other end of the installation cavity, and its output end is transmission connected with the structural body to drive the structural body to rotate; the mounting part is located on the outer periphery of the structural bracket, To be installed on the device body along the first direction.
  • the structural bracket is used as the basis for assembly.
  • the structural body and the first driving component can be pre-assembled with the structural bracket.
  • the pre-assembled movable device can be inserted into the main body of the equipment.
  • the movable device can be integrally inserted into the main body of the equipment to achieve rapid assembly of the arm and improve assembly efficiency.
  • the movable device When maintenance and inspection are required, the movable device can be disassembled from the outside of the equipment body, and the inspection and maintenance of the first driving component can be performed without dismantling the internal bracket and other structures of the equipment body, thus saving maintenance costs and time. At the same time, based on the structural characteristics that maintenance operations do not require disassembly of the main body of the equipment, the risk of vulnerability can be further effectively avoided.
  • the device is a robot and the movable device is a robot arm as the description object below, and specific embodiments are described in detail with reference to the accompanying drawings.
  • robot arms usually include shoulder joints to achieve anthropomorphic body movements, that is, rotation relative to the robot body.
  • Existing robot arm implementation solutions drive robot arm movements through driving components.
  • the driving components used to realize the shoulder joint function are placed inside the main body of the robot.
  • a typical assembly method is: The bracket that fixes the driving component is fixed on the main body bracket of the robot. When the driving component and other components need to be repaired, the main body bracket of the robot needs to be disassembled. The operation is more inconvenient, and vulnerability is inevitable during the disassembly and maintenance process. risk.
  • Figure 1 shows an overall schematic diagram of a robot provided by an embodiment of the present application.
  • Figure 2 shows a schematic diagram of the assembly relationship of the robot shown in Figure 1 with the main body cover removed.
  • Figure 3 is a schematic diagram of the assembly relationship between the robot arm and the robot body in the embodiment of the present application.
  • the robot includes a robot arm 10 arranged on the left and right sides, a robot body 20 and a robot head 30.
  • the robot body 20 is arranged on a chassis 40 and can realize functions such as walking or turning of the robot.
  • the robot body 20 may also be configured with anthropomorphic leg structures.
  • the robot body 20 refers to the torso part of the robot, and the robot arm 10 can be installed on the shoulder of the robot body 20 and used as an arm of the robot.
  • the robot arm 10 may include an arm body 1, a first driving component 2 and an arm bracket 3, and use the arm bracket 3 as a basic structure to assemble the arm body 1 and the first driving component 2 into one body.
  • Figure 3 shows the assembly relationship between the robot arm and the robot body. As shown in the figure, the robot arm 10 on each side is inserted into the main body bracket 201 as a whole, and the assembled first driving component 2 is located inside the robot main body 20 .
  • the component used to insert the robot arm can be other forms of main body brackets 201, or it can also be an outer shell, and is not limited to being inserted into the main body bracket as shown in the figure. It should be understood that any insertion opening 2011 capable of being installed and adapted to a corresponding robot arm is acceptable.
  • the robot arms 10 on the left and right sides of the robot can respectively be driven by the first driving component 2 to swing forward and backward around the x-axis; please refer to Figures 4 and 5.
  • the robot arm 10 can swing forward around the x-axis to the posture shown in Figure 4, and the robot arm 10 can swing back around the x-axis to the posture shown in Figure 5.
  • the lifting or lowering function can be realized around the y-axis under the driving of the second driving component 114 (described in detail below) placed inside the robot arm 10; please refer to Figures 6 and 7.
  • the robot arm 10 can swing downward around the y-axis to the posture shown in FIG. 6
  • the robot arm 10 can swing upward around the y-axis to the posture shown in FIG. 7 .
  • Figure 8 shows a schematic diagram of the assembly relationship between the robot arm on one side and the robot body.
  • Figure 9 is a schematic diagram of the assembly of the robot arm shown in Figure 8.
  • Figure 10 is a schematic cross-sectional view of the robot arm and main body bracket shown in Figure 8 .
  • the arm bracket 3 may have a mounting cavity A and a mounting portion B located on its outer periphery.
  • the arm body 1 is inserted into one end of the mounting cavity A, that is, the side away from the main body bracket 201 , and the first driving component 2 is fixed on The other end side of the installation cavity A is the side close to the main body bracket 201 .
  • the output end of the first driving component 2 is transmission connected with the arm body 1 to drive the arm body 1 to rotate relative to the robot body 20 to realize the function of the shoulder joint; wherein, the mounting part B is located on the outer periphery of the arm bracket 3 for along the first One direction (P) is installed in the insertion opening 2011 of the main body bracket 201.
  • the first direction P is used to indicate the actual insertion direction of the robot arm 10 .
  • the first direction P may be consistent with the center line of the output end 21 of the first driving component 2 .
  • the robot arm 10 can also be inserted in a direction forming an angle with the center line of the output end of the first driving component 2 .
  • the arm bracket 3 in this embodiment adopts a split structure, specifically including a first bracket 31 and a second bracket 32 that are connected to each other. Please combine FIG. 11 and FIG. 12 together.
  • FIG. 11 is an exploded assembly diagram of the robot arm provided by the embodiment of the present application
  • FIG. 12 is a schematic diagram of the assembly relationship of the robot arm based on the first bracket and the second bracket.
  • the installation cavity A is composed of a first installation cavity 311 and a second installation cavity 321 .
  • the first bracket 31 has a first installation cavity 311 penetrating its body for inserting and fixing the first driving component 2; specifically, the bottom wall of the first installation cavity 311 of the first bracket 31 has a limited
  • the positioning protrusions 312 are based on the limiting protrusions 312 to construct the insertion and positioning of the first driving component 2. After the insertion is in place, fasteners (not shown in the figure) can be inserted through the openings on both sides of the first bracket 31.
  • the first through hole 313 (out) and the threaded hole 22 opened on the outer surface of the first driving component 2 realize a fixed connection between the two.
  • the limiting structure used to construct the insertion and positioning of the first driving component 2 can be determined according to the actual product design space association structure, such as but not limited to the structural form of multiple limiting bumps.
  • it can also be The limiting structure can be configured on other walls of the first installation cavity as needed, and is not limited to the preferred example shown in the figure.
  • the second bracket 32 has a second installation cavity 321 penetrating its body for inserting the arm body 1 .
  • the arm body 1 can be drivingly connected to the output end 21 of the first driving component 2 .
  • the first driving component 2 outputs positive and negative rotational driving forces, which can drive the arm body 1 to swing forward and backward.
  • first bracket 31 is provided with a second insertion hole 315 for inserting a fastener (not shown in the figure), and the second bracket 32 is provided with a threaded hole 322 to achieve fixation of the two. connect.
  • first bracket 31 is provided with a positioning recess 316
  • second bracket 32 is provided with a positioning protrusion 324 .
  • the positioning recess 316 and the positioning protrusion 324 are inserted and fitted so that the first bracket 31 and the second bracket 32 are relatively positioned.
  • the second through hole 315 can be formed on the positioning recess 316, and the threaded hole 322 can be formed on the bottom of the positioning protrusion 324, thereby realizing the positioning and fastening functions at the same relative position.
  • the positioning recess 316 and the positioning protrusion 324 can also be provided on the first bracket 31 and the second bracket 32 in opposite directions.
  • the first bracket 31 and the second bracket 32 may also adopt an integrated structure.
  • Figure 13 is a schematic diagram of the assembly relationship of the arm body 1 shown in Figure 12.
  • the arm body 1 includes a rotating component 11 and a first shell 12 and a second shell 13 covering the outside of the rotating component 11 .
