Robotic arms and robots

Abstract

The present application discloses a mechanical arm and a robot, the mechanical arm comprises an arm and a wrist, the wrist is connected to the arm in a manner that it can rotate relative to the arm, and the arm comprises: a first shell, provided with a first accommodating space; a second shell, one end of which is detachably connected to one end of the first shell, and the second shell is provided with a second accommodating space connected to the first accommodating space; a power assembly, whose output end is arranged in the first shell; a reduction assembly, whose input end is arranged in the second shell, and whose output end is connected to the wrist; a synchronous belt, which drives and connects the output end of the power assembly and the input end of the reduction assembly, so that the reduction assembly drives the wrist to rotate relative to the arm under the drive of the power assembly. The mechanical arm provided by the present application can reduce the difficulty of assembly.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to a robotic arm and a robot. Background Art

[0002] In order to improve production efficiency and accuracy, robots have been used in many fields. Robots mainly use the rotation of mechanical arms to perform various actions.

[0003] The inventor of the present application has discovered that, due to the large number of parts of a robot, the current process of assembling the robot is difficult and inefficient. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a mechanical arm and a robot that can reduce the difficulty of assembly.

[0005] In order to solve the above technical problems, a technical solution adopted in the present application is: to provide a mechanical arm, including an arm and a wrist, wherein the wrist is connected to the arm in a manner that it can rotate relative to the arm, and the arm includes: a first shell, provided with a first accommodating space; a second shell, one end of which is detachably connected to one end of the first shell, and the second shell is provided with a second accommodating space connected to the first accommodating space; a power component, whose output end is arranged in the first shell; a reduction component, whose input end is arranged in the second shell, and whose output end is connected to the wrist; a synchronous belt, which transmission connects the output end of the power component and the input end of the reduction component, so that the reduction component drives the wrist to rotate relative to the arm under the drive of the power component.

[0006] In order to solve the above technical problems, another technical solution adopted in the present application is: to provide a robot including the above-mentioned mechanical arm.

[0007] The beneficial effect of the present application is that the present application connects the power assembly and the reduction assembly through a synchronous belt drive, which can reduce the requirements for the relative position accuracy between the power assembly and the reduction assembly, thereby reducing the difficulty of assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work. Among them:

[0009] Figure 1 It is a structural schematic diagram of an embodiment of the robotic arm of the present application;

[0010] Figure 2 yes Figure 1 Schematic diagram of the structure when the robot arm is at another angle;

[0011] Figure 3 yes Figure 1 Schematic diagram of the structure when the robotic arm is at another angle;

[0012] Figure 4 yes Figure 1 Schematic diagram of some structures of the robot arm;

[0013] Figure 5 yes Figure 1 Schematic diagram of some structures of the robot arm;

[0014] Figure 6 It is a schematic structural diagram of an embodiment of the robot of the present application. DETAILED DESCRIPTION

[0015] 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.

[0016] See also Figures 1 to 5 The robot arm 1000 includes an arm 1100 and a wrist 1200, wherein the wrist 1200 is connected to the arm 1100 in a manner that it can rotate relative to the arm 1100. Specifically, under the drive of a power source, the wrist 1200 can rotate relative to the arm 1100, wherein the arm 1100 includes: a first shell 1110, a second shell 1120, a power assembly 1130, a deceleration assembly 1400 and a synchronous belt 1500.

[0017] The first housing 1110 is provided with a first accommodating space 1111, and one end of the second housing 1120 is detachably connected to one end of the first housing 1110, and the connection between the two can be riveted, screwed, etc. The second housing 1120 is provided with a second accommodating space 1121 communicating with the first accommodating space 1111. Specifically, the housing of the arm 1100 is configured to include a detachably connected first housing 1110 and a second housing 1120. On the one hand, during the transportation of the robotic arm 1000, the arm 1100 can be disassembled into two parts for easy transportation. On the other hand, when the robotic arm 1000 fails, the first housing 1110 and the second housing 1120 can be disassembled to repair the robotic arm 1000 in time.

[0018] The power assembly 1130 is used to generate power, and is a power source for rotating the wrist 1200 relative to the arm 1100 , wherein an output end 11301 of the power assembly 1130 is disposed in the first housing 1110 .

