CN214772155U

CN214772155U - Mechanical arm

Info

Publication number: CN214772155U
Application number: CN202121331391.7U
Authority: CN
Inventors: 陆晓峰; 于仰韶; 王永康; 姚典
Original assignee: Xi'an Qinxuanhan Information Technology Co ltd
Current assignee: Xi'an Qinxuanhan Information Technology Co ltd
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2021-11-19
Anticipated expiration: 2031-06-15

Abstract

The utility model discloses a mechanical arm, output arm includes: the driving shaft is arranged in the shell, the other end of the driving shaft is detachably connected with the shell, and the shell is driven to rotate or be separated from the shell. The input shaft is engaged with and drives the output shaft and the driving shaft, and the included angle between the axial leads of the input shaft and the output shaft is larger than 0 degree and smaller than 180 degrees. The problem of among the prior art, the many power source structures of current arm structural design lead to the arm dead weight great for the defect that application occasion receives great influence is solved. This arm has realized can linking between a plurality of output arms, satisfies single power input, and multistage output adapts to different occasions as required. The multi-shaft mechanical arm with single power output is realized, multiple degrees of freedom are met, only one power device is needed, the quality of the whole mechanical arm is greatly reduced, and the multi-shaft mechanical arm is more flexible to use.

Description

Mechanical arm

Technical Field

The utility model relates to a mechanical arm structural design technical field especially relates to a mechanical arm.

Background

With the popularization of automation equipment, the use amount of the automation equipment in various industries is increasing.

In the mechanical arm in the prior art, the transmission of any arm mainly depends on the output shaft of the motor of the previous arm to rotate the next arm, and each motor independently drives the corresponding joint unit. This kind of drive mode is higher to the requirement of driving motor and motor reducer, and because the weight of motor itself is great, can lead to the quality of arm body seriously great moreover, and the load can diminish gradually, and the design cost of arm also can be increased to the motor that the quantity is more, leads to the price/performance ratio lower.

Therefore, the mechanical arm structure in the prior art is designed into a multi-power-source structure, so that the self weight of the mechanical arm is large, and the application occasions are greatly influenced.

SUMMERY OF THE UTILITY MODEL

In view of the above, the main object of the present invention is to provide a power transmission device that can realize linkage between a plurality of output arms, satisfy single power input and multi-stage output, and adapt to different occasions as required; the multi-shaft mechanical arm with single power output is realized, multiple degrees of freedom are met, only one power device is needed, the quality of the whole mechanical arm is greatly reduced, and the mechanical arm is more flexible to use.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

a robotic arm, comprising: an output arm, the output arm comprising: the device comprises a shell, an input shaft, an output shaft and a driving shaft, wherein one end of the input shaft and one end of the output shaft extend into the shell, the driving shaft is arranged in the shell, the other end of the driving shaft is detachably connected with the shell, and the shell is driven to rotate or be separated from the shell; the input shaft is in meshed driving connection with an output shaft and a driving shaft, and an included angle between the axis lines of the input shaft and the output shaft is larger than 0 degree and smaller than 180 degrees.

In a preferred embodiment, the method further comprises: an electromagnetic clutch; the driving shaft and the shell are detachably connected through an electromagnetic clutch.

In a preferred embodiment, the input shaft and the output shaft are driven in engagement by bevel gears, and the output shaft and the drive shaft are also driven in engagement by bevel gears.

In a preferred embodiment, the output arm further comprises: a magnetic loop encoder disposed about the input shaft.

In a preferred embodiment, the number of the output arms is multiple, the multiple output arms are connected in sequence, and the output shaft of the previous output arm and the input shaft of the next output arm between the adjacent output arms are the same shaft or fixedly connected.

In a preferred embodiment, a rotating cylinder connection is sleeved between the shells between the adjacent output arms.

In a preferred embodiment, the output shaft of the previous output arm and the input shaft of the next output arm are arranged inside the rotary cylinder, the rotary cylinder is fixedly connected with the housing of the previous output arm, and the rotary cylinder is detachably connected with the housing of the next output arm through a brake.