  • the first shell 12 and the second shell 13 may adopt a split structure that is arranged oppositely.
  • the rotating component 11 is transmission connected with the first driving component 2 through the transmission member 111.
  • the rotating assembly 11 also includes a first cover 112, a second cover 113 and a second driving component 114.
  • FIG. 14 is an exploded assembly view of the rotating assembly 11 according to the embodiment of the present application.
  • the first cover 112 and the second cover 113 enclose to form a receiving space for installing the second driving component 114, confine the second driving component 114 therein, and form an output end outlet on both sides of the second driving component 114, So that the two output ends 1141 of the second driving component 114 extend, and the two output ends 1141 are drivingly connected to the first housing 12 and the second housing 13 respectively.
  • the first housing 12 and the second housing 13 may adopt an integrated structure.
  • an integrated shell it has the same structural characteristics as the split shell in terms of relationships and functional attributes.
  • the second driving component 114 outputs forward and reverse rotational driving force, which can drive the lifting or lowering action.
  • the first cover 112 and the second cover 113 adopt an upper and lower split structure.
  • the first cover 112 is provided with an insertion protrusion 1121.
  • the second cover 113 is provided with a matching insertion protrusion. Recess 1131.
  • the matching insertion protrusions and insertion recesses can also be arranged in opposite directions.
  • FIG. 13 and FIG. 14 in this embodiment, through the sixth through hole 121 for inserting a fastener (not shown in the figure) opened on the first housing 12, the second housing 13
  • the sixth insertion hole 131 for inserting fasteners (not shown in the figure) and the threaded hole 11411 on the output end 1141 of the second driving component 114 realize the first housing 12 and the second housing 13 Fixed connection with rotating assembly 11.
  • the bodies of the first housing 12 and the second housing 13 are also connected accordingly, enclosing the arm body and having a cavity in which internal functional components can be installed.
  • FIG. 15 shows a schematic diagram of the state after the first housing and the second housing are assembled with the rotating assembly.
  • first cover 112 and the second cover 113 adopt an upper and lower split structure, after the first shell 12 and the second shell 13 are assembled on the rotating assembly 11, the gap between the first cover 112 and the second cover 113 can be covered.
  • Joint line a continuous unstructured joint line on the external curved surface, can effectively improve the user experience.
  • the fourth through hole for inserting fasteners (not shown in the figure) opened on the transmission member 111 can be used.
  • the mounting holes 11111, as well as the threaded holes 1122 and 1132 opened on the end surfaces of the first cover 112 and the second cover 113 realize the fixed connection between the transmission member 111 and the first cover 112 and the second cover 113.
  • the first bracket 31 includes a first outer profile 317.
  • the first outer profile 317 is retracted relative to the outer profile of the transmission member 111, and the fastening on the transmission member 111
  • the fourth through hole 11111 is located outside the first outer shell 317 of the first bracket 31 .
  • the first outer profile 317 of the first bracket 31 forms an operation avoidance for fasteners, and the size of the transmission member 111 can be reasonably controlled to a certain extent.
  • the fourth penetration holes 11111 on the transmission member 111 are rotated to the avoidance position in sequence, and the tightening operations can be performed one by one.
  • first cover 112 and the second cover 113 may also adopt an integrated structure.
  • an integrated cover body it has the same structural characteristics as the split cover body in relation to the relationship and functional attributes.
  • the transmission member 111 is also provided with a fifth insertion hole 11112 for inserting fasteners (not shown in the figure). Please combine the figures shown in Figure 9 and Figure 12 to pass through this hole.
  • the fifth wearing hole 11112, and the first driving part The threaded hole 211 opened on the output end 21 of the component 2 realizes the fixed connection between the transmission component 111 and the first driving component 2 . Thereby, a power transmission path is established from the first driving member 2 to the arm body 1 .
  • the transmission member 111 includes a connection and fixation part 1111 and an outer shaft ring 1112.
  • the fourth and fifth insertion holes 11111 and 11112 are both opened on the connection and fixation part 1111 in the middle of the transmission part 111, and are radially staggered; also That is, as shown in FIG. 15 , the fourth through hole 11111 is located radially outside the fifth through hole 11112 . It can be understood that the relative positional relationship between the fourth through hole 11111 and the fifth through hole 11112 can be selected according to actual needs.
  • the outer shaft ring 1112 is disposed on the outer periphery of the connecting and fixing portion 1111 and is rotatable relative to the second installation cavity 321 of the second bracket 32 .
  • a clearance fit can be used between the outer peripheral surface of the outer shaft ring 1112 and the matching second installation cavity 321, which has the support function of the bearing, can save cost and space, and conforms to the trend of integrated design. Please refer to FIGS. 15 and 16 together.
  • FIG. 16 shows a schematic diagram of the assembly relationship between the transmission member and the second bracket 32 .
  • the transmission member 111 can be made of self-lubricating material, such as but not limited to POM (polyformaldehyde, polyformaldehyde), etc., to obtain a good rotational adaptation relationship.
  • POM polyformaldehyde, polyformaldehyde
  • an annular groove 11121 can also be opened on the outer peripheral surface of the outer shaft ring 1112 to accommodate lubricating liquid or grease, thereby further improving the relative rotation capability between the two.
  • a first circumferential limiting pair can be disposed between the transmission member 111 and the second bracket 32 so that when the first driving component 2 drives the arm body 1 to rotate, the first circumferential limiting pair can be The circumferential limiting pair positions the rotation angle of the arm body 1.
  • the “first circumferential limiting pair” here refers to the position limitation of the arm body 1 on the circumferential rotation trajectory driven by the first driving component 2 .
  • the transmission member 111 has a transmission member limiting protrusion 11122 , and the transmission member limiting protrusion 11122 extends axially from the outer shaft ring 1112 .
  • the second bracket 32 The inner wall of the second installation cavity 321 has an axially extending bracket limiting protrusion 3211; here, the transmission member limiting protrusion 11122 and the bracket limiting protrusion 3211 can circumferentially contact each other.
  • the transmission member 111 rotates
  • the limiting protrusion 11122 follows, and the bracket limiting protrusion 3211 is in a relatively fixed state, thus forming the first circumferential limiting pair.
  • the transmission member limiting protrusion 11122 of the transmission member 111 and the bracket limiting protrusion 3211 of the second bracket 32 are axially interlaced.
  • Both circumferential side surfaces of the limiting protrusion 3211 are positioning surfaces, and correspond to each other to form circumferential limiting surfaces for forward and reverse rotation respectively.
  • the first circumferential limiting pair can also be disposed at other positions of the arm body 1 and the arm support 3 , for example, but not limited to, disposed between the first cover 112 and the second cover 113 and the arm support 3 . between the second brackets 32 , or between the transmission member 111 and the first bracket 31 , as long as it can meet the functional requirements of positioning the rotation angle of the arm body 1 .
  • a second circumferential limiting pair can be configured between the rotating assembly 11 and the first housing 12 and the second housing 13 to drive the arm body on the second driving component 114
  • the rotation angle is determined by the second circumferential limiting pair.
  • the “second circumferential limiting pair” here refers to the position limitation on the circumferential rotation trajectory of the first housing 12 and the second housing 13 of the arm body 1 driven by the second driving component 114.
  • the inner wall surface of the first housing 12 is provided with a housing limiting protrusion 122
  • the inner wall surface of the second housing 13 is provided with a housing limiting protrusion 132
  • the second cover 113 is provided with a corresponding housing limiting protrusion 132.
  • a cover limiting protrusion 1133 is provided, They are in circumferential contact with the housing limiting convex portions (122, 132) on the first housing 12 and the second housing 13 respectively.
