CN115582858B - Active arm unit - Google Patents
Active arm unit Download PDFInfo
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- CN115582858B CN115582858B CN202211101418.2A CN202211101418A CN115582858B CN 115582858 B CN115582858 B CN 115582858B CN 202211101418 A CN202211101418 A CN 202211101418A CN 115582858 B CN115582858 B CN 115582858B
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- movable arm
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- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 238000009434 installation Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 235000001968 nicotinic acid Nutrition 0.000 abstract 1
- 239000003638 chemical reducing agent Substances 0.000 description 16
- 238000011161 development Methods 0.000 description 11
- 230000018109 developmental process Effects 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000010354 integration Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明为解决活动臂领域存在的成本较高的问题，公开了活动臂单元，包括：第一管体和第二管体；第一转动机构，连接第一管体和第二管体，第一转动机构用于驱动第二管体相对第一管体转动；第一管体的中心线和第二管体的中心线均与第一转动机构的转动中心线相倾斜。本活动臂单元通过设定从动管体的中心线与转动机构的转动中心线相倾斜的方式，使得转动机构可以驱动从动管体绕转动中心线沿锥形轨迹转动，这种转动模式能够通过串联形成活动臂系统，即可以实现多个相同构造的单元串联形成活动臂系统，便于产品的生产装配、安装和运输，这种模式下，活动臂单元可以做到很小，形状也可以按照仿生方向设计，应用场景和应用领域能够进行拓展。
In order to solve the problem of high cost in the field of movable arms, the present invention discloses a movable arm unit, including: a first tube body and a second tube body; a first rotating mechanism connecting the first tube body and the second tube body, the first rotating mechanism is used to drive the second tube body to rotate relative to the first tube body; the center line of the first tube body and the center line of the second tube body are both inclined to the rotation center line of the first rotating mechanism. The movable arm unit sets the center line of the driven tube body to be inclined with the rotation center line of the rotating mechanism, so that the rotating mechanism can drive the driven tube body to rotate along a conical trajectory around the rotation center line. This rotation mode can form a movable arm system by connecting in series, that is, it can realize that multiple units of the same structure can be connected in series to form a movable arm system, which is convenient for the production, assembly, installation and transportation of products. In this mode, the movable arm unit can be made very small, and the shape can also be designed in the direction of bionics, and the application scenarios and application fields can be expanded.
Description
Technical Field
The invention relates to a movable arm unit, which can be applied to the fields of industry, toys, teaching aids, engineering and the like.
Background
At present, a common movable arm, such as a most common six-axis mechanical arm, extends out of a multistage connecting arm through a base, integrates 6 rotation degrees of freedom, wherein 3 swing degrees of freedom and 3 rotation degrees of freedom are perpendicular to the axes of the adjacent swing degrees of freedom and rotation degrees of freedom, the mode is difficult to form a unit module type structure, the production assembly, installation and transportation costs of products are high, and application scenes and application fields are limited to a certain extent.
Disclosure of Invention
The invention provides a movable arm unit, which aims to at least solve one of the technical problems in the prior art, reduce the cost and improve the application capability.
The technical scheme of the invention is that the movable arm unit comprises:
A first tube and a second tube;
the first rotating mechanism is connected with the first pipe body and the second pipe body and is used for driving the second pipe body to rotate relative to the first pipe body;
the center line of the first pipe body and the center line of the second pipe body are inclined with the rotation center line of the first rotation mechanism.
According to the movable arm unit, the central line of the driven pipe body and the rotation central line of the rotation mechanism are set to incline, so that the rotation mechanism can drive the driven pipe body to rotate along the conical track around the rotation central line, the rotation mode can realize that a plurality of units with the same structure are connected in series to form the movable arm system, the production assembly, the installation and the transportation of products are convenient, the movable arm unit can be small in size and can be designed according to the bionic direction in the mode, and the application scene and the application field can be expanded.
Further, the end face of the first pipe body facing away from the second pipe body is set as a first rear end face, the end face of the first pipe body facing the second pipe body is set as a first front end face, the end face of the second pipe body facing the first pipe body is set as a second rear end face, and the end face of the second pipe body facing away from the first pipe body is set as a second front end face;
the first front end face and the second rear end face are perpendicular to the rotation center line of the first rotating mechanism, the first rear end face is perpendicular to the center line of the first pipe body, and the second front end face is perpendicular to the center line of the second pipe body;
The first front end face and the second rear end face are both circular profiles;
the movable arm unit further includes:
the first bearing piece is arranged between the first front end face and the second rear end face.
Further, the movable arm unit further includes:
A third tube body;
The second rotating mechanism is connected with the second pipe body and the third pipe body and is used for driving the third pipe body to rotate relative to the second pipe body;
the center line of the second pipe body and the center line of the third pipe body are inclined with the rotation center line of the second rotation mechanism.