[0019] The deceleration component 1140 serves to reduce speed and increase torque, and its power source is the power component 1130 , wherein the input end 11401 of the deceleration component 1140 is disposed in the second housing 1120 , and the output end (not shown) of the deceleration component 1140 is connected to the wrist 1200 .

[0020] The synchronous belt 1150 is drivingly connected to the output end 11301 of the power assembly 1130 and the input end 11401 of the reduction assembly 1140 , so that the reduction assembly 1140 is driven by the power assembly 1130 to drive the wrist 1200 to rotate relative to the arm 1100 .

[0021] In the prior art, the power assembly and the reduction assembly are generally connected by gear meshing, and the two gears are respectively arranged in different housings. However, it is difficult to make the two gears meet the required center distance at the same time during assembly, resulting in poor gear meshing effect, and then causing abnormal noise, gear acceleration failure, low transmission efficiency and other faults. In other words, in the prior art, the relative position accuracy of the power assembly and the reduction assembly is very high.

[0022] In the present embodiment, the power assembly 1130 and the reduction assembly 1140 are connected by the synchronous belt 1150 , which can reduce the requirements on the relative position accuracy of the power assembly 1130 and the reduction assembly 1140 , thereby reducing the difficulty of assembly.

[0023] Continue reading Figures 1 to 3 In the first application scenario of the present embodiment, the wrist 1200 includes a third housing 1210 and a terminal interface 1220, the third housing 1210 is provided with a third accommodation space (not shown) communicating with the second accommodation space 1121, the terminal interface 1220 is used to connect an actuator (not shown), wherein the actuator may be a welding gun or other components, the third housing 1210 is connected to one end of the second housing 1120 in a manner that allows it to rotate relative to the second housing 1120, and the terminal interface 1220 is disposed inside the third housing 1210 and is connected to the third housing 1210 in a manner that allows it to rotate relative to the third housing 1210. In other words, the third housing 1210 can rotate relative to the second housing 1120, and the actuator connected to the terminal interface 1220 can rotate relative to the third housing 1210.

[0024] Continue reading Figures 4 to 5In the first application scenario, the power assembly 1130 includes a first sub-power assembly 1131 and a second sub-power assembly 1132, the reduction assembly 1140 includes a first sub-reduction assembly 1141 and a second sub-reduction assembly 1142, the output end 114101 of the first sub-reduction assembly 1141 is connected to the third housing 1210, the output end 114201 of the second sub-reduction assembly 1142 is connected to the terminal interface 1220, the synchronous belt 1150 includes a first sub-synchronous belt 1151 and a second sub-synchronous belt 1152, the first sub-synchronous belt 1151 is transmission-connected to the output end 11310 of the first sub-power assembly 1131 1 and the input end 114102 of the first sub-reduction assembly 1141, so that the first sub-reduction assembly 1141 drives the third housing 1210 to rotate relative to the second housing 1120 around the first axis direction under the drive of the first sub-power assembly 1131, and the second sub-synchronous belt 1152 is transmission-connected with the output end 113201 of the second sub-power assembly 1132 and the input end 114202 of the second sub-reduction assembly 1142, so that the second sub-reduction assembly 1142 drives the terminal interface 1220 to rotate relative to the third housing 1210 around the second axis direction different from the first axis direction under the drive of the second sub-power assembly 1132.

[0025] Specifically, in the first application scenario, the first sub-power assembly 1131 drives the first sub-deceleration assembly 1141 through the first sub-synchronous belt 1151, and then the first sub-deceleration assembly 1141 drives the third shell 1210, so that the third shell 1210 rotates relative to the second shell 1120, that is, relative to the arm 1100 around the first axis direction, wherein, since the end interface 1220 is arranged inside the third shell 1210 and connected to the third shell 1210, when the third shell 1210 rotates relative to the arm 1100 around the first axis direction, the end interface 1220 can also rotate relative to the arm 1100 around the first axis direction; the second sub-power assembly 1132 drives the second sub-deceleration assembly 1142 through the second sub-synchronous belt 1152, and then the second sub-deceleration assembly 1142 drives the end interface 1220, so that the end interface 1120 rotates relative to the third shell 1210 around the second axis direction, wherein the second axis direction is different from the first axis direction.

[0026] That is to say, in the first application scenario, the actuator connected to the robot arm 1000 can be rotated in two different directions relative to the robot arm 1000.