  • the housing limiting convex portions (122, 132) follows, and the cover limiting protrusion 1133 is in a relatively fixed state, thus forming the second circumferential limiting pair.
  • cover limiting protrusions 1133 and the shell limiting protrusions (122, 132) are staggered.
  • the cover limiting protrusions 1133 and the shell limiting protrusions (122, 132) are arranged in opposite directions.
  • the circumferential sides of the rotation trajectory serve as positioning surfaces, and form circumferential limits for forward and reverse rotation in one-to-one correspondence.
  • the second circumferential limiting pair can also be disposed at other locations on the shell (12, 13) of the arm body 1 and the rotating assembly 11, for example, but not limited to, disposed on the first shell. between the outer surfaces of the body 12 and the second housing 13 and the cover (112, 113), or the cover limiting protrusion is arranged on the first cover 112.
  • the second circumferential limiting pair can be disposed only on the side where the first housing 12 or the second housing 13 is located, which can also satisfy the function of positioning the rotation angle of the housing of the arm body 1 .
  • this embodiment is equipped with second circumferential limiting pairs on both sides of the housing (12, 13), which can achieve equal load limiting on both sides; at the same time, the first housing 12 and the second housing 13 are respectively formed Limit redundancy, in comparison, the arm posture control in this embodiment is more reliable.
  • a wiring through hole is formed at the connecting end with the transmission member 111.
  • a wiring through hole is provided on the body of the transmission member 111. 1113, thereby forming a cable arrangement channel, and extending to the robot body 20 through the body bracket 201.
  • the robot arm provided in this embodiment includes a structural design that prevents misassembly. Please refer to FIG. 17 and FIG. 18 together, wherein FIG. 17 and FIG. 18 respectively illustrate a schematic diagram of the structural relationship for preventing wiring errors from two perspectives.
  • a shielding part 314 is provided on one side of the first bracket 31.
  • the outlet of the cable through the wiring opening 1113 of the transmission member 111 can be restricted and extends to the robot body 20 via the side of the shielding part 314. That is to say, as shown in FIG. 18 , based on the arrangement of the shielding part 314 , the outlet wires passing through the cable routing opening 1113 of the transmission member 111 can only extend to the robot body 20 from the other side where the shielding part 314 is not provided.
  • the robot arm 10 swings to the front side more than to the back side.
  • the shielding part 314 is located on the front side of the first bracket 31, so that the wiring can be extended from the rear side of the first bracket 31, which can prevent the robot arm 10 from excessively pulling the cable when swinging forward, and can Avoid pulling on the cable to affect its reliability.
  • the structure at the rear wiring position of the first bracket 31 has rounded corners R to reduce the impact of wire wear.
  • the shape of the shielding portion 314 can be selected as needed, and is not limited to the shielding portion 314 with a convex arc-shaped outer edge 3141 shown in the figure.
  • the arrangement of the convex arc-shaped outer edge 3141 can prevent the edges from being too sharp and affecting the assembly operation.
  • the first driving component 2 is inserted into the first installation cavity 311 of the first bracket 31, and the two fasteners are inserted into the first through hole 313.
  • the fastener is fixed, and the fastening of the fastener is operated from both sides of the first bracket 31;
  • the robot arm 10 obtained after assembly based on (a) of Figure 21 is inserted into the main body bracket 201 of the robot body 20, and is inserted into the third wearing device.
  • a fastener in the hole 323 secures the two, and the tightening of the fastener is operated from the side of the second bracket 32 .
  • the arm bracket 3 cooperates with the inner wall surface of the insertion opening 2011 of the robot body 20 through at least the top surface and the bottom surface to limit the position.
  • the top and bottom surfaces of the respective bodies of the first bracket 31 and the second bracket 32 cooperate with the inner wall surface of the insertion opening 2011 of the main bracket 201 to limit the position.
  • the entire circumferential surface of the arm support 3 can also be used to cooperate with the inner wall surface of the insertion opening 2011 for positioning. It can be understood that on the basis of meeting the basic positioning requirements, a relatively small offsetting adaptation area is used. With the matching method, the processing cost is lower.
  • the insertion opening 2011 for inserting the robot arm 10 is a through opening.
  • the insertion opening can also be in the form of a non-penetrating main body bracket 201 , that is to say, its insertion depth can accommodate the insertion end of the robot arm 10 to meet the assembly functional requirements.
  • the first driving component 2 and the second driving component 114 used to provide corresponding rotational driving force may use motors, such as but not limited to stepper motors.
  • the arm body 1 can be directly connected to the output shaft of the first driving component 2, or connected to the output shaft of the first driving component 2 through a coupling.
  • a hexagonal prism-shaped output disk is coaxially provided with the output shaft of the first driving component 2, and the hexagonal prism-shaped output disk is used as the output End 21;
  • a hexagonal recess 11113 matching the output end 21 is provided on the side of the connection fixing portion 1111 of the transmission member 111 facing the first driving component 2, a hexagonal recess 11113 matching the output end 21 is provided.
  • the structure is simple and reliable, and it can form a variety of different assembly relationships during actual assembly, and has good adaptability.
  • first housing 12 and the second housing 13 can be directly connected to the output shaft of the second driving component 114, or connected to the output shaft of the second driving component 114 through a coupling.
  • a hexagonal prism-shaped output disk is coaxially provided with the output shaft of the second driving component 114 , and the hexagonal prism is used as the output disk.
  • a cylindrical output disk serves as the output end 1141; correspondingly, on the inner walls of the first housing 12 and the second housing 13 facing the second driving component 114, hexagonal recesses 123 and 123 that are adapted to the output end 1141 are respectively provided.
  • Hexagonal recess 133 is particularly, hexagonal recesses 123 and 123 that are adapted to the output end 1141.
  • the embodiment of the present application also provides a robot, which includes a matching robot arm and a robot body.
  • the robot arm adopts the robot arm 10 as described in the aforementioned Figures 1 to 21 to take into account both assembly efficiency and good assembly efficiency. Maintain operability.
  • the robot can be used in application scenarios in the fields of education, entertainment, medical treatment, and home furnishing.
  • it can be an anthropomorphic educational robot, a welcome service robot, a surgical robot, and other product types. It should be understood that other functions of the corresponding robot are not the core invention of this application, so they will not be described in detail here.
  • the arm structure of the robot provided by the embodiment of the present application can be used as a movable device of other machine equipment, and the movable device can also rotate under the drive of the driving component.
  • the movable device can be a robotic arm on an automated production line, which is driven by a driving component to rotate relative to the main body of the equipment to perform the set function of the robotic arm; for example, but not limited to, for grasping the wafer etching production line. Robotic arm for picking up wafers, etc.