Further, the rotation center line of the first rotation mechanism is not parallel to the rotation center line of the second rotation mechanism.
Further, the inclination angle between the rotation center line of the first rotation mechanism and the center line of the second pipe body is [22.5 °,45 ° ], and the inclination angle between the rotation center line of the second rotation mechanism and the center line of the second pipe body is [22.5 °,45 ° ].
Further, an inclination angle between the rotation center line of the first rotation mechanism and the center line of the second pipe body is equal to an inclination angle between the rotation center line of the second rotation mechanism and the center line of the second pipe body.
Further, the end face of the first pipe body facing away from the second pipe body is set as a first rear end face, the end face of the first pipe body facing towards the second pipe body is set as a first front end face, the end face of the second pipe body facing towards the first pipe body is set as a second rear end face, the end face of the second pipe body facing towards the third pipe body is set as a second front end face, the end face of the third pipe body facing towards the second pipe body is set as a third rear end face, and the end face of the third pipe body facing away from the second pipe body is set as a third front end face;
The first front end face and the second rear end face are perpendicular to the rotation center line of the first rotating mechanism, the second front end face and the third rear end face are perpendicular to the rotation center line of the second rotating mechanism, the first rear end face is perpendicular to the center line of the first pipe body, and the third front end face is perpendicular to the center line of the third pipe body;
the first front end face and the second rear end face are circular profiles, and the second front end face and the third rear end face are circular profiles;
the movable arm unit further includes:
the first bearing piece is arranged between the first front end face and the second rear end face;
the second bearing piece is arranged between the second front end face and the third rear end face.
Further, in the process of rotating the second pipe body relative to the first pipe body, the center line of the second pipe body is parallel to the center line of the first pipe body;
The center line of the third pipe body is parallel to the center line of the second pipe body in the process of rotating the third pipe body relative to the second pipe body.
Further, the movable arm unit further includes:
The end rotating mechanism is connected with the first pipe body and the base and is used for driving the first pipe body to rotate relative to the base;
The center line of the first pipe body is parallel to the rotation center line of the end rotating mechanism;
The movable arm system further comprises:
and the end bearing piece is arranged between the first pipe body and the base.
Drawings
FIG. 1 is a schematic perspective view of an embodiment A of a movable arm unit in a state A, wherein the state A is a state in which the center line of a first pipe body and the center line of a second pipe body are parallel;
FIG. 2 is a schematic perspective view of the movable arm unit in a state B where an inclination angle between a center line of the first pipe body and a center line of the second pipe body is maximized;
FIG. 3 is a schematic perspective view of the movable arm unit in a state A, wherein the state A is a state in which the center line of the first pipe body, the center line of the second pipe body and the center line of the third pipe body are parallel;
fig. 4 is a schematic perspective view of the movable arm unit in a state B, in which the inclination angle between the center line of the first pipe body and the center line of the second pipe body and the inclination angle between the center line of the second pipe body and the center line of the third pipe body are both maximized;
FIG. 5 is a schematic view of a movable arm system embodiment in a straight extended state;
FIG. 6 is a schematic view of a movable arm system embodiment in a curved extension;
FIG. 7 is a schematic illustration of the configuration of the embodiment of the movable arm system in an S-bend extended state;
Fig. 8 is a schematic view of an embodiment of the movable arm unit with an intermediate bearing member disposed therebetween.
Reference numerals are first tube 110, first front end face 111, first rear end face 112, second tube 120, second front end face 121, second rear end face 122, third tube 130, third front end face 131, third rear end face 132, first rotation mechanism 210, second rotation mechanism 220, intermediate rotation mechanism 230, end rotation mechanism 240, second rotation mechanism,
A center line 310 of the first pipe body, a center line 320 of the second pipe body, a center line 330 of the third pipe body, a rotation center line 340 of the first rotation mechanism, a rotation center line 350 of the second rotation mechanism, a rotation center line 360 of the middle rotation mechanism, a rotation center line 370 of the end rotation mechanism,
Intermediate bearing member 400,
A front movable arm unit 510, a rear movable arm unit 520.
Detailed Description
The following description will describe several embodiments of the present invention, including the embodiments corresponding to the accompanying drawings, it being understood that the drawings are for aiding in the understanding of the technical features and technical solutions of the present invention, and should not be construed as limiting the scope of the present invention.
The conception, specific structure, and technical effects produced by the present application will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
It should be noted that, unless explicitly defined otherwise, when a certain feature is referred to as being "fixed," "connected," or "mounted" on another feature, it may be directly fixed or connected to the other feature or may be indirectly fixed or connected to the other feature, and the terms such as "fixed," "connected," or "mounted" should be interpreted broadly, so that those skilled in the art can reasonably determine the specific meaning of the terms in the present invention in combination with the specific contents of the technical scheme.