[0027] Continue reading Figures 4 to 5In the first application scenario, the first sub-power assembly 1131 includes a first motor 11311 and a first synchronous pulley 11312. The first synchronous pulley 11312 is sleeved on the output shaft of the first motor 11311, and the first synchronous pulley 11312 serves as the output end 113101 of the first sub-power assembly 1131. The first motor 11311 may be a servo motor.

[0028] The first sub-reduction assembly 1141 includes a second synchronous pulley 11411, a first input bevel gear 11412, a first output bevel gear 11413, a first hypoid pin gear 11414, and a first hypoid ring gear 11415. The second synchronous pulley 11411 serves as the input end 114102 of the first sub-reduction assembly 1141, the first input bevel gear 11412 is coaxially connected to the second synchronous pulley 11411, the first output bevel gear 11413 is meshed with the first input bevel gear 11412, the first hypoid pin gear 11414 is coaxially connected to the first output bevel gear 11413, and the first hypoid ring gear 11415 is meshed with the first hypoid pin gear 11414. Among them, the first input bevel gear 11412, the first output bevel gear 11413, the first hypoid needle gear 11414 and the first hypoid ring gear 11415 are all arranged in the second housing 1120, and the first hypoid ring gear 11415 is connected to the third housing 1210 as the output end 114101 of the first sub-reduction assembly 1141.

[0029] Continue reading Figures 4 to 5 The second sub-power assembly 1132 includes a second motor 11321 and a third synchronous pulley 11322. The third synchronous pulley 11322 is sleeved on the output shaft of the second motor 11321 and serves as the output end 113201 of the second power assembly 1132. Like the first motor 11311, the second motor 11321 can also be a servo motor.

[0030] The second sub-reduction assembly 1142 includes a fourth synchronous pulley 11421 , a second input bevel gear 11422 , a second output bevel gear 11423 , a second hypoid pin gear 11424 , a second hypoid ring gear 11425 , a third input bevel gear 11426 and a third output bevel gear 11427 . The fourth synchronous pulley 11421 serves as the input end 114202 of the second sub-reduction assembly 1142, the second input bevel gear 11422 is coaxially connected to the fourth synchronous pulley 11421, the second output bevel gear 11423 is meshed with the second input bevel gear 11422, the second hypoid needle gear 11424 is coaxially connected to the second output bevel gear 11423, the second hypoid ring gear 11425 is meshed with the second hypoid needle gear 11424, the third input bevel gear 11426 is coaxially connected to the second hypoid needle gear 11424, and the third output bevel gear 11427 is meshed with the third input bevel gear 11426. Among them, the second input bevel gear 11422, the second output bevel gear 11423, the second hypoid needle gear 11424, and the second hypoid ring gear 11425 are arranged in the second housing 1120, the third input bevel gear 11426 and the third output bevel gear 11427 are arranged in the third housing 1210, and the third output bevel gear 11427 is connected to the end interface 1220 as the output end 114201 of the second sub-reduction assembly 1142.

[0031] Specifically, the first hypoid needle gear 11414 and the first hypoid ring gear 11415 constitute a hypoid gear set, and the second hypoid needle gear 11424 and the second hypoid ring gear 11425 constitute a hypoid gear set. This embodiment uses a gear set mainly composed of a hypoid gear set to replace the reducer.

[0032] Continue reading Figures 4 to 5 In the first application scenario, the second synchronous pulley 11411 and the fourth synchronous pulley 11421 rotate in the same direction, and the first input bevel gear 11412 and the first output bevel gear 11413, the second input bevel gear 11422 and the second output bevel gear 11423, and the third input bevel gear 11426 and the third output bevel gear 11427 are all meshed and transmitted at a 90-degree axis angle. Specifically, through this arrangement, the first axis direction can be perpendicular to the second axis direction, so that when the robot arm 1000 is applied to a robot, the fifth and sixth axis rotations of the robot can be realized.

[0033] Continue reading Figures 4 to 5In the first application scenario, in order to save the internal space of the arm 1100, the diameter of the first hypoid ring gear 11415 is larger than the diameter of the second hypoid ring gear 11425, and the first hypoid ring gear 11415 is arranged around the periphery of the second hypoid ring gear 11425. Of course, in other application scenarios, the first hypoid ring gear 11415 may not be arranged around the periphery of the second hypoid ring gear 11425, and the present application does not impose any restrictions on the relative positions of the two.

