A mechanical arm and a robot

Abstract

The present invention provides a mechanical arm and a robot, and relates to the field of robot technology. The mechanical arm comprises a shoulder and a hand, the shoulder comprises a connected end cover and a clamping part, the clamping part is cylindrical, a plurality of clamping teeth are arranged on the outer peripheral surface of the clamping part, and a first through hole is provided in the middle of the shoulder; the hand comprises a connected first shell and a second shell, the first shell is provided with a second through hole, the inner wall of the second through hole is provided with a notch corresponding to the clamping teeth, a clamping block is provided on one side of each notch, the clamping teeth pass through the notch and rotate to engage with the clamping block; a screw hole is provided on the second shell, and a screw passes through the first through hole and the second through hole in turn and is screwed into the screw hole, so that the shoulder, the first shell and the second shell are connected as a whole. The mechanical arm has a simple structure, and the connection strength between the shoulder and the hand is relatively large, and it is safe and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a mechanical arm and a robot. Background Art

[0002] At present, there are various kinds of robots on the market, but the connections between the various parts or joints of the existing robots are not strong enough, and parts or joints are prone to falling off, especially for the connection between the shoulder and hand of the robot, which requires a high connection strength, but the connection strength between the two in most existing robots is insufficient.

[0003] Therefore, designing a robotic arm that can strengthen the connection strength between the shoulder and the hand in the robot is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a mechanical arm and a robot, which can enhance the connection strength between the shoulder and the hand of the robot.

[0005] The first technical solution provided by the present invention is:

[0006] A robotic arm comprising:

[0007] A shoulder, the shoulder comprising a connected end cover and a clamping portion, the clamping portion is cylindrical, a plurality of clamping teeth are arranged on the outer circumference of the clamping portion, and a first through hole is opened in the middle of the shoulder;

[0008] The hand comprises a first shell and a second shell connected to each other, a second through hole is provided on the first shell, a notch corresponding to the latch tooth is provided on the inner wall of the second through hole, a latch block is provided on one side of each notch, the latch tooth passes through the notch and is rotated to engage with the latch block; a screw hole is provided on the second shell, a screw passes through the first through hole and the second through hole in turn and is screwed into the screw hole, so that the shoulder, the first shell and the second shell are connected as a whole.

[0009] Furthermore, a connecting column is provided on the second shell, and the screw hole is opened at the center position of the connecting column.

[0010] Furthermore, a connecting block and a limiting block are connected to the outer circumferential surface of the connecting column, and when the shoulder, the first shell and the second shell are connected as one, the limiting block is inserted into the notch to limit the block from retreating into the notch.

[0011] Furthermore, the second shell, the connecting column, the connecting block and the limiting block are integrally formed.

[0012] Furthermore, a groove is provided at the center of the end cover, and the first through hole is located at the bottom of the groove.

[0013] Furthermore, a third through hole is provided on the end cover at a position corresponding to the latching tooth, and the latching tooth can be observed through the third through hole.

[0014] Furthermore, the clamping block is in an L-shaped structure, and includes a first limiting portion and a second limiting portion that are connected, the first limiting portion extending along the inner circumferential surface of the second through hole to limit the clamping tooth from detaching from the second shell along the axis of the second through hole, and the second limiting portion extending along the axial direction of the second through hole to limit the clamping tooth from detaching from the first limiting portion along the circumferential direction of the second through hole.

[0015] Furthermore, a clamping structure is provided at an edge position of the first shell and an edge position of the second shell.

[0016] Furthermore, the number of the latching teeth is 3, and the 3 latching teeth are evenly spaced.

[0017] The second technical solution provided by the present invention is:

[0018] A robot comprises the mechanical arm described in the first technical solution.

[0019] The beneficial effects of the mechanical arm and robot provided by the present invention are:

[0020] 1. The shoulder and the first shell of the hand are connected by means of a clamping tooth and a clamping block, which has a simple structure and is firm and reliable.

[0021] 2. The second shell is provided with a screw hole, and the screw passes through the first through hole and the second through hole in sequence and is screwed into the screw hole, so that the shoulder, the first shell and the second shell are connected as a whole, with a simple structure and a firm connection.

[0022] 3. Two connection forms are adopted between the shoulder and the hand, one is the connection between the clamping teeth and the clamping block, and the other is the screw connection, so that the connection between the shoulder and the hand is firm, safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A schematic diagram of the assembly structure of a robotic arm provided in an embodiment of the present invention.

