Robot joint assembly, robot arm and desktop robot arm

Abstract

The present invention discloses a robot joint assembly, a robot arm and a desktop-level robot arm. The robot joint assembly includes: a first arm body, a second arm body and an air pipe, the first arm body is structured with a first arm body cavity penetrating both ends, the second arm body is structured with a second arm body cavity penetrating both ends, one end of the first arm body is connected to a base, and the other end is hinged to the second arm body, and one end of the air pipe extends from the first arm body cavity to the second arm body cavity.

Description

Technical Field

[0001] The present invention relates to the field of mechanical equipment, in particular to a robot joint assembly, a robot arm and a desktop-level robot arm. Background Art

[0002] On the one hand, existing desktop-level robotic arms usually have a suction cup function. The suction cup assembly is mounted on the end of the robotic arm and is externally connected to an air pipe and an air pump to achieve the purpose of sucking and moving objects through the suction cup.

[0003] However, this method has poor reliability, low structural strength, and is easy to damage. Especially when desktop-level robotic arms are used in early childhood education, children's curiosity can easily damage the tracheal airway.

[0004] On the other hand, the robot joint components of existing desktop-level robotic arms are usually profile-processed parts with complex processing methods. In addition, since the profile-processed parts have high density and large weight, in order to ensure that the weight of the first arm body and the second arm body is within a certain range, the structure of the first arm body and the second arm body made of sheet metal parts needs to be as simple as possible. Therefore, the robot joint components of desktop-level robotic arms made of profile-processed parts are difficult to be made into a closed structure to form a cavity structure for accommodating the trachea. Summary of the invention

[0005] The present invention mainly provides a robot joint assembly, a robot arm and a desktop-level robot arm to solve the above problems.

[0006] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide a robot joint assembly, characterized in that it includes: a first arm body, a second arm body and a trachea;

[0007] The first arm body is constructed with a first arm body cavity penetrating through both ends, the second arm body is constructed with a second arm body cavity penetrating through both ends, one end of the first arm body is connected to the base, and the other end is hinged to the second arm body;

[0008] One end of the trachea extends from the first arm cavity to the second arm cavity.

[0009] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide a robot joint assembly, including: a first arm body, a second arm body, a three-joint assembly, a rotary joint 15 and a second arm body rocker arm connecting rod;

[0010] The first arm body comprises a first arm body driving arm and a first arm body driven arm, and the second arm body comprises a second arm body driving arm and a second arm body driven arm;

[0011] One end of the first arm driving arm is used to be connected to a driving output shaft, the other end of the first arm driving arm is respectively hinged to the three-link assembly and one end of the second arm driving arm, and one end of the first arm driven arm is respectively hinged to the three-link assembly and the rotary joint 15;

[0012] One end of the second arm rocker arm connecting rod is used to connect to another driving output shaft, the other end of the second arm rocker arm connecting rod is hinged to the end of the second arm driving arm, and the second arm driven arm is hinged to the three-link assembly and the other end of the rotating joint 15 respectively.

[0013] In order to solve the above technical problem, a technical solution adopted by the present invention is: to provide a robot arm, including: the above-mentioned robot joint assembly.

[0014] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide a desktop-level robotic arm, characterized in that it includes: the above-mentioned robotic arm.

[0015] The beneficial effects of the present invention are as follows: Different from the prior art, the present invention actually provides a new robot joint assembly. On the one hand, this robot joint assembly can accommodate the trachea inside the joint, bundle the trachea inside the robot joint assembly, and improve the reliability and life of the air path through an integrated design. On the other hand, this robot joint assembly has a simple structure, is easy to install, has a low processing cost and a high structural strength. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the structure of a mechanical arm in one embodiment of the present invention;

[0018] Figure 2 for Figure 1 A schematic diagram of the structure of a robot joint assembly in an embodiment;

[0019] Figure 3 for Figure 1 A schematic cross-sectional view of a robot joint assembly in an embodiment;