It should be noted that, the description of the orientation or positional relationship indicated by the upper, lower, left, right, top, bottom, front, rear, inner, outer, etc. used in the present invention is based on the orientation or positional relationship of the drawings or the embodiments, only for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in the specific orientation, and thus should not be construed as limiting the present invention.
It is noted that the term "and/or" as used in the present invention includes any combination of one or more of the listed items, meaning one or more, meaning at least two, greater than, less than, exceeding, etc. are understood to exclude this number, and the above, below, within, etc. are understood to include this number.
It should be noted that, if the first and second descriptions are only used for distinguishing technical features in the present invention, the description should not be construed as indicating or implying relative importance or implying the number of the indicated technical features or implying the precedence relationship of the indicated technical features.
It is to be understood that all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art unless explicitly defined otherwise. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The movable arm system aims at providing a new movable arm mode, can be applied to a plurality of fields of industry, automation, toys, teaching, engineering and the like, such as industrial mechanical arms for processing, assembling, transporting and the like in industrial production, such as welding mechanical arms, transporting mechanical arms and the like, can be used for transporting materials through complex pipelines, can be used for assembling and processing products, can be used for the field, can adopt high-precision parts for power transmission parts in the movable arm system, can also be used for structures on toys, such as motion structures of bionic toys and pick-up structures on toys of materials, can relatively adopt parts with low precision requirements in the field, can also be applied to teaching aids, can be used for teaching the principle of the movable arm system, can also be used for teaching the principle of the movable arm system formed by a driving mode of inclining the axes of a multistage endoscope and driven parts, can be further used for the product, can also be used for the field, such as a product can be used for the engineering system, and can be applied to the field of the engineering products.
The basic embodiment of the present movable arm system, referring to fig. 1-7, comprises a plurality of movable arm units connected in series,
Wherein, referring to fig. 1 and 2, the movable arm unit includes:
A first tube 110 and a second tube 120;
the first rotating mechanism 210 is connected to the first pipe body 110 and the second pipe body 120, and the first rotating mechanism 210 is used for driving the second pipe body 120 to rotate relative to the first pipe body 110;
The center line 310 of the first pipe body and the center line 320 of the second pipe body are inclined with the rotation center line 340 of the first rotation mechanism;
The movable arm system further comprises at least one intermediate rotation mechanism 230, wherein the intermediate rotation mechanism 230 is connected between at least one pair of adjacent movable arm units, and the intermediate rotation mechanism 230 is used for driving one of the adjacent movable arm units to rotate relative to the other movable arm unit.
It will be appreciated that one end of the movable arm system may be configured as a fixed end, which may be understood as an end of the movable arm system being connectable to a determined position, and that one end of the movable arm system may be rotatably connected to the fixed end, the fixed end being connectable to a corresponding structure as desired, in particular, the fixed end may be mounted on the base, and that the other end of the movable arm system may be configured as a movable end, the movable end being connectable to a corresponding structure as desired, in particular, the movable end may be provided with a clamping device, and may also be provided with a welding device.
It will be appreciated that, for ease of understanding of the present embodiment, the direction toward the movable end in the movable arm unit is set to be the front direction and the direction toward the fixed end in the movable arm unit is set to be the rear direction, and the direction toward the movable end in the movable arm system is set to be the front direction and the direction toward the fixed end is set to be the rear direction, in fig. 8.
Referring to fig. 1 and 2, the movable arm unit drives the second pipe body 120 to rotate relative to the first pipe body 110 through the first rotating mechanism 210, and sets a manner that a rotation center line 340 of the first rotating mechanism is inclined to a center line 310 of the first pipe body and a center line 320 of the second pipe body, so that the movable arm unit can realize area coverage with a certain angle, that is, the second pipe body 120 can rotate around the rotation center line 340 of the first rotating mechanism according to the set angle.
According to the movable arm unit of the basic embodiment, through setting the mode that the central line of the driven pipe body is inclined with the rotation central line of the rotating mechanism, the rotating mechanism can drive the driven pipe body to rotate around the rotation central line along the conical track, the rotating mode can form a movable arm system through serial connection, a plurality of units with the same structure can be connected in series to form the movable arm system, production assembly, installation and transportation of products are facilitated, the movable arm unit can be quite small in shape in the mode, the shape can be designed according to the bionic direction, and application scenes and application fields can be expanded.