  • the movable device can also be an operating arm of a mobile machine, which is driven to rotate relative to the vehicle body through a driving component to perform the set function of the operating arm; for example, but not limited to, the boom of a pump truck, etc.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种设备及活动装置。活动装置包括结构本体、第一驱动部件（2）和结构支架，结构支架具有安装腔（A）和安装部（B），其中安装部（B）位于结构支架的外周，以用于活动装置安装在设备主体上；结构本体插装在安装腔（A）的一端侧，第一驱动部件（2）固定于安装腔（A）的另一端侧，且第一驱动部件（2）与结构本体传动连接，以驱动结构本体转动，实现肩关节的功能。

Description

一种设备及活动装置
本申请要求于2022年04月20日提交中国专利局的申请号为202210417108.5、发明名称为“一种设备及活动装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及机器设备领域，尤其涉及一种设备及活动装置。
背景技术
目前，机器人在教育、娱乐、医疗、家居等领域的应用越来越广，且伴随着技术进步，产品在不断更新换代。其中，仿人机器人一般由手臂、主体、头部和底盘等组成，以其外观独特、人机交互较好的特点，在教育、娱乐等领域得以广泛应用和关注。
现有的仿人机器人产品，大多在机器人的主体内部放置一个驱动电机，驱动机器人手臂转动，以达成拟人化的肢体语言。其中，用于固定手臂驱动电机的支架固定在机器人主体支架上，在需要对手臂驱动电机进行维修时，需要拆解机器人的主体支架，无法从主体支架外部取出手臂驱动电机进行维修或更换。受其装配方式的限制，组装效率较为低下；并且，拆解较为复杂，在产品维护阶段的易损风险大，同时存在可维修性较差的缺陷。
除机器人外，在其他机器设备领域，也具备功能与机器人手臂类似的活动装置，同样受装配方式的限制存在上述缺陷。
发明内容
本申请实施例提供了一种设备及活动装置，可有效兼顾维护可操作性和拆装效率，并可降低产品维护阶段的易损风险，以适应不同应用场景的配置。
本申请实施例第一方面提供了一种活动装置，包括结构本体、第一驱动部件和结构支架，该结构支架具有安装腔和安装部，其中安装部位于结构支架的外周，以用于该活动装置安装在设备主体上；结构本体插装在安装腔的一端侧，第一驱动部件固定于安装腔的另一端侧，且第一驱动部件与结构本体传动连接，以用于驱动结构本体转动。以该活动装置为机器人的手臂为例，基于该第一驱动部件的驱动可实现肩关节的功能。本方案以结构支架作为组装基础构成，可将结构本体和第一驱动部件与结构支架预组，组装机器人时，可将预组完成的活动装置插装在设备主体上。这样，可实现活动装置的快速组装，提高组装效率。
当需要维护检修时，在设备主体外侧将活动装置拆卸下来，不需要拆解设备主体的内部支架等结构，即可执行第一驱动部件的检修维护等操作，节约维修成本和时间。与此同时，基于维护操作无需拆解设备主体的结构特点，能够进一步有效规避易损风险。
基于第一方面，本申请实施例还提供了第一方面的第一种实施方式：该结构支架包括相连接的第一支架和第二支架；安装腔包括贯通第一支架的，以及贯通第二支架 的第二安装腔；其中，第一安装腔用于插装固定第一驱动部件，第二安装腔用于插装结构本体。结构方便组装操作，具有较好的可靠性。
在其他具体实现中，第一支架和第二支架中，一者上设置有定位凸部，另一者上设置有定位凹部，定位凸部与定位凹部插装适配，以便第一支架与第二支架之间相对定位。如此设置，可进一步提高组装效率，利于进行检修维护操作。
基于第一方面，或第一方面的第一种实施方式，本申请实施例还提供了第一方面的第二种实施方式：该第一支架和所述第二支架至少通过各自的顶面和底面，与设备主体的插装开口的内壁面配合限位。
在实际应用中，也可利用结构支架全周表面与插装开口的内壁面配合限位，可以理解的是，在满足基本定位需求的基础上，采用相抵适配面积相对较小的配合方式，加工成本较低。
基于第一方面，或第一方面的第一种实施方式，或第一方面的第二种实施方式，本申请实施例还提供了第一方面的第三种实施方式：结构本体包括传动件，所述传动件置于所述第二支架的第二安装腔内，且所述传动件与所述第一驱动部件的输出端传动连接。结构方便组装操作，具有较好的可靠性。
基于第一方面，或第一方面的第一种实施方式，或第一方面的第二种实施方式，或第一方面的第三种实施方式，本申请实施例还提供了第一方面的第四种实施方式：该传动件与所述结构支架之间配置有第一周向限位副，以在所述第一驱动部件带动所述结构本体转动时，定位所述结构本体的转动角度。由此，可提升活动装置的操作可控性。
基于第一方面的第四种实施方式，本申请实施例还提供了第一方面的第五种实施方式：传动件包括连接固定部和外轴圈，该外轴圈设置在连接固定部的外周，且具有轴向延伸形成的传动件限位凸部，相应地，第二支架的第二安装腔内壁具有轴向延伸形成的支架限位凸部；传动件限位凸部与支架限位凸部可周向抵接，以在传动件转动时构建形成第一周向限位副。如此设置，充分利用内部空间达成限位功能，结构简单可靠。
基于第一方面的第三种实施方式，或第一方面的第四种实施方式，或第一方面的第五种实施方式，本申请实施例还提供了第一方面的第六种实施方式：其中的第一驱动部件的输出端为棱柱状的输出盘，传动件的连接固定部具有与输出盘相适配的的凹部，所述输出盘与凹部插装适配，且两者通过自连接固定部一侧操作的紧固件固定连接。这样，可进一步提高组装效率，同时可结构简单、可靠，在实际组装时可形成多种不同的组装关系，具有较好的可适应性。
基于第一方面的第三种实施方式，或第一方面的第四种实施方式，或第一方面的第五种实施方式，或第一方面的第六种实施方式，本申请实施例还提供了第一方面的第七种实施方式：结构本体包括转动组件和外壳。外壳的一端包覆在转动组件的外部；转动组件包括盖体和置于盖体内的第二驱动部件，传动件与盖体连接；第二驱动部件与外壳的一端传动连接。对于结构本体来说，增加了另一维度的操作功能，得以更加灵活的应用于不同场景下。
基于第一方面的第三种实施方式，或第一方面的第四种实施方式，或第一方面的第五种实施方式，或第一方面的第六种实施方式，或第一方面的第七种实施方式，本申请实施例还提供了第一方面的第八种实施方式：盖体包括上下分体的第一盖和第二盖，外壳的一端至少部分包覆第一盖和第二盖的接合线。也说是说，基于第一盖与第二盖采用上下分体式结构，第一外壳和第二外壳组装在转动组件上后，可遮敝第一盖与第二盖之间的接合线，外部曲面连续无结构接合线，能够有效提升用户体验。
基于第一方面的第七种实施方式，或第一方面的第八种实施方式，本申请实施例还提供了第一方面的第九种实施方式：外壳与转动组件之间配置有第二周向限位副，以在第二驱动部件带动外壳转动时，定位外壳的转动角度。整体上，可进一步提升手臂操作的可控性。
示例性的，外壳的内壁面设置有外壳限位凸部，相应地，盖体上设置有盖体限位凸部；盖体限位凸部与外壳限位凸部可周向抵接，以在外壳转动时构建形成第二周向限位副。
在具体应用中，第一支架与第一驱动部件，通过自第一支架的两旁侧操作的紧固件固定连接；第一支架与第二支架，通过自第一支架一侧操作的紧固件固定连接；第二支架与设备主体，通过自第二支架一侧操作的紧固件固定连接；传动件与盖体，通过自传动件一侧操作的紧固件固定连接。