[0020] Figure 4 for Figure 1 A schematic diagram of the exploded structure of the robot joint assembly in the embodiment;

[0021] Figure 5 for Figure 1 A schematic structural diagram of a base in an embodiment;

[0022] Figure 6 Schematic diagram of the structure of a desktop-level robotic arm in one embodiment of the present invention;

[0023] Figure 7 for Figure 1 A schematic structural diagram of a state of a robotic arm in an embodiment;

[0024] Figure 8 for Figure 1 A schematic structural diagram of another state of a mechanical arm in an embodiment;

[0025] Fig. 9 for Figure 1 A schematic structural diagram of another state of a robotic arm in an embodiment. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] The terms "first", "second", "third" in the embodiments of the present application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the feature defined as "first", "second", "third" can expressly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0028] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] In the present invention, the robot joint assembly may be a component of a robotic arm, and the robotic arm may be a desktop-level robotic arm. The robot joint assembly, the robotic arm, and the desktop-level robotic arm are described below by taking the desktop-level robotic arm as an example.

[0030] See also Figure 1 , Figure 1 It is a schematic diagram of the structure of a robotic arm in one embodiment of the present invention, wherein the desktop-level robotic arm 10 includes a base 11, a driving mechanism 12, a first arm body 13, a second arm body 14, a guide tube 16, and a robotic arm end 19.

[0031] Among them, the base 11 is hinged to the driving mechanism 12, the driving mechanism 12 is hinged to the first arm body 13, the first arm body 13 is hinged to the second arm body 14, the driving mechanism 12 includes two driving output shafts, and the hinge between the first arm body 13 and the second arm body 14 is defined as a rotating joint 15. The second arm body 14 can rotate relative to the first arm body 13 within a preset angle range with the rotating joint 15 as the axis, and the preset angle range is 15 degrees to 180 degrees.

[0032] See also Figure 2 , Figure 2 for Figure 1 A schematic structural diagram of a robot joint assembly in an embodiment, wherein the first arm body 13 and the second arm body 14 are defined as a robot joint assembly, and further, the robot joint assembly may further include a robot arm end 19 .

[0033] See also Figure 3 , Figure 3 for Figure 1 A schematic cross-sectional view of the robot joint assembly in an embodiment.

[0034] In this embodiment, the first arm body 13 is constructed with a first arm body cavity 13A, and the second arm body 14 is constructed with a second arm body cavity 14A. One end 17a of the air pipe 17 enters the first arm body cavity 13A from one end of the first arm body 13, goes out at the rotating joint 15, and enters the second arm body cavity 14A from one end of the second arm body 14. Finally, the other end 17b of the air pipe 17 is connected from the air pipe interface 171.

[0035] In some embodiments, the air pipe 17 may not be routed out from the rotary joint 15 , but may be directly connected from the first arm body cavity 13A to the second arm body cavity 14A.

[0036] In this embodiment, since the trachea 17 is relatively fragile, in order to protect the trachea 17 , the portion of the trachea 17 that is wound around the rotary joint 15 is covered by the catheter 16 to protect the trachea 17 .

[0037] In this embodiment, a communication cable 18 is also included. The path of the communication cable 18 is the same as that of the air pipe 17, except that the end of the communication cable 18 is electrically connected to the port of the end 18 of the robot arm.

[0038] Please see also Figure 1-Figure 4 , Figure 1 is a schematic structural diagram of a mechanical arm in one embodiment of the present invention, Figure 2 for Figure 1 A schematic diagram of the structure of the robot joint assembly in the embodiment, Figure 3 for Figure 1 A schematic cross-sectional view of a robot joint assembly in an embodiment, Figure 4 for Figure 1 Schematic diagram of the exploded structure of the robot joint assembly in the embodiment.