In a preferred embodiment, the magnetic ring encoder is fixedly connected with the housing, and a reading head of the magnetic ring encoder is fixedly connected with an end of the rotary drum, so that the reading head measures a relative rotation angle between the housing and the rotary drum.

In a preferred embodiment, the brake is an electromagnetic brake, and two brake discs of the brake are respectively and fixedly connected between the housing and the rotating cylinder, so that the brake brakes the rotating cylinder and the housing.

In a preferred embodiment, the rotary cylinder between the output arms is provided in a plurality of sizes, and the output shaft and the input shaft accommodated in the rotary cylinder are in a plurality of sizes.

In a preferred embodiment, the method further comprises: a power motor; and the output end of the power motor is in driving connection with the input shaft of the first output arm.

The utility model discloses an arm has following beneficial effect:

this arm, output arm includes: the driving shaft is arranged in the shell, the other end of the driving shaft is detachably connected with the shell, and the shell is driven to rotate or be separated from the shell. The input shaft is engaged with and drives the output shaft and the driving shaft, and the included angle between the axial leads of the input shaft and the output shaft is larger than 0 degree and smaller than 180 degrees.

The problem of among the prior art, current arm structure design leads to the arm dead weight great for the application occasion receives great influence for many power source structure.

This arm has realized can linking between a plurality of output arms, satisfies single power input, and multistage output adapts to different occasions as required. The multi-shaft mechanical arm with single power output is realized, multiple degrees of freedom are met, only one power device is needed, the quality of the whole mechanical arm is greatly reduced, and the multi-shaft mechanical arm is more flexible to use. Because the mechanical arms are provided with the input shaft and the output shaft, the connection of a plurality of mechanical arms can be met, and the multi-freedom-degree and multi-joint connection use is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic diagram of a robotic arm according to one embodiment of the present disclosure;

FIG. 2 is a partial cross-sectional view of a robotic arm according to one embodiment of the present disclosure;

FIG. 3 is a cross-sectional view of one of the output arms of a robotic arm according to one embodiment of the present disclosure;

FIG. 4 is an enlarged partial view of the robotic arm of FIG. 2 at A according to one embodiment of the present disclosure.

[ description of main reference symbols ]

1. An output arm;

1. a housing; 2. an input shaft; 3. an output shaft; 4. a drive shaft; 5. an electromagnetic clutch; 6. a bevel gear;

7. a magnetic ring encoder; 71. a reading head;

8. a rotating cylinder;

9. and a brake.

Detailed Description

The mechanical arm of the present invention will be described in further detail with reference to the accompanying drawings and embodiments of the present invention.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1, 2, 3 and 4, the robot arm includes: the output arms 01 (preferably at least two, and usually multiple outputs for multiple power) of the final assembly structure. The output arm 01 includes: a shell 1 for connecting and isolating parts; an input shaft 2 for inputting a self-rotation force to the housing 1; an output shaft 3 for transmitting power to the next stage of the housing; a drive shaft 4 detachably connected to the housing 1. One end of the input shaft 2 and one end of the output shaft 3 extend into the shell 1, and the other end is connected with other required components outside the shell 1 (the other components are preferably adjacent upper-stage output arms or lower-stage output arms, and the input shaft 2 of the first-stage output arm is connected with the power motor). The driving shaft 4 is arranged in the shell 1 for driving the shell 1, the other end of the driving shaft 4 is detachably connected with the shell 1, and the shell 1 is driven to rotate or is separated from the shell 1 to realize no power input (in the state of no power input, the shell 1 is in a relative static state relative to the upper-stage output arm 01). The input shaft 2 is engaged to drivingly connect the output shaft 3 and the drive shaft 4 to drive the output shaft 3 and the drive shaft 4 for rotation. In order to avoid interference among the input shaft 2, the output shaft 3 and the driving shaft 4 and ensure the reasonability of the structure, the included angle of the axial lines of the input shaft 2 and the output shaft 3 is more than 0 degree and less than 180 degrees. The linkage among a plurality of output arms 01 is realized, the single power input and the multi-stage output are met, and the multi-stage power output device can adapt to different occasions as required. The single-power output multi-shaft mechanical arm is realized, multi-degree-of-freedom posture adjustment is met, only one power device (such as a motor) is needed, the mass of the whole mechanical arm is greatly reduced, and the use is more flexible. Because each output arm 01 is provided with the input shaft 2 and the output shaft 3, the connection among a plurality of output arms 01 can be met, and the multi-freedom-degree and multi-joint connection use is realized.