Compared with the existing universal movable arm, the driving mode of the movable arm system of the basic embodiment is completely different, in the existing industrial mechanical arm, toy products, teaching aids, engineering and other products, the integration of the degrees of freedom is usually realized by integrating a plurality of mutually perpendicular axes of rotation modes in a plurality of connecting arms, or the integration of the degrees of freedom is realized by directly and simply superposing a X, Y, Z-axis moving mode and a X, Y, Z-axis rotating mode, the basic embodiment realizes the integration of the degrees of freedom by integrating a plurality of driving axes and a rotating mode of the axes of driven parts in a plurality of movable arm units, wherein each power driving is the rotating degree of freedom, the requirements of the movable arm in the fields of industry, toys, teaching aids, engineering and the like can be met through the rotating structure of the same principle, the more flexible degree of freedom integration can be realized, the higher the more the movable arm units are, and the higher the degree of freedom is also easy to realize.
The movable arm units in the movable arm system of the basic embodiment can be formed by the same principle and even the same structure, so that the processing difficulty and the assembly difficulty of the whole movable arm system are greatly reduced compared with those of the movable arm which is commonly used at present, and the modular transportation and assembly are easier to realize; the movable arm system is characterized in that the movable arm unit is provided with a plurality of movable arm units, a plurality of movable arm units are connected through a plurality of pipes, a power part, a transmission part and a control system are arranged in the pipes, the movable arm units can well protect the power part, the transmission part and the control system, sealing is conveniently realized between the pipes, bearing parts are conveniently installed, the movable arm system is conveniently applied to dust-free environments or environments with high requirements, and a spacer sleeve can be conveniently sleeved on the movable arm system under the conditions of high requirements.
It will be appreciated that referring to fig. 1 and 2, the first rotating mechanism 210 in the present basic embodiment may be a first motor, which may be installed in the first pipe 110, and an output end of the first motor may be connected to the second pipe 120. Under this setting, install first motor in the first body 110, in the intermediate motor then can install second body 120, the space that needs to set up in first body 110 and the second body 120 is equivalent, consequently, the shape of first body 110 and second body 120 also can set up is nearly or the same, this setting is convenient for production, assembly, the transportation etc. of part, also be convenient for install bearing piece or sealing member between first body 110 and the second body 120, the whole shape of movable arm system is more regular pleasing to the eye.
It will be appreciated that the power portion of the movable arm system constitutes a movable arm drive assembly, which is applied to the movable arm unit, the movable arm drive assembly comprising:
the first rotating mechanism 210 is connected to the first pipe body 110 and the second pipe body 120, and the first rotating mechanism 210 is used for driving the second pipe body 120 to rotate relative to the first pipe body 110;
The center line 310 of the first pipe body and the center line 320 of the second pipe body are inclined with the rotation center line 340 of the first rotation mechanism.
It will be appreciated that the movable arm drive assembly also includes a first harmonic reducer disposed between the first motor and the second tube 120. With this arrangement, the rotation of the second tube 120 relative to the first tube 110 can be made more stable and the rotation control more accurate by utilizing the high transmission ratio of the harmonic reducer.
In addition to the basic embodiment, referring to fig. 1 and 2, two movable arm units connected to the intermediate rotation mechanism 230 are set as a front movable arm unit and a rear movable arm unit, and the intermediate rotation mechanism 230 connects the first pipe 110 of the front movable arm unit and the second pipe 120 of the rear movable arm unit, and the center line 310 of the first pipe of the front movable arm unit, the center line 320 of the second pipe of the rear movable arm unit, and the rotation center line 360 of the intermediate rotation mechanism are parallel. Under this setting, can be in the relative rotation under the axis that is parallel to each other between the body that is close to each other of two adjacent movable arm units, the connection of the movable arm unit of being convenient for, the installation of the bearing piece and the sealing member between the movable arm unit of being convenient for, the movable range of the whole movable arm system of being convenient for is set for and control, and the movable range of every movable arm unit can integrate the movable range of whole movable arm system through relatively direct mode.
It will be appreciated that two adjacent movable arm units may also be rotated relative to each other in a pattern in which the centre lines of the pipes approaching each other are inclined to the centre line of rotation of the intermediate rotation mechanism, which arrangement further improves the freedom of the movable arm system.
Extension of the basic embodiment, referring to fig. 8, the movable arm system further includes:
The intermediate bearing 400 is provided between the first pipe body 110 of the front movable arm unit and the second pipe body 120 of the rear movable arm unit. With this arrangement, the pipe bodies adjacent to each other between the adjacent movable arm units can be rotated relatively more stably.