[0039] In this embodiment, the robot joint assembly includes: a first arm body 13, a second arm body 14, a three-joint assembly, a rotary joint 15 and a second arm body rocker arm link 133;

[0040] The first arm body 13 includes a first arm body driving arm 131 and a first arm body driven arm 132 , and the second arm body 14 includes a second arm body driving arm 141 and a second arm body driven arm 142 ;

[0041] One end of the first arm driving arm 131 is used to be connected to a driving output shaft, the other end of the first arm driving arm 131 is respectively hinged to the three-link assembly and one end of the second arm driving arm 141, and one end of the first arm driven arm 132 is respectively hinged to the three-link assembly and the rotary joint 15;

[0042] One end of the second arm rocker arm connecting rod 133 is used to connect to another driving output shaft, and the other end of the second arm rocker arm connecting rod 133 is hinged to the end of the second arm driving arm 141, and the second arm driven arm 142 is hinged to the three-link assembly and the other end of the rotating joint 15 respectively.

[0043] One end of the first arm driving arm 131 is configured with a second arm connecting hole 131a, and both sides of one end of the first arm follower arm 132 are respectively configured with a first first arm three-joint connecting hole 132a and a second first arm three-joint connecting hole 132b;

[0044] One end of the second arm driving arm 141 is configured with a first side end and a second side end, the first side end is sequentially configured with a first-second arm rocker arm connecting rod connecting hole 141c and a first-second arm driving arm connecting hole 141a, the second side end is sequentially configured with a second-second arm rocker arm connecting rod connecting hole 141d and a second-second arm driving arm connecting hole 141b, and both sides of one end of the second arm follower arm 142 are respectively configured with a first-second arm three-connecting piece connecting hole 142a and a second-second arm three-connecting piece connecting hole 142b;

[0045] One end of the rotary joint 15, namely the first joint component 151, is constructed with a first first arm body driven arm joint connection hole 151a and a first second arm body driven arm joint connection hole 151b, and the other side, namely the second joint component 154, is constructed with a second first arm body driven arm joint connection hole 154a and a second second arm body driven arm joint connection hole 154b;

[0046] The three-link assembly includes a first three-link 152 and a second three-link 153. The three ends of the first three-link 152 are respectively configured with a first first arm body driven arm three-link hole 152a, a first first arm body driving arm three-link hole 152b and a first second arm body driven arm three-link hole 152c. The three ends of the second three-link 153 are respectively configured with a second first arm body driven arm three-link hole 153a, a second first arm body driving arm three-link hole 153b and a second second arm body driven arm three-link hole 153c.

[0047] The second arm rocker arm connecting rod 133 is configured with a second arm driving arm connecting hole 133a;

[0048] Connect the first arm body driving arm three-connection hole 152b, the first second arm body driving arm connection hole 141a, the second arm body connection hole 131a, the second second arm body driving arm connection hole 141b and the second first arm body driving arm three-connection hole 153b through a connecting piece;

[0049] The first first arm body driven arm connecting hole 151a, the first first arm body three-connection connecting hole 132a and the first first arm body driven arm three-connection hole 152a are connected by a connecting piece, and the second first arm body driven arm connecting hole 154a, the second first arm body three-connection connecting hole 132b and the second first arm body driven arm three-connection hole 153a are connected in sequence by a connecting piece;

[0050] Connect the first second arm body driven arm joint connecting hole 151b, the first second arm body three-connection connecting hole 142a and the first second arm body driven arm three-connection hole 152c through a connecting piece, and connect the second second arm body driven arm joint connecting hole 154b, the second second arm body three-connection connecting hole 142b and the second second arm body driven arm 142 three-connection hole 153c through a connecting piece;

[0051] The first-second arm body driving arm connecting hole 141c, the second arm body driving arm connecting hole 133a and the second-second arm body driving arm connecting hole 141d are connected by a connecting piece.

[0052] Furthermore, the above-mentioned connecting parts can be connected by bolts and nuts, or other common connection methods. Bearings can also be provided at the position where the connecting parts pass through the connecting holes to facilitate the rotation between the components. This can be set by technical personnel in this field according to actual conditions without the need for creative labor.