The driving shaft 4 is conveniently separated from and connected with the shell 1, the structure is more reasonable, and the use requirements can be met, particularly the position and the angle of the single output arm 01 can be adjusted. The robot arm further includes: an electromagnetic clutch 5; the drive shaft 4 and the housing 1 are detachably connected through an electromagnetic clutch 5, and the drive or non-drive function of the housing 1 is satisfied.

To facilitate the change of direction power transmission between the input shaft 2 and the output shaft 3, the stability of power transmission is ensured. The input shaft 2 and the output shaft 3 are driven by engagement of a bevel gear 6, and the output shaft 3 and the drive shaft 4 are also driven by engagement of the bevel gear 6.

In order to timely and accurately judge the angle and the position of each output arm 01, the control accuracy of the mechanical arm is guaranteed, and the posture of the whole mechanical arm is also adjusted. The output arm 01 further includes: and a magnetic ring encoder 7 for measuring the rotation angle of the housing 1. For the convenience of measurement, the magnetic ring encoder 7 is arranged around the input shaft 2, when the shell 1 is connected with the driving shaft 4, the magnetic ring encoder 7 records data for judging the rotating angle of the shell 1, the driving angle can be adjusted conveniently by a controller, and the posture of the mechanical arm can be adjusted by adjusting the electromagnetic clutch 5.

Preferably, the number of the output arms 01 is multiple, the multiple output arms 01 are connected in sequence, and the output shaft 3 of the previous output arm and the input shaft 2 of the next output arm are coaxially or fixedly connected between the adjacent output arms 01.

Specifically, the output arms 01 are connected in sequence, the other end of the output shaft 3 of the previous output arm extends into the housing 1 of the next output arm, and the output shaft 3 of the previous output arm corresponds to the input shaft 2 of the next output arm. So the utility model discloses the both ends of well mentioned input shaft 2 and output shaft 3 all are provided with bevel gear 6, satisfy the effect of drive connection. Of course, the output shaft 3 of the output arm at the next stage can be adjusted as required, for example, the output shaft is limited at the housing 1, and does not need to extend out of the housing 1.

In order to conveniently meet the connection effect between the adjacent output arms 01, the autorotation of the previous output arm can be transmitted to the next output arm to rotate around the previous output arm, the power transmission strength is ensured, and the strength requirements of the input shaft 2 and the output shaft 3 are reduced. The shell 1 between the adjacent output arms 01 is sleeved with a rotating cylinder 8 for connection, and the power driving effect is realized through the rotating cylinder 8.

In order to guarantee the fixing effect on each shell 1, the whole posture of the mechanical arm is guaranteed, and the mechanical arm reaches a set position. Furthermore, the mechanical arm can be used for isolating the output shaft 3 and the input shaft 2, and the use safety and the capability of resisting the external environment are ensured. The output shaft 3 of the previous output arm and the input shaft 2 of the next output arm are arranged in the rotating cylinder 8, and the rotating cylinder 8 is fixedly connected with the shell 1 of the previous output arm. In order to ensure that the posture of the next output arm is adjusted and avoid interference with the previous output arm, the rotating cylinder 8 and the shell 1 of the next output arm are detachably connected through a brake 9. To facilitate the installation of the brake 9, the brake 9 is preferably a disc brake, and the two discs of the brake 9 are attached to the housing 1 and the rotary cylinder 8, respectively.

In order to facilitate the installation of the magnetic ring encoder 7, the rotation angle of the shell 1 measured by the magnetic ring encoder 7 can be conveniently met. The magnetic ring encoder 7 is fixedly connected with the shell 1, and a reading head 71 of the magnetic ring encoder 7 is fixedly connected with the end part of the rotating cylinder 8, so that the reading head 71 measures the relative rotation angle between the shell 1 and the rotating cylinder 8.