In addition to the basic embodiment, referring to fig. 1 and 2, an end surface of the first pipe body 110 facing away from the second pipe body 120 is set as a first rear end surface 112, an end surface of the first pipe body 110 facing toward the second pipe body 120 is set as a first front end surface 111, an end surface of the second pipe body 120 facing toward the first pipe body 110 is set as a second rear end surface 122, and an end surface of the second pipe body 120 facing away from the first pipe body 110 is set as a second front end surface 121;
The first front end surface 111 and the second rear end surface 122 are perpendicular to the rotation center line 340 of the first rotation mechanism, the first rear end surface 112 is perpendicular to the center line 310 of the first pipe body, and the second front end surface 121 is perpendicular to the center line 320 of the second pipe body.
Under this setting, can set up less clearance between first body 110 and the second body 120, be convenient for protect the structure in the body to at the in-process that second body 120 rotated relative first body 110, first body 110 and second body 120 can accomplish the clearance unchangeable, be convenient for install bearing structure or seal structure.
It can be understood that referring to fig. 3 and fig. 4, the first rotating mechanism 210 is a first motor, the first motor is installed on the second pipe 120, and an output end of the first motor is connected to the first pipe 110;
The movable arm driving assembly also comprises a first harmonic reducer, a second harmonic reducer and a first motor, wherein the first harmonic reducer is arranged between the first motor and the second pipe body;
the second rotating mechanism 220 is a second motor, the second motor is installed on the second pipe body 120, and the output end of the second motor is connected with the third pipe body 130;
the movable arm driving assembly also comprises a second harmonic reducer which is arranged between the second motor and the third pipe body.
Under this setting, the first motor and the second motor are installed at the same time by fully using the inner space of the second pipe 120, the first pipe 110 may be provided with an end motor or no motor, the third pipe 130 may be provided with an intermediate motor, and the first pipe 110 and the third pipe 130 may be symmetrical in shape. The rotation of the second pipe body 120 relative to the first pipe body 110 and the rotation of the third pipe body 130 relative to the second pipe body 120 can be more stable and the rotation control is more accurate by utilizing the high transmission ratio of the harmonic reducer.
In an extension of the basic embodiment, the first front face 111 and the second rear face 122 are both circular in contour. With this arrangement, the provision of the bearing member and the seal member is facilitated.
It will be appreciated that in the case where the first front end face 111 and the second rear end face 122 are both circular in outline, the cross-sectional shape perpendicular to the center line on the corresponding tube body is elliptical.
In an extension of the basic embodiment, the movable arm unit further comprises a first bearing member arranged between the first front end surface 111 and the second rear end surface 122. With this arrangement, more stable relative rotation between the first tube 110 and the second tube 120 is possible.
Extension of the basic embodiment, referring to fig. 3 and 4, the movable arm unit further comprises:
A third pipe body 130;
The second rotating mechanism 220 is connected with the second pipe body 120 and the third pipe body 130, and the second rotating mechanism 220 is used for driving the third pipe body 130 to rotate relative to the second pipe body 120;
The center line 320 of the second pipe body and the center line 330 of the third pipe body are inclined with the rotation center line 350 of the second rotation mechanism.
Compared with the basic embodiment comprising the embodiment A, the expanding embodiment comprising the embodiment B can have higher degree of freedom integration, and a relative rotation mode that the axes of the driving shaft line and the driven part of two stages are inclined can be realized in a single movable arm unit, so that higher technical requirements can be met.
Referring to fig. 5 to 7, it can be seen that the movable arm system comprising the movable arm units comprising three pipe bodies can flexibly change its shape, and the movable arm system can further form more shapes by combining the rotation mode of tilting the axes of the two-stage driving axis and the driven part in each movable arm unit with the rotation degree of freedom integration of tilting the axes formed by connecting a plurality of movable arm units in series, so as to realize the state of linear extension from fig. 5 to the state of bending extension of fig. 6 and change to the state of S-shaped bending extension of fig. 7.
Further development of the basic embodiment, referring to fig. 3 and 4, two movable arm units to which the intermediate rotation mechanism 230 is connected are set as a front movable arm unit and a rear movable arm unit, the intermediate rotation mechanism 230 connects the first pipe body 110 of the front movable arm unit and the third pipe body 130 of the rear movable arm unit, and the center line 310 of the first pipe body of the front movable arm unit, the center line 330 of the third pipe body of the rear movable arm unit, and the rotation center line 360 of the intermediate rotation mechanism are parallel. Under this setting, can be in the relative rotation under the axis that is parallel to each other between the body that is close to each other of two adjacent movable arm units, be convenient for set for and control whole movable arm system's range of motion, the range of motion of every unit can integrate whole movable arm system's range of motion through relatively direct mode.
It will be appreciated that two adjacent movable arm units may also be rotated relative to each other in a pattern in which the centre lines of the pipes approaching each other are inclined to the centre line of rotation of the intermediate rotation mechanism, which arrangement further improves the freedom of the movable arm system.