[0053] Furthermore, the first arm driving arm 131, the first arm follower arm 132, the second arm driving arm 141 and the second arm follower arm 142 are respectively configured to be roughly groove-shaped in the length direction, and the first arm follower arm 131 and the first arm driving arm 132 can cover each other to construct a first arm body cavity 13A, and the second arm driving arm 141 and the second arm body 142 follower arm can cover each other to construct a second arm body cavity 14A.

[0054] In this embodiment, the first arm body driven arm 132 and the second arm body driven arm 142 are made of plastic injection molding, and the first arm body driving arm 131 and the second arm body driving arm 141 are made of alloy material by die casting and stamping.

[0055] In some embodiments, at least one of the first arm driving arm 131 , the first arm slave arm 132 , the second arm driving arm 141 , and the second arm slave arm 142 is made of plastic or carbon fiber tube.

[0056] Please refer again Figure 1-Figure 6 , Figure 1 is a schematic structural diagram of a mechanical arm in one embodiment of the present invention, Figure 2 for Figure 1 A schematic diagram of the structure of the robot joint assembly in the embodiment, Figure 3 for Figure 1 A schematic cross-sectional view of a robot joint assembly in an embodiment, Figure 4 for Figure 1 A schematic diagram of the exploded structure of the robot joint assembly in the embodiment, Figure 5 for Figure 1 A schematic diagram of the structure of the base in the embodiment, Figure 6 Schematic diagram of the structure of a desktop-level robotic arm in one embodiment of the present invention.

[0057] Among them, the air pipe 17 is led out from the first arm body cavity 13A to the outside at the first arm body 13 near the rotating joint 15, and is introduced into the second arm body cavity 14a from the outside from the second arm body 14 near the rotating joint 15. The air pipe 17 located outside is defined as an extended air pipe 17a, and the length of the extended air pipe 17a is at least greater than a preset pipe length, and a conduit 16, one end of the conduit 16 is connected to the first arm body 13, and the other end is connected to the second arm body 14, the conduit 16 at least covers the extended air pipe 17a, the conduit 16 can be elastically deformed with the relative movement of the first arm body 13 and the second arm body 14, and at least the part of the conduit 16 covering the extended air pipe 17a is made of rubber or silicone material.

[0058] The preset tube length is greater than the length of the catheter 16 .

[0059] Among them, the catheter 16 and the trachea 17 are led out from the first arm body cavity 13A at the same position of the first arm body 13, and introduced into the second arm body cavity 14A at the same position of the second arm body 14. One end of the catheter 16 is detachably fixedly connected to the first arm body 13, and the other end is detachably fixedly connected to the second arm body 14.

[0060] Furthermore, the conduit 16 and the air pipe 17 are led out from the first arm body outlet 132c, and introduced into the second arm body cavity 14A on the second arm body 142c.

[0061] Among them, the robot arm end 20 is connected to the second arm body 14, the air pipe extends from the second arm body cavity 14A to the robot arm end 20, and is led out from the robot arm end 20 or connected through the interface 171, the robot arm end 19 is provided with a suction cup assembly 20 or a pneumatic gripper assembly, and the air pipe is connected to the suction cup assembly or the pneumatic gripper assembly.

[0062] Furthermore, the interface 171 and the suction cup assembly 20 may be connected via an external air pipe connection tube 172 .

[0063] See also Figure 7-Figure 9 , Figure 7 for Figure 1 A schematic structural diagram of a state of a robot arm in an embodiment, Figure 8 for Figure 1 A schematic diagram of a structure of a robot arm in another state in an embodiment, Fig. 9 for Figure 1 A schematic structural diagram of another state of a robotic arm in an embodiment.

[0064] like Figure 7As shown, when the first arm body 13 and the second arm body 14 of the desktop-level robotic arm 10-a are in a state of opening a certain angle, the catheter 16 and the air pipe and communication cables wrapped therein can move with the shape, and the changes in the positions and pressure conditions of the air pipe and communication cables will not change too much.