在其他具体应用中，在与该活动装置的安装方向垂直的投影面内，第一支架包括第一外廓，所述第一外廓相对于传动件的外廓内收，且传动件上的紧固件位于所述第一外廓的外侧。换言之，在第一支架的外廓形成用于紧固件的操作避让，可在一定程度上合理控制传动件的尺寸，将传动件上的第四穿装孔依次转动至该避让位置处，即可逐一进行紧固操作。
基于第一方面的第一种实施方式，或第一方面的第二种实施方式，或第一方面的第三种实施方式，或第一方面的第四种实施方式，或第一方面的第五种实施方式，或第一方面的第六种实施方式，或第一方面的第七种实施方式，或第一方面的第八种实施方式，或第一方面的第九种实施方式，本申请实施例还提供了第一方面的第十种实施方式：第一支架的一侧设置有布线遮挡部。可限制通过传动件走线通口的出线，经由遮挡部所在侧延伸至设备主体。也就是说，基于遮挡部的设置，通过传动件走线通口的出线只能从未设置遮挡部的另一侧延伸至设备主体。
本申请实施例第二方面提供了一种设备，包括设备主体和分别位于所述设备主体左、右两侧的活动装置，该活动装置采用如前任一项所述的活动装置，设备主体上开设有沿第一方向开设的插装开口，结构支架安装在插装开口中。具有较高的组装效率，并可降低易损风险。
在具体应用中，该设备可以为机器人，且该机器人的手臂采用前述活动装置的结构实现。示例性的，该机器人可以为教育机器人、迎宾服务机器人、手术机器人，并可广泛应用在教育、娱乐、医疗、家居等领域。
附图说明
图1为本申请实施例提供的一种机器人的整体示意图；
图2为图1中所示机器人去除主体外罩形成的装配关系示意图；
图3为本申请实施例中所述机器人手臂与机器人主体的装配关系示意图；
图4为本申请实施例所述机器人手臂向前侧摆动的姿态示意图；
图5为本申请实施例所述机器人手臂向后侧摆动的姿态示意图；
图6为本申请实施例所述机器人手臂向前侧摆动的姿态示意图；
图7为本申请实施例所述机器人手臂向后侧摆动的姿态示意图；
图8为本申请实施例中一侧机器人手臂与机器人主体之间的组装关系示意图；
图9为图8的所示机器人手臂的装配示意图；
图10为图8中所示机器人手臂与主体支架的截面示意图；
图11为本申请实施例提供的机器人手臂的装配爆炸图；
图12为本申请实施例中所述机器人手臂的第一支架和第二支架组装关系示意图；
图13为图12中所示手臂本体的组装关系示意图；
图14为本申请实施例所述转动组件的装配爆炸图；
图15为本申请实施例所述第一外壳和第二外壳与转动组件组装后的示意图；
图16为本申请实施例所述传动件与第二支架的装配关系示意图；
图17和图18分别从两个视角示明了防止布线出错的结构关系示意图；
图19、图20和图21分别示出了本申请实施例所述机器人手臂的组装过程示意图。
具体实施方式
本申请实施例提供了一种活动装置实现方案，能够有效兼顾维护可操作性和拆装效率，并可降低产品维护阶段的易损风险。
该活动装置包括结构本体、第一驱动部件和结构支架，结构支架具有安装腔和安装部。其中，结构本体插装在安装腔的一端侧，第一驱动部件固定于安装腔的另一端侧，且其输出端与结构本体传动连接，以驱动结构本体转动；安装部位于结构支架的外周，以用于沿第一方向安装在设备主体上。如此设置，以结构支架作为组装基础构成，可将结构本体和第一驱动部件与结构支架预组，组装设备时，可将预组完成的活动装置插装在设备主体上。换言之，活动装置能够整体插装在设备主体上，实现手臂的快速组装，提高组装效率。
当需要维护检修时，在设备主体外侧将活动装置拆卸下来，不需要拆解设备主体的内部支架等结构，即可执行第一驱动部件的检修维护等操作，节约维修成本和时间。与此同时，基于维护操作无需拆解设备主体的结构特点，能够进一步有效规避易损风险。
为了更好地理解本申请的技术方案和技术效果，下面以该设备为机器人且活动装置为机器人手臂作为描述对象，结合附图对具体的实施例进行详细描述。可以理解的是，机器人手臂通常包括肩部关节，以达成拟人化的肢体动作，也即相对于机器人主体转动。现有的机器人手臂实现方案，通过驱动部件驱动机器人手臂动作。其中，用于实现肩关节功能的驱动部件放置在机器人的主体内部，一种典型的组装方式是：将 固定该驱动部件的支架固定在机器人的主体支架上，在需要对该驱动部件等部件进行维修时，需要拆解机器人的主体支架，操作较为不便，且拆装维护过程中不可避免地存在易损风险。
请参见图1、图2和图3，其中，图1示出了本申请实施例提供的一种机器人的整体示意图，图2示出了图1中所示机器人去除主体外罩的装配关系示意图，图3为本申请实施例中所述机器人手臂与机器人主体的装配关系示意图。
图中所示，该机器人包括布置在左、右两侧的机器人手臂10、机器人主体20和机器人头部30，且机器人主体20设置在底盘40上，可实现机器人的行走或者转身等功能。在其他具体实现中，机器人主体20也可配置有拟人化的腿部结构。这里，机器人主体20是指机器人的躯干部分，机器人手臂10可以安装在机器人主体20的肩膀处，作为机器人的手臂使用。
该机器人手臂10可以包括手臂本体1、第一驱动部件2和手臂支架3，并以手臂支架3作为基础结构，将手臂本体1和第一驱动部件2组装为一体。请一并参见图3，该图示出了机器人手臂与机器人主体的装配关系。图中所示，每侧的机器人手臂10均作为一个整体插装在主体支架201上，组装后的第一驱动部件2位于机器人主体20的内部。
对于不同结构形式的机器人主体来说，用于插装机器人手臂的构成部分可以为其他形式的主体支架201，或者也可以为外罩壳，而非局限于插装在图中所示的主体支架。应当理解，只要具有可安装适配相应机器人手臂的插装开口2011均可。
本申请实施例中，该机器人左、右两侧的机器人手臂10可分别在第一驱动部件2的驱动下，绕x轴实现前后摆动操作；请参见图4和图5，在第一驱动部件2的驱动下，机器人手臂10可绕x轴向前侧摆动至如图4所示的姿态，机器人手臂10可绕x轴向后侧摆动至如图5所示的姿态。同时可以在置于机器人手臂10内部的第二驱动部件114(下文中详细说明)的驱动下，绕y轴实现抬起或放下功能；请参见图6和图7，在第二驱动部件的驱动下，机器人手臂10可绕y轴向下侧摆动至如图6所示的姿态，机器人手臂10可绕y轴向上侧摆动至如图7所示的姿态。
这里的方位词“前”、“后”、“上”、“下”，以机器人的通常视角定义。另需要说明的是，左、右两侧的机器人手臂10的构成及作用机理相同，相关具体结构的描述将以一侧的机器人手臂作为对象进行详细说明。
请一并参见图8、图9和图10，其中，图8示出了一侧的机器人手臂与机器人主体之间的组装关系示意图，图9为图8的所示机器人手臂的装配示意图，图10为图8中所示机器人手臂与主体支架的截面示意图。
手臂支架3可以具有安装腔A和位于其外周的安装部B，装配时，手臂本体1插装在安装腔A的一端侧，也即远离主体支架201的一侧，第一驱动部件2固定于该安装腔A的另一端侧，也即靠近主体支架201的一侧。第一驱动部件2的输出端与手臂本体1传动连接，以带动手臂本体1相对于机器人主体20转动，实现肩关节的功能；其中，安装部B位于手臂支架3的外周，以用于沿第一方向(P)安装在主体支架201的插装开口2011中。
这里，第一方向P用于示明机器人手臂10的实际插装方向，本实施例中，该第一方向P可与第一驱动部件2的输出端21的中心线一致。在其他具体实现中，机器人手臂10也可沿与第一驱动部件2输出端的中心线成夹角的方向进行插装。