[0034] Continue reading Figures 4 to 5 In the first application scenario, in order to further save the internal space of the arm 1100, in the first application scenario, the first motor 11311 and the second motor 11321 are arranged in parallel in the first shell 1110, and the output direction of the first motor 11311 is the same as the output direction of the second motor 11321, and the first input bevel gear 11412 is located on the side of the second synchronous pulley 11411 away from the first motor 11311, and the second input bevel gear 11422 is located on the side of the fourth synchronous pulley 11421 away from the second motor 11321.

[0035] Continue reading Figure 2 and Figure 3 A first hollow portion 1112 extending along the second axis and protruding from the surface of the second shell 1120 is provided on one side of the first shell 1110 away from the first motor 11311 and the second motor 11321, and a second hollow portion 1122 extending along the second axis is provided on the third shell 1210. At the same time, the first hollow portion 1112 and the second hollow portion 1122 are connected to form a through passage A for placing cables connected to the actuator (not shown).

[0036] Specifically, in the prior art, the cables connected to the actuator are generally fixed on one side of the robot arm with an offset, which easily leads to the movement range of the robot arm being restricted by the external cables. The hollow-designed robot arm, that is, the robot arm has a hollow hole, which can realize the placement of the external cables inside the robot arm. However, the prior art method of connecting the motor to the reducer makes it difficult to realize that the robot arm has a sufficiently large hollow hole. In the first application scenario of this embodiment, the output end 11301 of the power component 1130 and the input end 11401 of the reduction component 1140 are connected by the synchronous belt 1150. On the one hand, it can reduce the difficulty of assembly, and on the other hand, it can make it easier to reserve enough space inside the robot arm 1000 for the cables connected to the actuator. In addition, the use of a gear set mainly composed of hypoid gears instead of the reducer can meet the requirement of compact internal structure of the robot arm 1000, thereby meeting the hollow design of the robot arm. Specifically, combined with Figure 2 and Figure 3It can be seen that the first motor 11311 and the second motor 11321 avoid the first hollow portion 1112, and each gear set is arranged in the second shell 1120. The structure is compact, and the entire transmission mechanism can be arranged in the robot arm 1000, which ultimately facilitates placing the cables connecting the actuator inside the robot arm 1000, that is, in the through passage A.

[0037] The first application scenario described above is to enable the wrist 1200 to rotate relative to the arm 1100 in the first axis direction and the second axis direction, that is, in two directions. However, in other application scenarios, the wrist 1200 may only rotate in one direction relative to the arm 1100. For example, in one application scenario, the power assembly 1130 includes only the first sub-power assembly 1131, the synchronous belt 1150 includes only the first sub-synchronous belt 1151, and the reduction assembly 1140 includes only the first sub-reduction assembly 1141, or the power assembly 1130 includes only the second sub-power assembly 1132, the synchronous belt 1150 includes only the second sub-synchronous belt 1152, and the reduction assembly 1140 includes only the second sub-reduction assembly 1142. There is no limitation on how many directions the wrist 1200 can rotate relative to the arm 1100.

[0038] See also Figure 6 , Figure 6 2000 is a schematic diagram of the structure of the robot of the present application. The robot 2000 includes a mechanical arm 2100 .

[0039] Among them, the structure of the robot arm 2100 is the same as that of the robot arm 1000 in the above embodiment, which can be seen in the above embodiment for details and will not be repeated here.

[0040] In summary, the present application connects the power assembly and the reduction assembly through a synchronous belt drive, which can reduce the requirements for the relative position accuracy between the power assembly and the reduction assembly, thereby reducing the difficulty of assembly.