[0065] like Figure 8 As shown, when the second arm body 14 of the desktop-level robotic arm 10-b moves to the maximum open position, the catheter 16 and the trachea and communication cables wrapped therein can move with the shape, and the changes in the positions and pressure conditions of the trachea and communication cables will not change too much.

[0066] like Fig. 9 As shown, when the desktop-level robotic arm 10-c is in the open state with the first arm body 13 and the second arm body 14 in the maximum angle, the conduit 16 and the trachea and communication cables wrapped therein can move with the shape, and the changes in the positions and pressure conditions of the trachea and the communication cables will not change too much, especially at the position of the rotating joint, which can ensure that the trachea will not be compressed and folded, resulting in air path blockage.

[0067] In summary, a new robot joint assembly, a robot arm and a desktop-level robot arm, on the one hand, can accommodate the trachea inside the joint, bundle the trachea into the robot joint assembly, lead out the trachea at the rotating joint and protect and guide the trachea through a duct, and perform an integrated design within the robot joint assembly, thereby effectively improving the reliability and life of the air path. On the other hand, the robot joint assembly has a simple structure, is easy to install, has a low processing cost and a high structural strength. Compared with the traditional robot joint assembly made of profile parts, it greatly reduces the material and labor costs, and its encapsulated design can be suitable for early childhood education, preventing children from easily damaging the trachea's air path and its related mechanisms out of curiosity, or performing non-standard operations when the robot arm is in operation, leading to injury incidents.

Claims

1. A robotic arm, characterized in that: include: A first arm body, a second arm body, a three-joint assembly, a rotary joint, a second arm body rocker arm connecting rod and an air pipe; The first arm body comprises a first arm body driving arm and a first arm body driven arm, one end of the first arm body driving arm is used to be connected to a driving output shaft, and the second arm body comprises a second arm body driving arm and a second arm body driven arm; The other end of the first arm driving arm is configured with a second arm connecting hole, and the two sides of one end of the first arm follower arm are respectively configured with a first first arm three-joint connecting hole and a second first arm three-joint connecting hole; One end of the second arm driving arm is configured with a first side end and a second side end, the first side end is sequentially configured with a first-second arm rocker arm connecting rod connecting hole and a first-second arm driving arm connecting hole, the second side end is sequentially configured with a second-second arm rocker arm connecting rod connecting hole and a second-second arm driving arm connecting hole, and both sides of one end of the second arm follower arm are respectively configured with a first-second arm three-joint connecting hole and a second-second arm three-joint connecting hole; One side of one end of the rotary joint is configured with a first arm body slave arm joint connection hole and a first second arm body slave arm joint connection hole, and the other side is configured with a second first arm body slave arm joint connection hole and a second second arm body slave arm joint connection hole; The three-link assembly includes a first three-link assembly and a second three-link assembly, wherein the three ends of the first three-link assembly are respectively configured with a first first arm body driven arm three-link assembly hole, a first first arm body driving arm three-link assembly hole and a first second arm body driven arm three-link assembly hole, and the three ends of the second three-link assembly are respectively configured with a second first arm body driven arm three-link assembly hole, a second first arm body driving arm three-link assembly hole and a second second arm body driven arm three-link assembly hole; One end of the second arm rocker arm connecting rod is used to be connected to another driving output shaft, and the second arm rocker arm connecting rod is configured with a second arm driving arm connecting hole; Connect the first first arm body driving arm three-connection hole, the first second arm body driving arm connection hole, the second arm body connection hole, the second second arm body driving arm connection hole and the second first arm body driving arm three-connection hole through a connecting piece; Connect the first first arm body movable arm connecting hole, the first first arm body three-connection connecting hole and the first first arm body movable arm three-connection hole through a connecting piece, and sequentially connect the second first arm body movable arm connecting hole, the second first arm body three-connection connecting hole and the second first arm body movable arm three-connection hole through a connecting piece; Connect the first second arm body movable arm joint connecting hole, the first second arm body three-connection connecting hole and the first second arm body movable arm three-connection hole through a connecting piece, and connect the second second arm body movable arm joint connecting hole, the second second arm body three-connection connecting hole and the second second arm body movable arm three-connection hole through a connecting piece; Connect the first second arm body driving arm connecting hole, the second arm body driving arm connecting hole and the second second arm body driving arm connecting hole through a connecting piece; The first arm body is constructed with a first arm body cavity penetrating through both ends, and the second arm body is constructed with a second arm body cavity penetrating through both ends; The air pipe enters the first arm body cavity from one end of the first arm body and extends to the second arm body cavity.