为了提高装配便利性，本实施例中的手臂支架3采用分体式结构，具体包括相互连接的第一支架31和第二支架32。请一并结合图11和图12，其中，图11为本申请实施例提供的机器人手臂的装配爆炸图，图12为基于第一支架和第二支架的机器人手臂组装关系示意图。
安装腔A由第一安装腔311和第二安装腔321两部分构成。图中所示，第一支架31具有贯通其本体的第一安装腔311，用于插装固定第一驱动部件2；具体地，第一支架31的第一安装腔311的底壁上具有限位凸条312，基于该限位凸条312构建第一驱动部件2的插装定位，插装到位后，可通过第一支架31两侧开设的用于插装紧固件(图中未示出)的第一穿装孔313，以及第一驱动部件2外表面开设的螺纹孔22，实现两者之间的固定连接。
在其他具体实现中，用于构建第一驱动部件2插装定位的限位结构，可根据实际产品设计空间关联构成进行确定，例如但不限于采用多个限位凸点的结构形式，另外也可根据需要将限位结构配置在第一安装腔的其他壁面上，而非局限于图中所示的优选示例。
图中所示，第二支架32具有贯通其本体的第二安装腔321，用于插装手臂本体1，该手臂本体1可与第一驱动部件2的输出端21传动连接。本实施例中，该第一驱动部件2输出正、反两向转动驱动力，可带动手臂本体1前后摆动。
具体地，通过第一支架31上开设有用于插装紧固件(图中未示出)的第二穿装孔315，以及第二支架32上的开设的螺纹孔322，实现两者的固定连接。
此外，该第一支架31上设置有定位凹部316，相应地，第二支架32上设置有定位凸部324。第一支架31与第二支架32组装时，定位凹部316与定位凸部324插装适配，以便第一支架31与第二支架32之间相对定位。为了进一步提高集成度，第二穿装孔315可形成在定位凹部316上，螺纹孔322可形成在定位凸部324的底部，从而在同一相对位置处实现定位与紧固的功能。
在其他具体实现中，定位凹部316和定位凸部324还可以反向设置在第一支架31和第二支架32上。
再结合图8和图9所示，通过第二支架32上开设的用于插装紧固件(图中未示出)的第三穿装孔323，以及主体支架201上开设的螺纹孔2012，实现两者之间的固定连接；由此，在机器人主体20的外侧进行操作，利用紧固件完成机器人手臂10的组装。在其他具体实现中，第一支架31和第二支架32也可采用一体式结构。
请参见图13，该图为图12中所示手臂本体1的组装关系示意图。
本实施例中，手臂本体1包括转动组件11和包覆在转动组件11外部的第一外壳12和第二外壳13，第一外壳12和第二外壳13可采用相对设置的分体结构。其中，转动组件11通过传动件111与第一驱动部件2传动连接。
该转动组件11还包括第一盖112、第二盖113以及第二驱动部件114，请一并参见图14，该图为本申请实施例所述转动组件11的装配爆炸图。其中，第一盖112与第二盖113围合形成安装第二驱动部件114的容纳空间，将第二驱动部件114限定在其中，且在第二驱动部件114的两旁侧形成输出端穿出口，以便第二驱动部件114的两个输出端1141伸出，且两个输出端1141分别与第一外壳12和第二外壳13传动连接。
在其他具体实现中，第一外壳12和第二外壳13可以采用一体式结构。对于一体式外壳来说，其具有与分体式外壳的关联关系及功能属性相同的结构特点。
本实施例中，该第二驱动部件114输出正、反两向转动驱动力，可带动实现抬起或放下动作。
如图14所示，第一盖112与第二盖113采用上下分体式结构，第一盖112上设置有插装凸部1121，相应地，第二盖113上设置有相适配的插装凹部1131。在其他具体实现中，相适配的插装凸部和插装凹部也可以反向设置。第一盖112与第二盖113围合后，一者上的插装凸部1121置于相适配的插装凹部1131中，在相应位置处形成组装定位。这里无需采用紧固件，可进一步节约装配时间。
再进一步结合图13和图14所示，本实施例中，通过第一外壳12上开设的用于穿装紧固件(图中未示出)的第六穿装孔121、第二外壳13上开设的用于穿装紧固件(图中未示出)的第六穿装孔131，以及第二驱动部件114输出端1141上的螺纹孔11411，实现第一外壳12和第二外壳13与转动组件11的固定连接。组装完成后，第一外壳12和第二外壳13的本体也相应连接，围合形成手臂本体，并具有可设置内部功能元件的容腔。请一并参见图15，该图示出了第一外壳和第二外壳与转动组件组装后的状态示意。
另外，基于第一盖112与第二盖113采用上下分体式结构，第一外壳12和第二外壳13组装在转动组件11上后，可遮敝第一盖112与第二盖113之间的接合线，外部曲面连续无结构接合线，能够有效提升用户体验。
本实施例中，如图15所示，第一外壳12和第二外壳13组装完成后，可通过传动件111上开设的用于插装紧固件(图中未示出)的第四穿装孔11111，以及第一盖112和第二盖113端面上开设的螺纹孔1122、螺纹孔1132，实现传动件111与第一盖112和第二盖113之间的固定连接。
其中，第一支架31包括第一外廓317，在与第一方向P垂直的投影面内，该第一外廓317相对于传动件111的外廓内收，且传动件111上的紧固件(第四穿装孔11111)位于第一支架31的第一外廓317的外侧。结合图9和图11所示，也即在第一支架31的第一外廓317形成了用于紧固件的操作避让，可在一定程度上合理控制传动件111的尺寸，实际操作时，将传动件111上的第四穿装孔11111依次转动至该避让位置处，即可逐一进行紧固操作。
在其他具体实现中，第一盖112与第二盖113也可以采用一体式结构。对于一体式盖体来说，其具有与分体式盖体的关联关系及功能属性相同的结构特点。
同时，如图15所示，传动件111上还开设有用于插装紧固件(图中未示出)的第五穿装孔11112，请一并结合图9和图12所示，通过该第五穿装孔11112，以及第一驱动部 件2的输出端21上开设的螺纹孔211，实现传动件111与第一驱动部件2的固定连接。由此，建立自第一驱动部件2至手臂本体1的动力传递路径。
其中，传动件111包括连接固定部1111和外轴圈1112，第四穿装孔11111和第五穿装孔11112均开设在传动件111中部的连接固定部1111上，且径向错开配置；也即如图15所示，第四穿装孔11111位于第五穿装孔11112的径向外侧。可以理解的是，第四穿装孔11111和第五穿装孔11112的相对位置关系，可根据实际需要进行选定。
该外轴圈1112设置在连接固定部1111的外周，且可相对于第二支架32的第二安装腔321转动。作为优选，外轴圈1112的外周表面与相适配的第二安装腔321间可采用间隙配合，兼具轴承的支撑功能，可节约成本和空间，符合集成化的设计趋势要求。请一并参见图15和图16，其中，图16示出了传动件与第二支架32的装配关系示意图。
基于此，传动件111可采用自润滑材料制成，例如但不限于POM(polyformaldehyde，聚甲醛)等，以获得良好的转动适配关系。另外，如图16所示，还可以在外轴圈1112的外周表面开设环槽11121，以容纳润滑液或润滑脂，进一步提高两者间的相对转动能力。
为了提高手臂前后摆动操作的可控性，可以在传动件111与第二支架32之间配置第一周向限位副，以在第一驱动部件2带动手臂本体1转动时，通过该第一周向限位副定位手臂本体1的转动角度。这里的“第一周向限位副”，是指手臂本体1在第一驱动部件2带动下的周向转动轨迹上的位置限制。
再如图16所示，本实施例中，传动件111具有传动件限位凸部11122，该传动件限位凸部11122自外轴圈1112轴向延伸形成，相应地，第二支架32的第二安装腔321内壁具有轴向延伸形成的支架限位凸部3211；这里，传动件限位凸部11122与支架限位凸部3211可周向抵接，在传动件111转动时，传动件限位凸部11122随动，支架限位凸部3211处于相对固定状态，由此构建形成该第一周向限位副。如此设置，充分利用内部空间达成限位功能，结构简单可靠。