As can be appreciated, referring to fig. 1-4, the intermediate rotating mechanism 230 is an intermediate motor, and the intermediate motor is installed in the rear movable arm unit, specifically, in the third pipe 130 of the rear movable arm unit, and an output end of the intermediate motor is connected to the front movable arm unit, specifically, the first pipe 110 connected to the front movable arm unit.
Correspondingly, the intermediate motor may also be installed in the front movable arm unit, specifically in the first pipe body 110 of the front movable arm unit, and the output end of the intermediate motor may be connected to the rear movable arm unit, specifically in the third pipe body 130 connected to the rear movable arm unit. With this arrangement, the intermediate motor can be provided inside the front movable arm unit or the rear movable arm unit, and the intermediate motor can be protected.
It will be appreciated that the moveable arm drive assembly further comprises an intermediate harmonic reducer disposed between the intermediate motor and the front moveable arm unit, and in particular between the intermediate motor and the first tubular body of the front moveable arm unit. With this arrangement, the rotation of the front movable arm unit relative to the rear movable arm unit can be made more stable and the rotation control can be made more accurate by the high transmission ratio of the harmonic speed reducer.
Further development of the basic embodiment, referring to fig. 8, the movable arm system further comprises:
the intermediate bearing 400 is provided between the first pipe body 110 of the front movable arm unit and the third pipe body 130 of the rear movable arm unit. With this arrangement, the pipe bodies adjacent to each other between the adjacent movable arm units can be rotated relatively more stably.
Further development of the basic embodiment, referring to fig. 3 and 4, the rotation center line 340 of the first rotation mechanism is not parallel to the rotation center line 350 of the second rotation mechanism. With this arrangement, two rotating mechanisms in one movable arm unit can make the movable arm unit have a larger range of motion.
Further development of the basic embodiment, referring to fig. 8, the inclination angle between the rotation center line 340 of the first rotation mechanism and the center line 320 of the second pipe body is [22.5 °,45 ° ], and the inclination angle between the rotation center line 350 of the second rotation mechanism and the center line 320 of the second pipe body is [22.5 °,45 ° ]. Under this setting, can be better be applied to industry field, can guarantee under the condition that the movable arm system has great movable range, can possess better load capacity.
It will be appreciated that the tilt angle is set within the interval of 0, 90.
It is understood that the inclination angle between the rotation center line of the first rotation mechanism and the center line of the second pipe body, and the inclination angle between the rotation center line of the second rotation mechanism and the center line of the second pipe body may be in an interval other than [22.5 °,45 °.
Further development of the basic embodiment, referring to fig. 3 and 4, the inclination angle between the rotation center line 340 of the first rotation mechanism and the center line 320 of the second pipe body is equal to the inclination angle between the rotation center line 350 of the second rotation mechanism and the center line 320 of the second pipe body. With this arrangement, the rotation angle ranges driven by the two rotating mechanisms in one movable arm unit are the same, so that the movable range of the whole movable arm system can be set conveniently.
Further development of the basic embodiment, referring to fig. 3 and 4, the end face of the first pipe body 110 facing away from the second pipe body 120 is set as a first rear end face 112, the end face of the first pipe body 110 facing toward the second pipe body 120 is set as a first front end face 111, the end face of the second pipe body 120 facing toward the first pipe body 110 is set as a second rear end face 122, the end face of the second pipe body 120 facing toward the third pipe body 130 is set as a second front end face 121, the end face of the third pipe body 130 facing toward the second pipe body 120 is set as a third rear end face 132, and the end face of the third pipe body 130 facing away from the second pipe body 120 is set as a third front end face 131;
The first front end surface 111 and the second rear end surface 122 are perpendicular to a rotation center line 340 of the first rotation mechanism, the second front end surface 121 and the third rear end surface 132 are perpendicular to a rotation center line 350 of the second rotation mechanism, the first rear end surface 112 is perpendicular to a center line 310 of the first pipe body, and the third front end surface 131 is perpendicular to a center line 330 of the third pipe body.
Under this setting, all can set up less clearance between first body 110 and the second body 120, between second body 120 and the third body 130, be convenient for protect the structure in the body to at the in-process of second body 120 relative first body 110 pivoted, at the in-process of third body 130 relative second body 120 pivoted, first body 110 and second body 120, second body 120 and third body 130 all can accomplish the clearance unchangeable, be convenient for install bearing structure or seal structure.
Further development of the basic embodiment, the first front end face and the second rear end face are circular profiles, and the second front end face and the third rear end face are circular profiles. With this arrangement, the provision of the bearing member and the seal member is facilitated.
It will be appreciated that in the case where the first front end face and the second rear end face are both circular in profile, the cross-sectional shape perpendicular to the center line in the corresponding tube body is elliptical.