The brake effect can be ensured for convenient installation. The brake 9 is preferably an electromagnetic brake, and two brake discs of the brake 9 are fixedly connected between the housing 1 and the rotary cylinder 8 respectively, so that the brake 9 brakes the rotary cylinder 8 and the housing 1 to ensure the fixing action on the housing 1. Namely, the relative rotation and fixation between the housing 1 and the rotary cylinder 8 are realized.

In order to meet the requirements of adjustment of different positions and different precisions, the application occasions are expanded. The sizes of the rotary cylinder 8 between the output arms 01 are set to be various (at least two types are set, one type of long arm is a type of short arm, the long arm is mainly used for extending, and the short arm meets the requirement of changing the direction), and the output shaft 3 and the input shaft 2 which are adapted to the inside of the rotary cylinder 8 are various sizes. Thereby satisfied the setting of different length, can select different size collocation according to the operation requirement, guaranteed the result of use.

Of course, in order to ensure the power supply to the mechanical arm, the driving action on the input shaft 2 of the first output arm is ensured, and then all the output arms of the whole mechanical arm have power sources. The robot arm further includes: a power motor; the output end of the power motor is in driving connection with the input shaft 2 of the first output arm.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.

Claims

1. A robot arm, comprising: an output arm (01), the output arm (01) comprising: the device comprises a shell (1), an input shaft (2), an output shaft (3) and a driving shaft (4), wherein one ends of the input shaft (2) and the output shaft (3) extend into the shell (1), the driving shaft (4) is arranged in the shell (1), the other end of the driving shaft (4) is detachably connected with the shell (1), and the shell (1) is driven to rotate or be separated from the shell (1); the input shaft (2) is in meshed driving connection with the output shaft (3) and the driving shaft (4), and an included angle between the axis lines of the input shaft (2) and the output shaft (3) is larger than 0 degree and smaller than 180 degrees.

2. A robotic arm as claimed in claim 1, further comprising: an electromagnetic clutch (5); the driving shaft (4) and the shell (1) are detachably connected through an electromagnetic clutch (5).

3. A robot arm according to claim 1, characterized in that the input shaft (2) and the output shaft (3) are driven in mesh by means of bevel gears (6), and that the output shaft (3) and the drive shaft (4) are also driven in mesh by means of bevel gears (6).

4. A robot arm according to any of claims 1-3, characterized in that the output arm (01) further comprises: the magnetic ring encoder (7), the magnetic ring encoder (7) sets up around input shaft (2).

5. A mechanical arm as claimed in claim 4, wherein the number of the output arms (01) is multiple, the output arms (01) are connected in sequence, and the output shaft (3) of the previous output arm and the input shaft (2) of the next output arm between the adjacent output arms (01) are the same shaft or fixedly connected.

6. A robot arm according to claim 5, characterized in that a turning cylinder (8) is sleeved between the shells (1) between adjacent output arms (01).

7. A robot arm according to claim 6, characterized in that the output shaft (3) of the previous output arm and the input shaft (2) of the next output arm are arranged inside the rotary cylinder (8), the rotary cylinder (8) is fixedly connected with the housing (1) of the previous output arm, and the rotary cylinder (8) is detachably connected with the housing (1) of the next output arm through a brake (9).

8. The mechanical arm as claimed in claim 7, wherein the magnetic ring encoder (7) is fixedly connected with the housing (1), and a reading head (71) of the magnetic ring encoder (7) is fixedly connected with the end of the rotary drum (8), so that the reading head (71) measures the relative rotation angle between the housing (1) and the rotary drum (8);

the brake (9) is an electromagnetic brake, two brake discs of the brake (9) are respectively and fixedly connected between the shell (1) and the rotating cylinder (8), and the brake (9) is enabled to brake the rotating cylinder (8) and the shell (1).

9. A robot arm according to claim 7, characterized in that the size of the rotary cylinder (8) between the respective output arms (01) is arranged in a plurality, and the output shaft (3) and the input shaft (2) accommodated inside the rotary cylinder (8) are of a plurality of sizes.

10. A robotic arm as claimed in claim 7, further comprising: a power motor; the output end of the power motor is in driving connection with the input shaft (2) of the first output arm.