[0041] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A robotic arm, characterized in that: The invention comprises an arm and a wrist, wherein the wrist is connected to the arm in a manner capable of rotating relative to the arm, and the arm comprises: The first shell is provided with a first accommodating space; A second shell, one end of which is detachably connected to one end of the first shell, and the second shell is provided with a second accommodating space communicating with the first accommodating space; A power assembly, the output end of which is arranged in the first housing; a deceleration assembly, the input end of which is disposed in the second housing and the output end of which is connected to the wrist; A synchronous belt, drivingly connecting the output end of the power assembly and the input end of the reduction assembly, so that the reduction assembly drives the wrist to rotate relative to the arm under the drive of the power assembly; Wherein, the power assembly includes a first sub-power assembly, the first sub-power assembly includes a first motor and a first synchronous pulley as an output end, the reduction assembly includes a first sub-reduction assembly, the first sub-reduction assembly includes a second synchronous pulley as an input end, a first input bevel gear coaxially connected to the second synchronous pulley, a first output bevel gear meshed with the first input bevel gear, a first hypoid needle gear coaxially connected to the first output bevel gear, and a first hypoid ring gear meshed with the first hypoid needle gear, wherein the first input bevel gear, the first output bevel gear, the first hypoid needle gear and the first hypoid ring gear are all arranged in the second housing, and the first hypoid ring gear is connected to the wrist, and the first motor is a servo motor.

2. The robotic arm according to claim 1, characterized in that: The wrist comprises a third shell and a terminal interface, the third shell is provided with a third accommodation space communicating with the second accommodation space, the terminal interface is used to connect the actuator, the third shell is connected to the other end of the second shell in a manner that can rotate relative to the second shell, and the terminal interface is arranged inside the third shell and connected to the third shell in a manner that can rotate relative to the third shell; The power assembly also includes a second sub-power assembly, and the reduction assembly also includes a second sub-reduction assembly. The output end of the first sub-reduction assembly is connected to the third housing, and the output end of the second sub-reduction assembly is connected to the terminal interface. The synchronous belt includes a first sub-synchronous belt and a second sub-synchronous belt. The first sub-synchronous belt is drivingly connected to the output end of the first sub-power assembly and the input end of the first sub-reduction assembly, so that the first sub-reduction assembly drives the third housing to rotate relative to the second housing around the first axis direction under the drive of the first sub-power assembly, and the second sub-synchronous belt is drivingly connected to the output end of the second sub-power assembly and the input end of the second sub-reduction assembly, so that the second sub-reduction assembly drives the terminal interface to rotate relative to the third housing around a second axis direction different from the first axis direction under the drive of the second sub-power assembly.

3. The robotic arm according to claim 2, characterized in that: The first hypoid ring gear of the first sub-power assembly is connected to the third housing; The second sub-power assembly includes a second motor and a third synchronous pulley as an output end; the second sub-reduction assembly includes a fourth synchronous pulley as an input end, a second input bevel gear coaxially connected to the fourth synchronous pulley, a second output bevel gear meshing with the second input bevel gear, a second hypoid needle gear coaxially connected to the second output bevel gear, a second hypoid ring gear meshing with the second hypoid needle gear, a third input bevel gear coaxially connected to the second hypoid ring gear and a third output bevel gear meshing with the third input bevel gear, wherein the second input bevel gear, the second output bevel gear, the second hypoid needle gear and the second hypoid ring gear are arranged in the second housing, the third input bevel gear and the third output bevel gear are arranged in the third housing, and the third output bevel gear is connected to the end interface.

4. The robotic arm according to claim 3, characterized in that: The second synchronous pulley and the fourth synchronous pulley have the same rotation direction, and the first input bevel gear and the first output bevel gear, the second input bevel gear and the second output bevel gear, and the third input bevel gear and the third output bevel gear are all meshed and driven at an axis angle of 90 degrees.

5. The robotic arm according to claim 4, characterized in that: The diameter of the first hypoid ring gear is greater than the diameter of the second hypoid ring gear, and the first hypoid ring gear is disposed around the periphery of the second hypoid ring gear.

6. The robotic arm according to claim 5, characterized in that: The first motor and the second motor are arranged in parallel in the first housing, and an output direction of the first motor is the same as an output direction of the second motor; The first input bevel gear is located on a side of the second synchronous pulley away from the first motor, and the second input bevel gear is located on a side of the fourth synchronous pulley away from the second motor.

7. The robot arm according to claim 6, characterized in that: A first hollow portion extending along the second axis and protruding from the surface of the second shell is provided on the side of the first shell away from the first motor and the second motor, and a second hollow portion extending along the second axis is provided on the third shell. The first hollow portion and the second hollow portion are connected to form a through passage for placing cables connected to the actuator.

8. A robot, characterized in that: Comprising a robotic arm as described in any one of claims 1 to 7.

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