换言之，组装完成后，传动件111的传动件限位凸部11122与第二支架32的支架限位凸部3211轴向交错，该传动件限位凸部11122的周向两侧端面，以及支架限位凸部3211的周向两侧面，均为定位面，且一一对应分别形成正、反转动的周向限位。
当然，在其他具体实现中，也可将该第一周向限位副配置在手臂本体1和手臂支架3的其他位置处，例如但不限于，配置在第一盖112和第二盖113与第二支架32之间，或者配置在传动件111与第一支架31之间，只要能够满足定位手臂本体1转动角度的功能需要均可。
为了进一步提高手臂抬起或放下操作的可控性，可以在转动组件11与第一外壳12和第二外壳13之间配置第二周向限位副，以在第二驱动部件114带动手臂本体1的第一外壳12和第二外壳13转动时，通过该第二周向限位副定位转动角度。这里的“第二周向限位副”，是指手臂本体1的第一外壳12和第二外壳13在第二驱动部件114带动下的周向转动轨迹上的位置限制。
再如图13所示，本实施例中，第一外壳12的内壁面设置有外壳限位凸部122，第二外壳13的内壁面设置有外壳限位凸部132，第二盖113上相应设置有盖体限位凸部1133， 分别与第一外壳12和第二外壳13上的外壳限位凸部(122、132)周向抵接，在手臂本体1的第一外壳12和第二外壳13转动时，外壳限位凸部(122、132)随动，盖体限位凸部1133处于相对固定状态，由此构建形成该第二周向限位副。
组装完成后，盖体限位凸部1133与外壳限位凸部(122、132)交错设置，同样地，该盖体限位凸部1133和外壳限位凸部(122、132)均以相对转动轨迹的周向侧面作为定位面，且一一对应分别形成正、反转动的周向限位。
当然，在其他具体实现中，也可将该第二周向限位副配置在手臂本体1的外壳(12、13)和转动组件11的其他位置处，例如但不限于，配置在第一壳体12和第二壳体13的外表面与盖体(112、113)之间，或者将盖体限位凸部配置在第一盖112上。
另外，可以仅在第一壳体12或第二壳体13所在一侧配置该第二周向限位副，同样能够满足定位手臂本体1的外壳转动角度的功能。当然，本实施例在两侧外壳(12、13)均配置有第二周向限位副，可实现两侧限位均载；同时，针对第一壳体12和第二壳体13分别形成限位冗余，相较来说，本实施例中的手臂姿态控制更加可靠。
对于左、右两侧的机器人手臂10，通常需要具备线缆布置通道，以用于供电及控制信号传输；例如但不限于，连接至第二驱动部件114及手臂主体1内各传感器件的供电线缆，以及控制信号和闭环控制信号反馈用的通信线缆等。本实施例中，转动组件11的第一盖112与第二盖113组装后，在其与传动件111连接端形成走线通孔，相应地，传动件111的本体上开设有走线通口1113，由此形成线缆布置通道，并通过主体支架201延伸至机器人主体20。
为了进一步提高装配效率，本实施例提供的机器人手臂包括防错装功能的结构设计。请一并参见图17和图18，其中图17和图18分别从两个视角示明了防止布线出错的结构关系示意图。
图中所示，第一支架31的一侧设置有遮挡部314，如图17所示，可限制通过传动件111走线通口1113的出线，经由遮挡部314所在侧延伸至机器人主体20。也就是说，如图18所示，基于遮挡部314的设置，通过传动件111走线通口1113的出线只能从未设置遮挡部314的另一侧延伸至机器人主体20。
通常情形下，在第一驱动部件2的驱动下，机器人手臂10向前侧摆动的幅度大于向后侧摆的幅度，再请一并参见图3和图4。基于此，本实施例中，该遮挡部314位于第一支架31的前侧，得以从第一支架31的后侧延伸布线，可避免机器人手臂10向前侧摆时过度牵拉线缆，能够规避牵拉线缆影响其使用可靠性。此外，再如图18所示，第一支架31的后侧布线位置处的结构均具有倒圆角R，降低串线磨损产生的影响。
在其他具体实现中，该遮挡部314的形状可以根据需要进行选择，而非局限于图中所示的具有外凸弧状外沿3141的遮挡部314。相比较而言，外凸弧状外沿3141的设置，可避免棱角过于尖锐而影响组装操作。
下面结合图19、图20和图21，简要说明本申请实施例所述机器人手臂10的组装过程。
1.1如图19中的(a)、(b)所示，将第二驱动部件114置于第一盖112和第二盖113中，扣合第一盖112和第二盖113定位并固定；
1.2如图19中的(c)、(d)所示，将第一外壳12和第二外壳13定位在第二驱动部件114的输出端后，通过插装在第六穿装孔121中的紧固件将两个外壳扣合固定；
1.3如图19中的(e)所示，将手臂本体1的外伸端罩壳14扣合固定在两个外壳的端部；
1.4如图20中的(a)所示，将第一驱动部件2插装在第一支架31的第一安装腔311中，通过插装在第一穿装孔313中的紧固件将两者固定，该紧固件的紧固自第一支架31的两旁侧进行操作；
1.5如图20中的(b)所示，将传动件111定位在第一驱动部件2的输出端21后，通过插装在第五穿装孔11112中的紧固件将两者固定，该紧固件的紧固自传动件111一侧进行操作；
1.6如图20中的(c)所示，将第二支架32与第一支架31定位，通过插装在第二穿装孔315中的紧固件将两者固定，该紧固件的紧固自第一支架31一侧进行操作，组装后如图20中的(d)所示；
1.7如图21中的(a)所示，将图20中的(d)所示的过程组件与图19中的(e)所示的过程组件定位，通过插装在第四穿装孔11111中的紧固件将两者固定，该紧固件的紧固自传动件111一侧进行操作；
1.8如图21中的(b)所示，将基于图21中的(a)组装后获得的机器人手臂10，插装在机器人主体20的主体支架201上，并利用插装在第三穿装孔323中的紧固件将两者固定，该紧固件的紧固自第二支架32一侧进行操作。
组装完成后，手臂支架3至少通过顶面和底面与机器人主体20的插装开口2011的内壁面配合限位。本实施例中，通过第一支架31和第二支架32的各自本体的顶面和底面，与主体支架201的插装开口2011的内壁面配合限位。在其他具体实现中，也可利用手臂支架3全周表面与插装开口2011的内壁面配合限位，可以理解的是，在满足基本定位需求的基础上，采用相抵适配面积相对较小的配合方式，加工成本较低。
另外，本实施例中，用于插装机器人手臂10的插装开口2011为贯通开口。在其他具体实现中，该插装开口也可采用非贯通主体支架201的形式，也就是说，其插装深度能够容纳机器人手臂10的插装端即可满足组装功能需要。
本实施例中，用于提供相应转动驱动力的第一驱动部件2和第二驱动部件114，可以采用电机，例如但不限于步进电机。
需要说明的是，手臂本体1可与第一驱动部件2的输出轴直接连接，或者与第一驱动部件2的输出轴之间通过联轴器连接。例如但不限于，如图11和图12所示，本实施例在第一驱动部件2的输出轴同轴设置有六边棱柱状的输出盘，并以该六边棱柱状的输出盘作为输出端21；与其相应地，如图15所示，在传动件111的连接固定部1111朝向第一驱动部件2的一侧，设置有与该输出端21相适配的六角形凹部11113。结构简单、可靠，在实际组装时可形成多种不同的组装关系，具有较好的可适应性。
同样地，第一外壳12和第二外壳13可第二驱动部件114的输出轴直接连接，或者与第二驱动部件114的输出轴之间通过联轴器连接。例如但不限于，如图13和图14所示，本实施例在第二驱动部件114的输出轴同轴设置有六边棱柱状的输出盘，并以该六边棱 柱状的输出盘作为输出端1141；与其相应地，在第一外壳12和第二外壳13朝向第二驱动部件114的内壁上，分别设置有与该输出端1141相适配的六角形凹部123和六角形凹部133。