[0025] Figure 2 A schematic diagram of the exploded structure of a robotic arm provided in an embodiment of the present invention.

[0026] Figure 3 for Figure 2 Schematic diagram of the structure of the middle shoulder from the first perspective.

[0027] Figure 4 for Figure 2 Schematic diagram of the structure of the middle shoulder from the second perspective.

[0028] Figure 5 for Figure 2 A schematic structural diagram of the first shell from a first viewing angle.

[0029] Figure 6 for Figure 2 Schematic diagram of the structure of the first shell from the second perspective.

[0030] Figure 7 for Figure 2 Schematic diagram of the structure of the second shell.

[0031] Icons: 100-mechanical arm; 110-shoulder; 111-end cover; 112-engaging part; 113-grip; 114-groove; 115-first through hole; 116-third through hole; 120-hand; 121-first shell; 122-second shell; 123-second through hole; 124-notch; 125-block; 1251-first limiting part; 1252-second limiting part; 126-hook; 127-convex ridge; 128-connecting column; 129-screw hole; 130-connecting block; 131-limiting block; 132-hole; 133-connecting groove; 134-screw. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the description of the present invention, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the invention is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0036] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] See also Figures 1 to 4 The present embodiment provides a robot arm 100, which includes a connected shoulder 110 and a hand 120. The shoulder 110 includes a connected end cap 111 and a clamping portion 112, both of which are cylindrical, and the diameter of the end cap 111 is greater than the diameter of the clamping portion 112.

[0039] A plurality of latching teeth 113 are disposed on the outer peripheral surface of the engaging portion 112 . Preferably, the number of the latching teeth 113 is 3, and the 3 latching teeth 113 are evenly spaced.

[0040] A first through hole 115 is formed in the middle of the shoulder 110. A groove 114 is formed in the center of the end cover 111, and the first through hole 115 is located at the bottom of the groove 114. A third through hole 116 is formed on the end cover 111 at a position corresponding to the latching tooth 113, through which the latching tooth 113 can be observed.

[0041] See also Figures 2 to 7A snap-fit ​​structure is provided at the edge of the first shell 121 and the edge of the second shell 122 to strengthen the connection strength between the first shell 121 and the second shell 122. Specifically, a snap hook 126 is provided on the first shell 121, and a snap hole 132 that cooperates with the snap hook 126 is provided on the second shell 122.

[0042] An annular connecting groove 133 is formed at the edge of the first shell 121 , and an annular convex ridge 127 is formed at the edge of the second shell 122 . After the first shell 121 and the second shell 122 are connected, the convex ridge 127 is engaged in the connecting groove 133 .

[0043] The hand 120 includes a first shell 121 and a second shell 122 connected to each other. The first shell 121 is provided with a second through hole 123. The inner wall of the second through hole 123 is provided with a notch 124 corresponding to the latching tooth 113. A latching block 125 is provided on one side of each notch 124. The latching tooth 113 passes through the notch 124 and rotates to engage with the latching block 125. The second shell 122 is provided with a screw hole 129. The screw 134 passes through the first through hole 115 and the second through hole 123 in sequence and is screwed into the screw hole 129, so that the shoulder 110, the first shell 121 and the second shell 122 are connected as a whole.

[0044] The block 125 has an L-shaped structure, and includes a first limiting portion 1251 and a second limiting portion 1252 that are connected. The first limiting portion 1251 extends along the inner circumference of the second through hole 123 to limit the locking tooth 113 from detaching from the second shell body 122 along the axis of the second through hole 123, and the second limiting portion 1252 extends along the axial direction of the second through hole 123 to limit the locking tooth 113 from detaching from the first limiting portion 1251 along the circumferential direction of the second through hole 123.

[0045] The second housing 122 is provided with a connecting column 128, and a screw hole 129 is provided at the center of the connecting column 128. A connecting block 130 and a limiting block 131 are connected to the outer circumference of the connecting column 128. When the shoulder 110, the first housing 121 and the second housing 122 are connected as one, the limiting block 131 is inserted into the notch 124 to limit the block 125 from returning to the notch 124.

[0046] The second shell 122 , the connecting column 128 , the connecting block 130 and the limiting block 131 are integrally formed to ensure the connection strength among the second shell 122 , the connecting column 128 , the connecting block 130 and the limiting block 131 .