Further development of the basic embodiment, the movable arm unit further comprises a first bearing piece arranged between the first front end face and the second rear end face, and a second bearing piece arranged between the second front end face and the third rear end face. Under this setting, can all be more stable relative rotation between first body and the second body, between second body and the third body.
Further development of the basic embodiment, the second pipe body 120 has a state that the center line 320 of the second pipe body is parallel to the center line 310 of the first pipe body in the process of rotating relative to the first pipe body 110. The center line 330 of the third pipe body is parallel to the center line 320 of the second pipe body in the process of rotating the third pipe body 130 relative to the second pipe body 120. With this arrangement, the movable arm unit is enabled to be in the state of fig. 1 and 3, and the movable arm system is enabled to be in the state of fig. 5, so that the initial position of the movable arm system is easily set.
Further development of the basic embodiment referring to fig. 1-4, the movable arm system further comprises an end rotating mechanism 240, connected to the first pipe body 110 and the base, wherein the end rotating mechanism 240 is used for driving the first pipe body 110 to rotate relative to the base;
The centerline 310 of the first tube is parallel to the rotational centerline 370 of the end turn mechanism.
With this arrangement, the movable arm system is facilitated to be connected to an external structure such as a base, and the degree of freedom of the entire movable arm system can be increased.
It will be appreciated that the base is a general and environmental feature and that the movable arm system may be connected to the base at a corresponding mounting location as desired.
It will be appreciated that in this further developed embodiment, the end turn mechanism 240 is connected to the first tubular body 110 in the movable arm unit of the movable arm system near one end of the base.
It will be appreciated that the end turn mechanism 240 is an end motor, the end motor being mounted to the base, the output end of the end motor being connected to the first tube 110. Under this setting, relatively install the tip motor in first body 110, can reduce the installation degree of difficulty of tip motor, the installation requirement of base is lower relatively, and corresponding tip motor also can install on the base.
It will be appreciated that the movable arm drive assembly also includes an end harmonic reducer disposed between the end motor and the first tubular body 110. The high transmission ratio of the harmonic reducer can enable the movable arm unit to rotate more stably relative to the base, and the rotation control is more accurate.
Further developments of the basic embodiment also include an end bearing member disposed between the first tubular body and the base. With this arrangement, a more stable relative rotation between the first tube and the base is possible.
It will be appreciated that any of the first rotary mechanism, the second rotary mechanism, the intermediate rotary mechanism, and the end rotary mechanism may be electrically driven, such as an electric motor, may be pneumatically driven, such as a rotary cylinder, or may be hydraulically driven, such as a rotary hydraulic cylinder.
It will be appreciated that any one of the first rotating mechanism, the second rotating mechanism, the intermediate rotating mechanism and the end rotating mechanism may be a main body mounted on one connecting structure, the output end is connected with the other connecting structure, and the corresponding main body mounting and output end connection may be mutually switched, for example, the main body of the first rotating mechanism may be mounted on the first pipe body, the output end of the first rotating mechanism may be connected with the second pipe body, and correspondingly, or vice versa, the main body of the first rotating mechanism may be mounted on the second pipe body, and the output end of the first rotating mechanism may be connected with the first pipe body.
It can be understood that the first pipe body, the second pipe body and the third pipe body are all pipes with central lines, and specifically, any section of the first pipe body, the second pipe body and the third pipe body can be circular or elliptical. The overall shape of any one of the first pipe body, the second pipe body and the third pipe body can be a cone pipe shape or a straight pipe shape, the central line of the pipe body is the central axis of the pipe body, and the central line can be regarded as the intersection point of the long diameter and the short diameter of the cross section of the pipe body, which are perpendicular to each other.
It is understood that the first bearing member, the second bearing member, the intermediate bearing member, and the end bearing member are all universal bearing members.
It is understood that the first harmonic reducer, the second harmonic reducer, the intermediate harmonic reducer and the end harmonic reducer adopt a general harmonic reducer connection mode.
It will be appreciated that the first and second pipes 110 and 120 may be set to the same shape in the embodiment a of fig. 1 and 2, and the first and third pipes 110 and 130 may be set to the same shape in the embodiment B of fig. 3 and 4.
It is noted that terms like "one embodiment," "some embodiments," "base embodiments," "extended embodiments," and the like may be used throughout this specification to describe several embodiments of the invention, as a particular feature, structure, material, or characteristic of the several embodiments may be combined without departing from the principles and spirit of the present invention.
While there has been shown and described what is considered to be certain embodiments of the present invention, it is to be understood that the invention is not limited to the above-described embodiments, but is to be accorded the widest scope consistent with the principles and novel features of the present invention.