本申请实施例还提供了一种机器人，该机器人包括相适配的机器人手臂和机器人主体，该机器人手臂采用如前述图1至图21中所描述的机器人手臂10，以兼顾组装效率及良好的维护可操作性。
该机器人可应用在教育、娱乐、医疗、家居等领域的应用场景下，例如但不限于，可以为拟人化的教育机器人、迎宾服务机器人、手术机器人等等产品类型。应当理解，相应机器人的其他功能构成非本申请的核心发明点所在，故本文不再赘述。
需要说明的是，本申请实施例提供的机器人的手臂结构形式，可以作为其他机器设备的活动装置，该活动装置同样可在驱动部件的驱动下转动。例如，该活动装置可以为自动化产线上的机械臂，通过驱动部件带动其相对于设备主体转动，以执行机械臂的设定功能；例如但不限于，晶圆刻蚀产线上用于抓取晶圆的机械臂等。再例如，该活动装置还可以为行走机械的操作臂，通过驱动部件带其相对于车体转动，以执行操作臂的设定功能；例如但不限于，泵车的臂架等。
以上仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (17)

  1. 一种活动装置，其特征在于，包括结构本体、第一驱动部件和结构支架，所述结构支架具有安装腔和安装部；
    所述安装部位于所述结构支架的外周，以用于所述活动装置安装在设备主体上；
    所述结构本体插装在所述安装腔的一端侧，所述第一驱动部件固定于所述安装腔的另一端侧，且所述第一驱动部件与所述结构本体传动连接，所述第一驱动部件用于驱动所述结构本体转动。
  2. 根据权利要求1所述的活动装置，其特征在于，所述结构支架包括相连接的第一支架和第二支架，所述安装腔包括第一安装腔和第二安装腔；所述第一安装腔贯通开设在所述第一支架上，用于插装固定所述第一驱动部件；所述第二安装腔贯通开设在所述第二支架上，用于插装所述结构本体。
  3. 根据权利要求2所述的活动装置，其特征在于，所述第一支架和所述第二支架中，一者上设置有定位凸部，另一者上设置有定位凹部，所述定位凸部与所述定位凹部插装适配。
  4. 根据权利要求3所述的活动装置，其特征在于，所述第一支架和所述第二支架至少通过各自的顶面和底面，与设备主体的插装开口的内壁面配合限位。
  5. 根据权利要求2至4中任一项所述的活动装置，其特征在于，所述结构本体包括传动件，所述传动件置于所述第二支架的第二安装腔内，且所述传动件与所述第一驱动部件的输出端传动连接。
  6. 根据权利要求5所述的活动装置，其特征在于，所述传动件与所述结构支架之间配置有第一周向限位副，以在所述第一驱动部件带动所述结构本体转动时，定位所述结构本体的转动角度。
  7. 根据权利要求6所述的活动装置，其特征在于，所述传动件包括连接固定部和外轴圈；所述外轴圈设置在所述连接固定部的外周，且具有轴向延伸形成的传动件限位凸部，相应地，所述第二支架的第二安装腔内壁具有轴向延伸形成的支架限位凸部；所述传动件限位凸部与所述支架限位凸部可周向抵接，以在所述传动件转动时形成所述第一周向限位副。
  8. 根据权利要求5所述的活动装置，其特征在于，所述第一驱动部件的输出端为棱柱状的输出盘，所述传动件的连接固定部具有与所述输出盘相适配的的凹部，所述输出盘与所述凹部适配，且两者通过自所述连接固定部一侧操作的紧固件固定连接。
  9. 根据权利要求5至8中任一项所述的活动装置，其特征在于，所述结构本体包括转动组件和外壳，所述外壳的一端包覆在转动组件的外部；所述转动组件包括盖体和置于所述盖体内的第二驱动部件，所述传动件与所述盖体连接；所述第二驱动部件与所述外壳的一端传动连接。
  10. 根据权利要求9所述的活动装置，其特征在于，所述盖体包括上下分体的第一盖和第二盖，所述外壳的一端至少部分包覆所述第一盖和所述第二盖的接合线。
  11. 根据权利要求9或10所述的活动装置，其特征在于，所述外壳与所述转动组件之间配置有第二周向限位副，以在所述第二驱动部件带动所述外壳转动时，定位所述外壳的转动角度。
  12. 根据权利要求11所述的活动装置，其特征在于，所述外壳的内壁面设置有外壳限位凸部，相应地，所述盖体上设置有盖体限位凸部；所述盖体限位凸部与所述外壳限位凸部可周向抵接，以在所述外壳转动时形成所述第二周向限位副。
  13. 根据权利要求5至12中任一项所述的活动装置，其特征在于，所述第一支架与所述第一驱动部件，通过自所述第一支架的两旁侧操作的紧固件固定连接；所述第一支架与所述第二支架，通过自所述第一支架一侧操作的紧固件固定连接；所述第二支架与设备主体，通过自所述第二支架一侧操作的紧固件固定连接；所述传动件与所述盖体，通过自所述传动件一侧操作的紧固件固定连接。
  14. 根据权利要求13所述的活动装置，其特征在于，在与所述活动装置的安装方向垂直的投影面内，所述第一支架包括第一外廓，所述第一外廓相对于所述传动件的外廓内收，且所述传动件上的紧固件位于所述第一外廓的外侧。
  15. 根据权利要求2到14中任一项所述的活动装置，其特征在于，所述第一支架的一侧设置有布线遮挡部。
  16. 一种设备，其特征在于，包括设备主体和分别位于所述设备主体旁侧的活动装置，所述活动装置采用权利要求1至15中任一项所述的活动装置，且所述设备主体上开设有插装开口，所述结构支架安装在所述插装开口中。
  17. 根据权利要求16所述的设备，其特征在于，所述设备为机器人，且所述活动装置为位于机器人主体旁侧的手臂。
PCT/CN2023/088076 2022-04-20 2023-04-13 一种设备及活动装置 WO2023202463A1 (zh)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203738813U (zh) * 2014-04-03 2014-07-30 长春工业大学 多关节仿人弹琴机器人手臂
JP2015174175A (ja) * 2014-03-14 2015-10-05 トヨタ自動車株式会社 人型ロボットの関節構造
CN106041995A (zh) * 2016-08-05 2016-10-26 北京工业大学 一种仿人机械手
CN106737589A (zh) * 2016-12-30 2017-05-31 深圳市优必选科技有限公司 机器人及其机器人肩臂转动结构
CN211030071U (zh) * 2019-11-29 2020-07-17 广州今甲智能科技有限公司 一种机器人手臂

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015174175A (ja) * 2014-03-14 2015-10-05 トヨタ自動車株式会社 人型ロボットの関節構造
CN203738813U (zh) * 2014-04-03 2014-07-30 长春工业大学 多关节仿人弹琴机器人手臂
CN106041995A (zh) * 2016-08-05 2016-10-26 北京工业大学 一种仿人机械手
CN106737589A (zh) * 2016-12-30 2017-05-31 深圳市优必选科技有限公司 机器人及其机器人肩臂转动结构
CN211030071U (zh) * 2019-11-29 2020-07-17 广州今甲智能科技有限公司 一种机器人手臂

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