[0047] The assembly process of the robot arm 100 provided in this embodiment is as follows:

[0048] First, insert the latching teeth 113 on the shoulder 110 into the notch 124 on the first housing 121, and then rotate the shoulder 110 relative to the first housing 121 so that the latching teeth 113 abut against the first limiting portion 1251 and the second limiting portion 1252 of the block 125. Then, insert the second housing 122 of the hand 120 into the first housing 121, and insert the limiting portion into the notch 124 on the first housing 121. Finally, pass the screw 134 through the first through hole 115 and the second through hole 123 in sequence, and screw it into the screw hole 129 of the second housing 122, so that the shoulder 110, the first housing 121 and the second housing 122 are connected as one.

[0049] This embodiment also provides a robot, which includes a robot arm 100 .

[0050] The beneficial effects of the mechanical arm 100 and the robot provided by the present invention are:

[0051] 1. The shoulder 110 and the first housing 121 of the hand 120 are connected by means of a clamping tooth 113 and a clamping block 125 , which has a simple structure and is firm and reliable.

[0052] 2. The second shell 122 is provided with a screw hole 129, and the screw 134 passes through the first through hole 115 and the second through hole 123 in sequence and is screwed into the screw hole 129, so that the shoulder 110, the first shell 121 and the second shell 122 are connected as a whole, with a simple structure and a firm connection.

[0053] 3. A snap-fit ​​structure is also used between the first shell 121 and the second shell 122 of the hand 120 , thereby increasing the connection strength between the first shell 121 and the second shell 122 .

[0054] 4. The shoulder 110 and the hand 120 are connected in two forms, one is a clamping connection between the clamping teeth 113 and the clamping block 125, and the other is a connection with the screw 134, so that the shoulder 110 and the hand 120 are firmly connected, safely and reliably.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robotic arm, characterized in that: The robotic arm comprises: A shoulder (110), the shoulder (110) comprising a connected end cover (111) and a clamping portion (112), the clamping portion (112) being cylindrical, a plurality of clamping teeth (113) being provided on an outer peripheral surface of the clamping portion (112), and a first through hole (115) being provided in the middle of the shoulder (110); A hand (120), the hand (120) comprising a first shell (121) and a second shell (122) connected to each other, the first shell (121) being provided with a second through hole (123), the inner wall of the second through hole (123) being provided with a notch (124) corresponding to the latching tooth (113), a latching block (125) being provided on one side of each of the notches (124), the latching tooth (113) passing through the notch (124) and being rotated to be latched with the latching block (125); a screw hole (129) being provided on the second shell (122), a screw (134) passing through the first through hole (115) and the second through hole (123) in sequence and being screwed into the screw hole (129), so that the shoulder (110), the first shell (121) and the second shell (122) are connected as one body; A connecting column (128) is provided on the second shell (122), the screw hole (129) is opened at the center position of the connecting column (128), and a connecting block (130) and a limiting block (131) are connected to the outer peripheral surface of the connecting column (128); when the shoulder (110), the first shell (121) and the second shell (122) are connected as a whole, the limiting block (131) is inserted into the notch (124) to limit the block (125) from retreating into the notch (124); The clamping block (125) is in an L-shaped structure, and comprises a first limiting portion (1251) and a second limiting portion (1252) which are connected to each other, the first limiting portion (1251) extending along the inner circumference of the second through hole (123) to limit the clamping tooth (113) from being separated from the second shell (122) along the axis of the second through hole (123), and the second limiting portion (1252) extending along the axial direction of the second through hole (123) to limit the clamping tooth (113) from being separated from the first limiting portion (1251) along the circumference of the second through hole (123); A third through hole (116) is provided on the end cover (111) at a position corresponding to the latching tooth (113), and the latching tooth (113) can be observed through the third through hole (116).

2. The robotic arm according to claim 1, characterized in that: The second shell (122), the connecting column (128), the connecting block (130) and the limiting block (131) are integrally formed.

3. The robotic arm according to claim 1, characterized in that: A groove (114) is provided at the center of the end cover (111), and the first through hole (115) is located at the bottom of the groove (114).

4. The robotic arm according to claim 1, characterized in that: A clamping structure is provided at the edge of the first shell (121) and the edge of the second shell (122).

5. The robotic arm according to claim 1, characterized in that: The number of the latch teeth (113) is 3, and the 3 latch teeth (113) are evenly spaced.

6. A robot, characterized in that: The robot comprises the robotic arm according to any one of claims 1 to 5.

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