2. The robotic arm according to claim 1, characterized in that: The second arm body can rotate relative to the first arm body within a preset angle range with the rotary joint as the axis, and the preset angle range is 15 degrees to 180 degrees.

3. The robotic arm according to claim 1, characterized in that: The air pipe is led out from the first arm body cavity to the outside at the first arm body near the rotating joint, and is introduced into the second arm body cavity from the outside from the second arm body near the rotating joint. The air pipe located outside is defined as an extended air pipe, and the length of the extended air pipe is at least greater than a preset pipe length, and a catheter, one end of the catheter is connected to the first arm body, and the other end is connected to the second arm body. The catheter at least covers the extended air pipe, and the catheter can be elastically deformed with the relative movement of the first arm body and the second arm body. At least the part of the catheter covering the extended air pipe is made of rubber or silicone material.

4. The robotic arm according to claim 3, characterized in that: The catheter and the trachea are led out from the first arm body cavity at the same position of the first arm body, and are introduced into the second arm body cavity at the same position of the second arm body. One end of the catheter is detachably fixedly connected to the first arm body, and the other end is detachably fixedly connected to the second arm body.

5. The robotic arm according to claim 3, characterized in that: Also includes: The end of the robotic arm is connected to the second arm body, the air pipe extends from the second arm body cavity to the end of the robotic arm, and is led out from the end of the robotic arm or connected through an interface, the end of the robotic arm is provided with a suction cup assembly or a pneumatic gripper assembly, and the air pipe is connected to the suction cup assembly or the pneumatic gripper assembly.

6. The robotic arm according to claim 5, characterized in that: Also includes: Base and air pump; The air pump is arranged in the base, one end of the air pipe is connected to the air pump, and the other end extends from the base to the first arm body cavity.

7. The robot arm according to claim 6, characterized in that: Also includes: A through hole is formed in the middle of the base adjacent to one side of the first arm, and the air pipe is led out from the through hole; as well as A communication cable, one end of which extends from the through hole to the first arm cavity and to the second arm cavity, the communication cable and the catheter are led out of the first arm cavity at the same position of the first arm, and are introduced from the second arm cavity at the same position of the second arm; The end of the robotic arm also includes a port, and the other end of the communication cable is electrically connected to the port.

8. The robotic arm according to claim 1, characterized in that: The first arm driving arm, the first arm follower arm, the second arm driving arm and the second arm follower arm are respectively roughly groove-shaped in the length direction, the first arm follower arm and the first arm driving arm can cover each other to construct the first arm cavity, and the second arm driving arm and the second arm follower arm can cover each other to construct the second arm cavity.

9. The robot arm according to claim 8, characterized in that: At least one of the first arm body driving arm, the first arm body driven arm, the second arm body driving arm and the second arm body driven arm is made of plastic or a carbon fiber tube.

10. The robot arm according to claim 9, characterized in that: The first arm body driven arm and the second arm body driven arm are made of plastic injection molding, and the first arm body driving arm and the second arm body driving arm are made of alloy material by die casting and stamping.

11. A desktop-level robotic arm, characterized in that: include: The robotic arm according to any one of claims 1 to 10.

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