Claims (5)
1.A movable arm unit, comprising:
A first tube (110), a second tube (120) and a third tube (130);
The first rotating mechanism (210) is connected with the first pipe body (110) and the second pipe body (120), and the first rotating mechanism (210) is used for driving the second pipe body (120) to rotate relative to the first pipe body (110);
the second rotating mechanism (220) is connected with the second pipe body (120) and the third pipe body (130), and the second rotating mechanism (220) is used for driving the third pipe body (130) to rotate relative to the second pipe body (120);
The central line (310) of the first pipe body and the central line (320) of the second pipe body are inclined with the rotation central line (340) of the first rotation mechanism;
the center line (320) of the second pipe body and the center line (330) of the third pipe body are inclined with the rotation center line (350) of the second rotation mechanism;
An end face of the first pipe body (110) facing away from the second pipe body (120) is set to be a first rear end face (112), an end face of the first pipe body (110) facing towards the second pipe body (120) is set to be a first front end face (111), an end face of the second pipe body (120) facing towards the first pipe body (110) is set to be a second rear end face (122), an end face of the second pipe body (120) facing away from the first pipe body (110) is set to be a second front end face (121), an end face of the third pipe body (130) facing towards the second pipe body (120) is set to be a third rear end face (132), and an end face of the third pipe body (130) facing away from the second pipe body (120) is set to be a third front end face (131);
The first front end face (111) and the second rear end face (122) are all circular in outline, the second front end face (121) and the third rear end face (132) are all circular in outline, the first front end face (111) and the second rear end face (122) are both perpendicular to the rotation center line (340) of the first rotation mechanism, the rotation center line (340) of the first rotation mechanism is located at the center positions of the first front end face (111) and the second rear end face (122), the first rear end face (112) is perpendicular to the center line (310) of the first pipe body, the second front end face (121) and the third rear end face (132) are both perpendicular to the rotation center line (350) of the second rotation mechanism, the rotation center line (350) of the second rotation mechanism is located at the center positions of the second front end face (121) and the third rear end face (132), and the third front end face (131) is perpendicular to the center line (330) of the third pipe body;
The movable arm unit further includes:
A first bearing member disposed between the first front end surface (111) and the second rear end surface (122);
and a second bearing member provided between the second front end surface (121) and the third rear end surface (132).
2. The mobile arm unit of claim 1, wherein a rotation centerline (340) of the first rotation mechanism is non-parallel to a rotation centerline (350) of the second rotation mechanism.
3. The mobile arm unit according to claim 1, wherein the angle of inclination between the rotation centre line (340) of the first rotation mechanism and the centre line (320) of the second pipe body is [22.5 °,45 ° ], and the angle of inclination between the rotation centre line (350) of the second rotation mechanism and the centre line (320) of the second pipe body is [22.5 °,45 ° ].
4. The mobile arm unit of claim 1, wherein an angle of inclination between a rotational centerline (340) of the first rotating mechanism and a centerline (320) of the second tubular body is equal to an angle of inclination between a rotational centerline (350) of the second rotating mechanism and a centerline (320) of the second tubular body.
5. The mobile arm unit according to claim 1, wherein a state exists in which a center line (320) of the second pipe body is parallel to a center line (310) of the first pipe body during rotation of the second pipe body (120) relative to the first pipe body (110);
the third pipe body (130) rotates relative to the second pipe body (120) in a state that the center line (330) of the third pipe body is parallel to the center line (320) of the second pipe body.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005081499A (en) * | 2003-09-09 | 2005-03-31 | Toyota Motor Corp | Articulated robot movement system |
| DE102013110215A1 (en) * | 2013-09-17 | 2015-03-19 | Rg Mechatronics Gmbh | Device for positioning an end effector of a surgical instrument, and surgical instrument with an integrated manipulator |
| CN219006112U (en) * | 2022-09-09 | 2023-05-12 | 江门市众能电控科技有限公司 | Movable arm unit |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013080197A1 (en) * | 2011-11-29 | 2013-06-06 | Technion Research & Development Foundation Ltd. | Robotic mechanism with two degrees of freedom |
| CN215968733U (en) * | 2021-09-10 | 2022-03-08 | 南通喆丰机器人有限公司 | Industrial robot's big arm connection structure of high strength |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005081499A (en) * | 2003-09-09 | 2005-03-31 | Toyota Motor Corp | Articulated robot movement system |
| DE102013110215A1 (en) * | 2013-09-17 | 2015-03-19 | Rg Mechatronics Gmbh | Device for positioning an end effector of a surgical instrument, and surgical instrument with an integrated manipulator |
| CN219006112U (en) * | 2022-09-09 | 2023-05-12 | 江门市众能电控科技有限公司 | Movable arm unit |
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